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[OpenOCD-commit] Main OpenOCD repository branch, master, updated. v0.12.0-432-g5f6b25aa9

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- Log -----------------------------------------------------------------
commit 5f6b25aa91eb81903aed128ee304ffc69e0492f3
Author: Peter Lawrence <maj...@gm...>
Date:   Wed Nov 15 09:58:24 2023 -0600

    tcl/target/at91sama5d2.cfg: allow choice of SWD instead of JTAG
    
    The target supports both SWD and JTAG, but the existing cfg file
    only supports JTAG.  Using the standard [using_jtag] mechanism,
    the user would now have a choice.
    
    Change-Id: Ic6adb68090422812d591f6bf5b945ac10f323c74
    Signed-off-by: Peter Lawrence <maj...@gm...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8020
    Reviewed-by: Jörg Wunsch <op...@ur...>
    Reviewed-by: Paul Fertser <fer...@gm...>
    Reviewed-by: Tomas Vanek <va...@fb...>
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/tcl/target/at91sama5d2.cfg b/tcl/target/at91sama5d2.cfg
index 65e5217e1..30ddc92a9 100644
--- a/tcl/target/at91sama5d2.cfg
+++ b/tcl/target/at91sama5d2.cfg
@@ -1,5 +1,7 @@
 # SPDX-License-Identifier: GPL-2.0-or-later
 #
+# SAMA5D2 devices support both JTAG and SWD transports.
+#
 # The JTAG connection is disabled at reset, and during the ROM Code execution.
 # It is re-enabled when the ROM code jumps in the boot file copied from an
 # external Flash memory into the internalSRAM, or when the ROM code launches
@@ -12,14 +14,28 @@
 # - if enabled, boundary Scan mode is activated. JTAG ID Code value is 0x05B3F03F.
 # - if disabled, ICE mode is activated. Debug Port JTAG IDCODE value is 0x5BA00477
 #
+
+source [find target/swj-dp.tcl]
+
+#jtag scan chain
+if { [info exists CPUTAPID] } {
+	set _CPUTAPID $CPUTAPID
+} else {
+	if { [using_jtag] } {
+		set _CPUTAPID 0x5ba00477
+	} else {
+		# SWD IDCODE (single drop, arm)
+		set _CPUTAPID 0x5ba02477
+	}
+}
+
 if { [info exists CHIPNAME] } {
 	set  _CHIPNAME $CHIPNAME
 } else {
 	set  _CHIPNAME at91sama5d2
 }
 
-jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x01 -irmask 0x0f \
-	-expected-id 0x5ba00477
+swj_newdap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
 
 # Cortex-A5 target
 set _TARGETNAME $_CHIPNAME.cpu_a5

-----------------------------------------------------------------------

Summary of changes:
 tcl/target/at91sama5d2.cfg | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)


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- Log -----------------------------------------------------------------
commit 2bd40b0bf930459f0fc3dbcbde3ac2f40ff56e4e
Author: Karl Palsson <ka...@tw...>
Date:   Wed Nov 22 09:57:06 2023 +0000

    target: Increase maximum profile sample count to 1000000
    
    Change-Id: I38276dd1af011ce5781b0264b7cbb08c31a0a2ad
    Signed-off-by: Paul Reimer <pa...@za...>
    Signed-off-by: Karl Palsson <ka...@tw...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/6099
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/doc/openocd.texi b/doc/openocd.texi
index db7315fe4..6c6519d62 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -9492,7 +9492,7 @@ TCP/IP port 9090.
 @deffn {Command} {profile} seconds filename [start end]
 Profiling samples the CPU's program counter as quickly as possible,
 which is useful for non-intrusive stochastic profiling.
-Saves up to 10000 samples in @file{filename} using ``gmon.out''
+Saves up to 1000000 samples in @file{filename} using ``gmon.out''
 format. Optional @option{start} and @option{end} parameters allow to
 limit the address range.
 @end deffn
diff --git a/src/target/target.c b/src/target/target.c
index 2703f7b00..d7283324f 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -4298,7 +4298,7 @@ COMMAND_HANDLER(handle_profile_command)
 	if ((CMD_ARGC != 2) && (CMD_ARGC != 4))
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
-	const uint32_t MAX_PROFILE_SAMPLE_NUM = 10000;
+	const uint32_t MAX_PROFILE_SAMPLE_NUM = 1000000;
 	uint32_t offset;
 	uint32_t num_of_samples;
 	int retval = ERROR_OK;

-----------------------------------------------------------------------

Summary of changes:
 doc/openocd.texi    | 2 +-
 src/target/target.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)


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- Log -----------------------------------------------------------------
commit 0ce08ec858add3e26ba04536b87fad680561fe50
Author: Kirill Radkin <kir...@sy...>
Date:   Tue Oct 31 18:24:35 2023 +0300

    target: Add some info messages about examination process.
    
    These messages helps to clarify current status of examination process
    
    Change-Id: I5d93903c4680deed2c1bf707d8f7ef0b48ffdc9a
    Signed-off-by: Kirill Radkin <kir...@sy...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8013
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/target/target.c b/src/target/target.c
index f847894d6..2703f7b00 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -675,10 +675,14 @@ static int default_check_reset(struct target *target)
  * Keep in sync */
 int target_examine_one(struct target *target)
 {
+	LOG_TARGET_DEBUG(target, "Examination started");
+
 	target_call_event_callbacks(target, TARGET_EVENT_EXAMINE_START);
 
 	int retval = target->type->examine(target);
 	if (retval != ERROR_OK) {
+		LOG_TARGET_ERROR(target, "Examination failed");
+		LOG_TARGET_DEBUG(target, "examine() returned error code %d", retval);
 		target_reset_examined(target);
 		target_call_event_callbacks(target, TARGET_EVENT_EXAMINE_FAIL);
 		return retval;
@@ -687,6 +691,7 @@ int target_examine_one(struct target *target)
 	target_set_examined(target);
 	target_call_event_callbacks(target, TARGET_EVENT_EXAMINE_END);
 
+	LOG_TARGET_INFO(target, "Examination succeed");
 	return ERROR_OK;
 }
 

-----------------------------------------------------------------------

Summary of changes:
 src/target/target.c | 5 +++++
 1 file changed, 5 insertions(+)


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commit 4003762177b1aec2ab27eaa6946b47f13c457bbc
Author: Erhan Kurubas <erh...@es...>
Date:   Mon Jul 10 23:47:06 2023 +0200

    target/espressif: add algorithm support to xtensa chips
    
    Also includes esp_xtensa flasher stub jumper binary.
    
    Signed-off-by: Erhan Kurubas <erh...@es...>
    Change-Id: I054ce31033ca6a87afe9b5325b545338a7d8fe8f
    Reviewed-on: https://review.openocd.org/c/openocd/+/7772
    Tested-by: jenkins
    Reviewed-by: Ian Thompson <ia...@ca...>
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/contrib/loaders/trampoline/espressif/xtensa/Makefile b/contrib/loaders/trampoline/espressif/xtensa/Makefile
new file mode 100644
index 000000000..bd1f63044
--- /dev/null
+++ b/contrib/loaders/trampoline/espressif/xtensa/Makefile
@@ -0,0 +1,38 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+# Espressif Xtensa Makefile to compile flasher stub wrapper
+# Copyright (C) 2023 Espressif Systems Ltd.
+
+# Prefix for Espressif xtensa cross compilers (can include a directory path)
+CROSS ?= xtensa-esp32-elf-
+
+APP_ARCH := xtensa
+APP_CHIP_PATH := $(shell pwd)
+SRCS := $(APP_CHIP_PATH)/esp_xtensa_stub_tramp_win.S
+
+BIN2C = ../../../../../src/helper/bin2char.sh
+BUILD_DIR = build
+
+APP = esp_xtensa_stub_tramp_win
+APP_OBJ = $(BUILD_DIR)/$(APP).o
+APP_BIN = $(BUILD_DIR)/$(APP).bin
+APP_CODE = $(APP).inc
+
+.PHONY: all clean
+
+all: $(BUILD_DIR) $(APP_OBJ) $(APP_CODE)
+
+$(BUILD_DIR):
+	$(Q) mkdir $@
+
+$(APP_OBJ): $(SRCS)
+	@echo "  CC   $^ -> $@"
+	$(Q) $(CROSS)gcc -c $(CFLAGS)  -o $@ $^
+
+$(APP_CODE): $(APP_OBJ)
+	@echo "  CC   $^ -> $@"
+	$(Q) $(CROSS)objcopy -O binary -j.text $^ $(APP_BIN)
+	$(Q) $(BIN2C) < $(APP_BIN) > $@
+
+clean:
+	$(Q) rm -rf $(BUILD_DIR)
diff --git a/contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.S b/contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.S
new file mode 100644
index 000000000..e0c827d9f
--- /dev/null
+++ b/contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.S
@@ -0,0 +1,41 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+
+/***************************************************************************
+ *   Xtensa flasher stub wrapper                                           *
+ *   Copyright (C) 2017 Espressif Systems Ltd.                             *
+ ***************************************************************************/
+
+/*
+ * Expects :
+ * a0 = zero
+ * a1 = stack_base + stack_size - 16, 16 bytes aligned
+ * a8 = address of the function to call
+ * Params :
+ * a2 = command arg0, result (out)
+ * a3 = command arg1
+ * a4 = command arg2
+ * a5 = command arg3
+ * a6 = command arg4
+ * Maximum 5 user args
+ */
+    .text
+
+    .align  4
+_stub_enter:
+    /* initialize initial stack frame for callx8 */
+    addi    a9, sp,  32 /* point 16 past extra save area */
+    s32e    a9, sp, -12 /* access to extra save area */
+    /* prepare args */
+    mov     a10, a2
+    mov     a11, a3
+    mov     a12, a4
+    mov     a13, a5
+    mov     a14, a6
+    /* call stub */
+    callx8  a8
+    /* prepare return value */
+    mov     a2, a10
+    break 0,0
+
+_idle_loop:
+    j _idle_loop
diff --git a/contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.inc b/contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.inc
new file mode 100644
index 000000000..1657223e1
--- /dev/null
+++ b/contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.inc
@@ -0,0 +1,3 @@
+/* Autogenerated with ../../../../../src/helper/bin2char.sh */
+0x92,0xc1,0x20,0x90,0xd1,0x49,0xad,0x02,0xbd,0x03,0xcd,0x04,0xdd,0x05,0x60,0xe6,
+0x20,0xe0,0x08,0x00,0x2d,0x0a,0x00,0x40,0x00,0x06,0xff,0xff,
diff --git a/src/target/espressif/Makefile.am b/src/target/espressif/Makefile.am
index 1fbd926d9..cf82ee995 100644
--- a/src/target/espressif/Makefile.am
+++ b/src/target/espressif/Makefile.am
@@ -10,6 +10,8 @@ noinst_LTLIBRARIES += %D%/libespressif.la
 	%D%/esp_xtensa_semihosting.h \
 	%D%/esp_xtensa_apptrace.c \
 	%D%/esp_xtensa_apptrace.h \
+	%D%/esp_xtensa_algorithm.c \
+	%D%/esp_xtensa_algorithm.h \
 	%D%/esp32_apptrace.c \
 	%D%/esp32_apptrace.h \
 	%D%/esp32.c \
diff --git a/src/target/espressif/esp.c b/src/target/espressif/esp.c
index 9583d6493..600f6d7e9 100644
--- a/src/target/espressif/esp.c
+++ b/src/target/espressif/esp.c
@@ -14,6 +14,16 @@
 #include "target/target.h"
 #include "esp.h"
 
+int esp_common_init(struct esp_common *esp, const struct esp_algorithm_hw *algo_hw)
+{
+	if (!esp)
+		return ERROR_FAIL;
+
+	esp->algo_hw = algo_hw;
+
+	return ERROR_OK;
+}
+
 int esp_dbgstubs_table_read(struct target *target, struct esp_dbg_stubs *dbg_stubs)
 {
 	uint32_t table_size, table_start_id, desc_entry_id, gcov_entry_id;
diff --git a/src/target/espressif/esp.h b/src/target/espressif/esp.h
index 3ba2b8bcf..6e0a2d2d3 100644
--- a/src/target/espressif/esp.h
+++ b/src/target/espressif/esp.h
@@ -77,9 +77,11 @@ struct esp_dbg_stubs {
 };
 
 struct esp_common {
+	const struct esp_algorithm_hw *algo_hw;
 	struct esp_dbg_stubs dbg_stubs;
 };
 
+int esp_common_init(struct esp_common *esp, const struct esp_algorithm_hw *algo_hw);
 int esp_dbgstubs_table_read(struct target *target, struct esp_dbg_stubs *dbg_stubs);
 
 #endif	/* OPENOCD_TARGET_ESP_H */
diff --git a/src/target/espressif/esp32.c b/src/target/espressif/esp32.c
index b510f287c..324aa3993 100644
--- a/src/target/espressif/esp32.c
+++ b/src/target/espressif/esp32.c
@@ -484,6 +484,10 @@ struct target_type esp32_target = {
 	.get_gdb_arch = xtensa_get_gdb_arch,
 	.get_gdb_reg_list = xtensa_get_gdb_reg_list,
 
+	.run_algorithm = xtensa_run_algorithm,
+	.start_algorithm = xtensa_start_algorithm,
+	.wait_algorithm = xtensa_wait_algorithm,
+
 	.add_breakpoint = esp_xtensa_breakpoint_add,
 	.remove_breakpoint = esp_xtensa_breakpoint_remove,
 
diff --git a/src/target/espressif/esp32s2.c b/src/target/espressif/esp32s2.c
index dadc130c1..2abde479e 100644
--- a/src/target/espressif/esp32s2.c
+++ b/src/target/espressif/esp32s2.c
@@ -521,6 +521,10 @@ struct target_type esp32s2_target = {
 	.get_gdb_arch = xtensa_get_gdb_arch,
 	.get_gdb_reg_list = xtensa_get_gdb_reg_list,
 
+	.run_algorithm = xtensa_run_algorithm,
+	.start_algorithm = xtensa_start_algorithm,
+	.wait_algorithm = xtensa_wait_algorithm,
+
 	.add_breakpoint = esp_xtensa_breakpoint_add,
 	.remove_breakpoint = esp_xtensa_breakpoint_remove,
 
diff --git a/src/target/espressif/esp32s3.c b/src/target/espressif/esp32s3.c
index 5036956ee..22e1630e1 100644
--- a/src/target/espressif/esp32s3.c
+++ b/src/target/espressif/esp32s3.c
@@ -405,6 +405,10 @@ struct target_type esp32s3_target = {
 	.get_gdb_arch = xtensa_get_gdb_arch,
 	.get_gdb_reg_list = xtensa_get_gdb_reg_list,
 
+	.run_algorithm = xtensa_run_algorithm,
+	.start_algorithm = xtensa_start_algorithm,
+	.wait_algorithm = xtensa_wait_algorithm,
+
 	.add_breakpoint = esp_xtensa_breakpoint_add,
 	.remove_breakpoint = esp_xtensa_breakpoint_remove,
 
diff --git a/src/target/espressif/esp_xtensa.c b/src/target/espressif/esp_xtensa.c
index 0bd2cdd9d..11895d23b 100644
--- a/src/target/espressif/esp_xtensa.c
+++ b/src/target/espressif/esp_xtensa.c
@@ -12,10 +12,12 @@
 #include <stdbool.h>
 #include <stdint.h>
 #include <target/smp.h>
-#include "esp_xtensa_apptrace.h"
 #include <target/register.h>
+#include "esp.h"
 #include "esp_xtensa.h"
+#include "esp_xtensa_apptrace.h"
 #include "esp_semihosting.h"
+#include "esp_xtensa_algorithm.h"
 
 #define ESP_XTENSA_DBGSTUBS_UPDATE_DATA_ENTRY(_e_) \
 	do { \
@@ -68,6 +70,10 @@ int esp_xtensa_init_arch_info(struct target *target,
 	int ret = xtensa_init_arch_info(target, &esp_xtensa->xtensa, dm_cfg);
 	if (ret != ERROR_OK)
 		return ret;
+	ret = esp_common_init(&esp_xtensa->esp, &xtensa_algo_hw);
+	if (ret != ERROR_OK)
+		return ret;
+
 	esp_xtensa->semihost.ops = (struct esp_semihost_ops *)semihost_ops;
 	esp_xtensa->apptrace.hw = &esp_xtensa_apptrace_hw;
 	return ERROR_OK;
diff --git a/src/target/espressif/esp_xtensa_algorithm.c b/src/target/espressif/esp_xtensa_algorithm.c
new file mode 100644
index 000000000..68005cbf2
--- /dev/null
+++ b/src/target/espressif/esp_xtensa_algorithm.c
@@ -0,0 +1,140 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+/***************************************************************************
+ *   Module to run arbitrary code on Xtensa using OpenOCD                  *
+ *   Copyright (C) 2019 Espressif Systems Ltd.                             *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+#include <target/xtensa/xtensa.h>
+#include "esp_xtensa_algorithm.h"
+
+static int esp_xtensa_algo_init(struct target *target, struct esp_algorithm_run_data *run,
+	uint32_t num_args, va_list ap);
+static int esp_xtensa_algo_cleanup(struct target *target, struct esp_algorithm_run_data *run);
+static const uint8_t *esp_xtensa_stub_tramp_get(struct target *target, size_t *size);
+
+const struct esp_algorithm_hw xtensa_algo_hw = {
+	.algo_init = esp_xtensa_algo_init,
+	.algo_cleanup = esp_xtensa_algo_cleanup,
+	.stub_tramp_get = esp_xtensa_stub_tramp_get,
+};
+
+/* Generated from contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.S */
+static const uint8_t esp_xtensa_stub_tramp_win[] = {
+#include "../../../contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.inc"
+};
+
+static const uint8_t *esp_xtensa_stub_tramp_get(struct target *target, size_t *size)
+{
+	struct xtensa *xtensa = target_to_xtensa(target);
+
+	if (!xtensa->core_config->windowed) {
+		LOG_ERROR("Running stubs is not supported for cores without windowed registers option!");
+		return NULL;
+	}
+	*size = sizeof(esp_xtensa_stub_tramp_win);
+	return esp_xtensa_stub_tramp_win;
+}
+
+static int esp_xtensa_algo_regs_init_start(struct target *target, struct esp_algorithm_run_data *run)
+{
+	uint32_t stack_addr = run->stub.stack_addr;
+
+	LOG_TARGET_DEBUG(target, "Check stack addr 0x%x", stack_addr);
+	if (stack_addr & 0xFUL) {
+		stack_addr &= ~0xFUL;
+		LOG_TARGET_DEBUG(target, "Adjust stack addr to 0x%x", stack_addr);
+	}
+	stack_addr -= 16;
+	struct reg_param *params = run->reg_args.params;
+	init_reg_param(&params[0], "a0", 32, PARAM_OUT);		/*TODO: move to tramp */
+	init_reg_param(&params[1], "a1", 32, PARAM_OUT);
+	init_reg_param(&params[2], "a8", 32, PARAM_OUT);
+	init_reg_param(&params[3], "windowbase", 32, PARAM_OUT);	/*TODO: move to tramp */
+	init_reg_param(&params[4], "windowstart", 32, PARAM_OUT);	/*TODO: move to tramp */
+	init_reg_param(&params[5], "ps", 32, PARAM_OUT);
+	buf_set_u32(params[0].value, 0, 32, 0);	/* a0 TODO: move to tramp */
+	buf_set_u32(params[1].value, 0, 32, stack_addr);	/* a1 */
+	buf_set_u32(params[2].value, 0, 32, run->stub.entry);	/* a8 */
+	buf_set_u32(params[3].value, 0, 32, 0x0);	/* initial window base TODO: move to tramp */
+	buf_set_u32(params[4].value, 0, 32, 0x1);	/* initial window start TODO: move to tramp */
+	buf_set_u32(params[5].value, 0, 32, 0x60025);	/* enable WOE, UM and debug interrupts level (6) */
+	return ERROR_OK;
+}
+
+static int esp_xtensa_algo_init(struct target *target, struct esp_algorithm_run_data *run,
+	uint32_t num_args, va_list ap)
+{
+	enum xtensa_mode core_mode = XT_MODE_ANY;
+	static const char *const arg_regs[] = { "a2", "a3", "a4", "a5", "a6" };
+
+	if (!run)
+		return ERROR_FAIL;
+
+	if (num_args > ARRAY_SIZE(arg_regs)) {
+		LOG_ERROR("Too many algo user args %u! Max %zu args are supported.", num_args, ARRAY_SIZE(arg_regs));
+		return ERROR_FAIL;
+	}
+
+	struct xtensa_algorithm *ainfo = calloc(1, sizeof(struct xtensa_algorithm));
+	if (!ainfo) {
+		LOG_ERROR("Unable to allocate memory");
+		return ERROR_FAIL;
+	}
+
+	if (run->arch_info) {
+		struct xtensa_algorithm *xtensa_algo = run->arch_info;
+		core_mode = xtensa_algo->core_mode;
+	}
+
+	run->reg_args.first_user_param = ESP_XTENSA_STUB_ARGS_FUNC_START;
+	run->reg_args.count = run->reg_args.first_user_param + num_args;
+	if (num_args == 0)
+		run->reg_args.count++;	/* a2 reg is used as the 1st arg and return code */
+	LOG_DEBUG("reg params count %d (%d/%d).",
+		run->reg_args.count,
+		run->reg_args.first_user_param,
+		num_args);
+	run->reg_args.params = calloc(run->reg_args.count, sizeof(struct reg_param));
+	if (!run->reg_args.params) {
+		free(ainfo);
+		LOG_ERROR("Unable to allocate memory");
+		return ERROR_FAIL;
+	}
+
+	esp_xtensa_algo_regs_init_start(target, run);
+
+	init_reg_param(&run->reg_args.params[run->reg_args.first_user_param + 0], "a2", 32, PARAM_IN_OUT);
+
+	if (num_args > 0) {
+		uint32_t arg = va_arg(ap, uint32_t);
+		esp_algorithm_user_arg_set_uint(run, 0, arg);
+		LOG_DEBUG("Set arg[0] = %d (%s)", arg, run->reg_args.params[run->reg_args.first_user_param + 0].reg_name);
+	} else {
+		esp_algorithm_user_arg_set_uint(run, 0, 0);
+	}
+
+	for (unsigned int i = 1; i < num_args; i++) {
+		uint32_t arg = va_arg(ap, uint32_t);
+		init_reg_param(&run->reg_args.params[run->reg_args.first_user_param + i], (char *)arg_regs[i], 32, PARAM_OUT);
+		esp_algorithm_user_arg_set_uint(run, i, arg);
+		LOG_DEBUG("Set arg[%d] = %d (%s)", i, arg, run->reg_args.params[run->reg_args.first_user_param + i].reg_name);
+	}
+
+	ainfo->core_mode = core_mode;
+	run->stub.ainfo = ainfo;
+	return ERROR_OK;
+}
+
+static int esp_xtensa_algo_cleanup(struct target *target, struct esp_algorithm_run_data *run)
+{
+	free(run->stub.ainfo);
+	for (uint32_t i = 0; i < run->reg_args.count; i++)
+		destroy_reg_param(&run->reg_args.params[i]);
+	free(run->reg_args.params);
+	return ERROR_OK;
+}
diff --git a/src/target/espressif/esp_xtensa_algorithm.h b/src/target/espressif/esp_xtensa_algorithm.h
new file mode 100644
index 000000000..36fa1a331
--- /dev/null
+++ b/src/target/espressif/esp_xtensa_algorithm.h
@@ -0,0 +1,19 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+
+/***************************************************************************
+ *   Module to run arbitrary code on Xtensa using OpenOCD                  *
+ *   Copyright (C) 2019 Espressif Systems Ltd.                             *
+ ***************************************************************************/
+
+#ifndef OPENOCD_TARGET_ESP_XTENSA_ALGO_H
+#define OPENOCD_TARGET_ESP_XTENSA_ALGO_H
+
+#include <target/xtensa/xtensa.h>
+#include <target/espressif/esp_algorithm.h>
+
+/** Index of the first user-defined algo arg. @see algorithm_stub */
+#define ESP_XTENSA_STUB_ARGS_FUNC_START             6
+
+extern const struct esp_algorithm_hw xtensa_algo_hw;
+
+#endif	/* OPENOCD_TARGET_XTENSA_ALGO_H */

-----------------------------------------------------------------------

Summary of changes:
 .../espressif/xtensa/Makefile}                     |  26 ++--
 .../espressif/xtensa/esp_xtensa_stub_tramp_win.S   |  41 ++++++
 .../espressif/xtensa/esp_xtensa_stub_tramp_win.inc |   3 +
 src/target/espressif/Makefile.am                   |   2 +
 src/target/espressif/esp.c                         |  10 ++
 src/target/espressif/esp.h                         |   2 +
 src/target/espressif/esp32.c                       |   4 +
 src/target/espressif/esp32s2.c                     |   4 +
 src/target/espressif/esp32s3.c                     |   4 +
 src/target/espressif/esp_xtensa.c                  |   8 +-
 src/target/espressif/esp_xtensa_algorithm.c        | 140 +++++++++++++++++++++
 src/target/espressif/esp_xtensa_algorithm.h        |  19 +++
 12 files changed, 248 insertions(+), 15 deletions(-)
 copy contrib/loaders/{reset/espressif/common.mk => trampoline/espressif/xtensa/Makefile} (53%)
 create mode 100644 contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.S
 create mode 100644 contrib/loaders/trampoline/espressif/xtensa/esp_xtensa_stub_tramp_win.inc
 create mode 100644 src/target/espressif/esp_xtensa_algorithm.c
 create mode 100644 src/target/espressif/esp_xtensa_algorithm.h


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- Log -----------------------------------------------------------------
commit d06d8ea3e4d0057dd13a6dac792b1ad7c246aebb
Author: Erhan Kurubas <erh...@es...>
Date:   Mon Jul 10 23:56:56 2023 +0200

    target/xtensa: add algorithm support
    
    Add arch level functions to execute code on the target
    
    Signed-off-by: Erhan Kurubas <erh...@es...>
    Change-Id: I089095de6fcb9906ad8c84232fa52a77db5e6185
    Reviewed-on: https://review.openocd.org/c/openocd/+/7771
    Tested-by: jenkins
    Reviewed-by: Ian Thompson <ia...@ca...>
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/target/xtensa/xtensa.c b/src/target/xtensa/xtensa.c
index 85dce0614..d2ca32c1d 100644
--- a/src/target/xtensa/xtensa.c
+++ b/src/target/xtensa/xtensa.c
@@ -16,6 +16,7 @@
 #include <helper/time_support.h>
 #include <helper/align.h>
 #include <target/register.h>
+#include <target/algorithm.h>
 
 #include "xtensa_chip.h"
 #include "xtensa.h"
@@ -2635,6 +2636,214 @@ int xtensa_watchpoint_remove(struct target *target, struct watchpoint *watchpoin
 	return ERROR_OK;
 }
 
+int xtensa_start_algorithm(struct target *target,
+	int num_mem_params, struct mem_param *mem_params,
+	int num_reg_params, struct reg_param *reg_params,
+	target_addr_t entry_point, target_addr_t exit_point,
+	void *arch_info)
+{
+	struct xtensa *xtensa = target_to_xtensa(target);
+	struct xtensa_algorithm *algorithm_info = arch_info;
+	int retval = ERROR_OK;
+	bool usr_ps = false;
+
+	/* NOTE: xtensa_run_algorithm requires that each algorithm uses a software breakpoint
+	 * at the exit point */
+
+	if (target->state != TARGET_HALTED) {
+		LOG_WARNING("Target not halted!");
+		return ERROR_TARGET_NOT_HALTED;
+	}
+
+	for (unsigned int i = 0; i < xtensa->core_cache->num_regs; i++) {
+		struct reg *reg = &xtensa->core_cache->reg_list[i];
+		buf_cpy(reg->value, xtensa->algo_context_backup[i], reg->size);
+	}
+	/* save debug reason, it will be changed */
+	algorithm_info->ctx_debug_reason = target->debug_reason;
+	/* write mem params */
+	for (int i = 0; i < num_mem_params; i++) {
+		if (mem_params[i].direction != PARAM_IN) {
+			retval = target_write_buffer(target, mem_params[i].address,
+				mem_params[i].size,
+				mem_params[i].value);
+			if (retval != ERROR_OK)
+				return retval;
+		}
+	}
+	/* write reg params */
+	for (int i = 0; i < num_reg_params; i++) {
+		if (reg_params[i].size > 32) {
+			LOG_ERROR("BUG: not supported register size (%d)", reg_params[i].size);
+			return ERROR_FAIL;
+		}
+		struct reg *reg = register_get_by_name(xtensa->core_cache, reg_params[i].reg_name, 0);
+		if (!reg) {
+			LOG_ERROR("BUG: register '%s' not found", reg_params[i].reg_name);
+			return ERROR_FAIL;
+		}
+		if (reg->size != reg_params[i].size) {
+			LOG_ERROR("BUG: register '%s' size doesn't match reg_params[i].size", reg_params[i].reg_name);
+			return ERROR_FAIL;
+		}
+		if (memcmp(reg_params[i].reg_name, "ps", 3)) {
+			usr_ps = true;
+		} else {
+			unsigned int reg_id = xtensa->eps_dbglevel_idx;
+			assert(reg_id < xtensa->core_cache->num_regs && "Attempt to access non-existing reg!");
+			reg = &xtensa->core_cache->reg_list[reg_id];
+		}
+		xtensa_reg_set_value(reg, buf_get_u32(reg_params[i].value, 0, reg->size));
+		reg->valid = 1;
+	}
+	/* ignore custom core mode if custom PS value is specified */
+	if (!usr_ps) {
+		unsigned int eps_reg_idx = xtensa->eps_dbglevel_idx;
+		xtensa_reg_val_t ps = xtensa_reg_get(target, eps_reg_idx);
+		enum xtensa_mode core_mode = XT_PS_RING_GET(ps);
+		if (algorithm_info->core_mode != XT_MODE_ANY && algorithm_info->core_mode != core_mode) {
+			LOG_DEBUG("setting core_mode: 0x%x", algorithm_info->core_mode);
+			xtensa_reg_val_t new_ps = (ps & ~XT_PS_RING_MSK) | XT_PS_RING(algorithm_info->core_mode);
+			/* save previous core mode */
+			/* TODO: core_mode is not restored for now. Can be added to the end of wait_algorithm */
+			algorithm_info->core_mode = core_mode;
+			xtensa_reg_set(target, eps_reg_idx, new_ps);
+			xtensa->core_cache->reg_list[eps_reg_idx].valid = 1;
+		}
+	}
+
+	return xtensa_resume(target, 0, entry_point, 1, 1);
+}
+
+/** Waits for an algorithm in the target. */
+int xtensa_wait_algorithm(struct target *target,
+	int num_mem_params, struct mem_param *mem_params,
+	int num_reg_params, struct reg_param *reg_params,
+	target_addr_t exit_point, unsigned int timeout_ms,
+	void *arch_info)
+{
+	struct xtensa *xtensa = target_to_xtensa(target);
+	struct xtensa_algorithm *algorithm_info = arch_info;
+	int retval = ERROR_OK;
+	xtensa_reg_val_t pc;
+
+	/* NOTE: xtensa_run_algorithm requires that each algorithm uses a software breakpoint
+	 * at the exit point */
+
+	retval = target_wait_state(target, TARGET_HALTED, timeout_ms);
+	/* If the target fails to halt due to the breakpoint, force a halt */
+	if (retval != ERROR_OK || target->state != TARGET_HALTED) {
+		retval = target_halt(target);
+		if (retval != ERROR_OK)
+			return retval;
+		retval = target_wait_state(target, TARGET_HALTED, 500);
+		if (retval != ERROR_OK)
+			return retval;
+		LOG_TARGET_ERROR(target, "not halted %d, pc 0x%" PRIx32 ", ps 0x%" PRIx32, retval,
+			xtensa_reg_get(target, XT_REG_IDX_PC),
+			xtensa_reg_get(target, xtensa->eps_dbglevel_idx));
+		return ERROR_TARGET_TIMEOUT;
+	}
+	pc = xtensa_reg_get(target, XT_REG_IDX_PC);
+	if (exit_point && pc != exit_point) {
+		LOG_ERROR("failed algorithm halted at 0x%" PRIx32 ", expected " TARGET_ADDR_FMT, pc, exit_point);
+		return ERROR_TARGET_TIMEOUT;
+	}
+	/* Copy core register values to reg_params[] */
+	for (int i = 0; i < num_reg_params; i++) {
+		if (reg_params[i].direction != PARAM_OUT) {
+			struct reg *reg = register_get_by_name(xtensa->core_cache, reg_params[i].reg_name, 0);
+			if (!reg) {
+				LOG_ERROR("BUG: register '%s' not found", reg_params[i].reg_name);
+				return ERROR_FAIL;
+			}
+			if (reg->size != reg_params[i].size) {
+				LOG_ERROR("BUG: register '%s' size doesn't match reg_params[i].size", reg_params[i].reg_name);
+				return ERROR_FAIL;
+			}
+			buf_set_u32(reg_params[i].value, 0, 32, xtensa_reg_get_value(reg));
+		}
+	}
+	/* Read memory values to mem_params */
+	LOG_DEBUG("Read mem params");
+	for (int i = 0; i < num_mem_params; i++) {
+		LOG_DEBUG("Check mem param @ " TARGET_ADDR_FMT, mem_params[i].address);
+		if (mem_params[i].direction != PARAM_OUT) {
+			LOG_DEBUG("Read mem param @ " TARGET_ADDR_FMT, mem_params[i].address);
+			retval = target_read_buffer(target, mem_params[i].address, mem_params[i].size, mem_params[i].value);
+			if (retval != ERROR_OK)
+				return retval;
+		}
+	}
+
+	/* avoid gdb keep_alive warning */
+	keep_alive();
+
+	for (int i = xtensa->core_cache->num_regs - 1; i >= 0; i--) {
+		struct reg *reg = &xtensa->core_cache->reg_list[i];
+		if (i == XT_REG_IDX_PS) {
+			continue;	/* restore mapped reg number of PS depends on NDEBUGLEVEL */
+		} else if (i == XT_REG_IDX_DEBUGCAUSE) {
+			/*FIXME: restoring DEBUGCAUSE causes exception when executing corresponding
+			* instruction in DIR */
+			LOG_DEBUG("Skip restoring register %s: 0x%8.8" PRIx32 " -> 0x%8.8" PRIx32,
+				xtensa->core_cache->reg_list[i].name,
+				buf_get_u32(reg->value, 0, 32),
+				buf_get_u32(xtensa->algo_context_backup[i], 0, 32));
+			buf_cpy(xtensa->algo_context_backup[i], reg->value, reg->size);
+			xtensa->core_cache->reg_list[i].dirty = 0;
+			xtensa->core_cache->reg_list[i].valid = 0;
+		} else if (memcmp(xtensa->algo_context_backup[i], reg->value, reg->size / 8)) {
+			if (reg->size <= 32) {
+				LOG_DEBUG("restoring register %s: 0x%8.8" PRIx32 " -> 0x%8.8" PRIx32,
+					xtensa->core_cache->reg_list[i].name,
+					buf_get_u32(reg->value, 0, reg->size),
+					buf_get_u32(xtensa->algo_context_backup[i], 0, reg->size));
+			} else if (reg->size <= 64) {
+				LOG_DEBUG("restoring register %s: 0x%8.8" PRIx64 " -> 0x%8.8" PRIx64,
+					xtensa->core_cache->reg_list[i].name,
+					buf_get_u64(reg->value, 0, reg->size),
+					buf_get_u64(xtensa->algo_context_backup[i], 0, reg->size));
+			} else {
+				LOG_DEBUG("restoring register %s %u-bits", xtensa->core_cache->reg_list[i].name, reg->size);
+			}
+			buf_cpy(xtensa->algo_context_backup[i], reg->value, reg->size);
+			xtensa->core_cache->reg_list[i].dirty = 1;
+			xtensa->core_cache->reg_list[i].valid = 1;
+		}
+	}
+	target->debug_reason = algorithm_info->ctx_debug_reason;
+
+	retval = xtensa_write_dirty_registers(target);
+	if (retval != ERROR_OK)
+		LOG_ERROR("Failed to write dirty regs (%d)!", retval);
+
+	return retval;
+}
+
+int xtensa_run_algorithm(struct target *target,
+	int num_mem_params, struct mem_param *mem_params,
+	int num_reg_params, struct reg_param *reg_params,
+	target_addr_t entry_point, target_addr_t exit_point,
+	unsigned int timeout_ms, void *arch_info)
+{
+	int retval = xtensa_start_algorithm(target,
+		num_mem_params, mem_params,
+		num_reg_params, reg_params,
+		entry_point, exit_point,
+		arch_info);
+
+	if (retval == ERROR_OK) {
+		retval = xtensa_wait_algorithm(target,
+			num_mem_params, mem_params,
+			num_reg_params, reg_params,
+			exit_point, timeout_ms,
+			arch_info);
+	}
+
+	return retval;
+}
+
 static int xtensa_build_reg_cache(struct target *target)
 {
 	struct xtensa *xtensa = target_to_xtensa(target);
diff --git a/src/target/xtensa/xtensa.h b/src/target/xtensa/xtensa.h
index 4216ae24f..3b37122d6 100644
--- a/src/target/xtensa/xtensa.h
+++ b/src/target/xtensa/xtensa.h
@@ -222,6 +222,16 @@ struct xtensa_sw_breakpoint {
 	uint8_t insn_sz;	/* 2 or 3 bytes */
 };
 
+/**
+ * Xtensa algorithm data.
+ */
+struct xtensa_algorithm {
+	/** User can set this to specify which core mode algorithm should be run in. */
+	enum xtensa_mode core_mode;
+	/** Used internally to backup and restore debug_reason. */
+	enum target_debug_reason ctx_debug_reason;
+};
+
 #define XTENSA_COMMON_MAGIC 0x54E4E555U
 
 /**
@@ -395,6 +405,21 @@ int xtensa_breakpoint_add(struct target *target, struct breakpoint *breakpoint);
 int xtensa_breakpoint_remove(struct target *target, struct breakpoint *breakpoint);
 int xtensa_watchpoint_add(struct target *target, struct watchpoint *watchpoint);
 int xtensa_watchpoint_remove(struct target *target, struct watchpoint *watchpoint);
+int xtensa_start_algorithm(struct target *target,
+	int num_mem_params, struct mem_param *mem_params,
+	int num_reg_params, struct reg_param *reg_params,
+	target_addr_t entry_point, target_addr_t exit_point,
+	void *arch_info);
+int xtensa_wait_algorithm(struct target *target,
+	int num_mem_params, struct mem_param *mem_params,
+	int num_reg_params, struct reg_param *reg_params,
+	target_addr_t exit_point, unsigned int timeout_ms,
+	void *arch_info);
+int xtensa_run_algorithm(struct target *target,
+	int num_mem_params, struct mem_param *mem_params,
+	int num_reg_params, struct reg_param *reg_params,
+	target_addr_t entry_point, target_addr_t exit_point,
+	unsigned int timeout_ms, void *arch_info);
 void xtensa_set_permissive_mode(struct target *target, bool state);
 const char *xtensa_get_gdb_arch(struct target *target);
 int xtensa_gdb_query_custom(struct target *target, const char *packet, char **response_p);

-----------------------------------------------------------------------

Summary of changes:
 src/target/xtensa/xtensa.c | 209 +++++++++++++++++++++++++++++++++++++++++++++
 src/target/xtensa/xtensa.h |  25 ++++++
 2 files changed, 234 insertions(+)


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- Log -----------------------------------------------------------------
commit d3ffcc784dac76ffb5d5d29ca73cb56f38154c1a
Author: Erhan Kurubas <erh...@es...>
Date:   Mon Jul 3 11:02:13 2023 +0200

    target/espressif: add algorithm support to execute code on target
    
    This functionality can be useful for;
    1-ESP flashing code to load flasher stub on target and
    write/read/erase flash.
    2-ESP GCOV command uses some of these functions to run
    onboard routines to dump coverage info.
    
    This is high level api for the Espressif xtensa and riscv targets
    
    Signed-off-by: Erhan Kurubas <erh...@es...>
    Change-Id: I5e618b960bb6566ee618d4ba261f51af97a7cb0e
    Reviewed-on: https://review.openocd.org/c/openocd/+/7759
    Reviewed-by: Tomas Vanek <va...@fb...>
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Tested-by: jenkins

diff --git a/src/target/espressif/Makefile.am b/src/target/espressif/Makefile.am
index 776818ff4..1fbd926d9 100644
--- a/src/target/espressif/Makefile.am
+++ b/src/target/espressif/Makefile.am
@@ -21,4 +21,6 @@ noinst_LTLIBRARIES += %D%/libespressif.la
 	%D%/esp32_sysview.h \
 	%D%/segger_sysview.h \
 	%D%/esp_semihosting.c \
-	%D%/esp_semihosting.h
+	%D%/esp_semihosting.h \
+	%D%/esp_algorithm.c \
+	%D%/esp_algorithm.h
diff --git a/src/target/espressif/esp_algorithm.c b/src/target/espressif/esp_algorithm.c
new file mode 100644
index 000000000..79f610b92
--- /dev/null
+++ b/src/target/espressif/esp_algorithm.c
@@ -0,0 +1,595 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+/***************************************************************************
+ *   Espressif chips common algorithm API for OpenOCD                      *
+ *   Copyright (C) 2022 Espressif Systems Ltd.                             *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <helper/align.h>
+#include <target/algorithm.h>
+#include <target/target.h>
+#include "esp_algorithm.h"
+
+#define DEFAULT_ALGORITHM_TIMEOUT_MS    40000	/* ms */
+
+static int esp_algorithm_read_stub_logs(struct target *target, struct esp_algorithm_stub *stub)
+{
+	if (!stub || stub->log_buff_addr == 0 || stub->log_buff_size == 0)
+		return ERROR_FAIL;
+
+	uint32_t len = 0;
+	int retval = target_read_u32(target, stub->log_buff_addr, &len);
+	if (retval != ERROR_OK)
+		return retval;
+
+	/* sanity check. log_buff_size = sizeof(len) + sizeof(log_buff) */
+	if (len == 0 || len > stub->log_buff_size - 4)
+		return ERROR_FAIL;
+
+	uint8_t *log_buff = calloc(1, len);
+	if (!log_buff) {
+		LOG_ERROR("Failed to allocate memory for the stub log!");
+		return ERROR_FAIL;
+	}
+	retval = target_read_memory(target, stub->log_buff_addr + 4, 1, len, log_buff);
+	if (retval == ERROR_OK)
+		LOG_OUTPUT("%*.*s", len, len, log_buff);
+	free(log_buff);
+	return retval;
+}
+
+static int esp_algorithm_run_image(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	va_list ap)
+{
+	struct working_area **mem_handles = NULL;
+
+	if (!run || !run->hw)
+		return ERROR_FAIL;
+
+	int retval = run->hw->algo_init(target, run, num_args, ap);
+	if (retval != ERROR_OK)
+		return retval;
+
+	/* allocate memory arguments and fill respective reg params */
+	if (run->mem_args.count > 0) {
+		mem_handles = calloc(run->mem_args.count, sizeof(*mem_handles));
+		if (!mem_handles) {
+			LOG_ERROR("Failed to alloc target mem handles!");
+			retval = ERROR_FAIL;
+			goto _cleanup;
+		}
+		/* alloc memory args target buffers */
+		for (uint32_t i = 0; i < run->mem_args.count; i++) {
+			/* small hack: if we need to update some reg param this field holds
+			 * appropriate user argument number, */
+			/* otherwise should hold UINT_MAX */
+			uint32_t usr_param_num = run->mem_args.params[i].address;
+			static struct working_area *area;
+			retval = target_alloc_working_area(target, run->mem_args.params[i].size, &area);
+			if (retval != ERROR_OK) {
+				LOG_ERROR("Failed to alloc target buffer!");
+				retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+				goto _cleanup;
+			}
+			mem_handles[i] = area;
+			run->mem_args.params[i].address = area->address;
+			if (usr_param_num != UINT_MAX) /* if we need update some register param with mem param value */
+				esp_algorithm_user_arg_set_uint(run, usr_param_num, run->mem_args.params[i].address);
+		}
+	}
+
+	if (run->usr_func_init) {
+		retval = run->usr_func_init(target, run, run->usr_func_arg);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("Failed to prepare algorithm host side args stub (%d)!", retval);
+			goto _cleanup;
+		}
+	}
+
+	LOG_DEBUG("Algorithm start @ " TARGET_ADDR_FMT ", stack %d bytes @ " TARGET_ADDR_FMT,
+		run->stub.tramp_mapped_addr, run->stack_size, run->stub.stack_addr);
+	retval = target_start_algorithm(target,
+		run->mem_args.count, run->mem_args.params,
+		run->reg_args.count, run->reg_args.params,
+		run->stub.tramp_mapped_addr, 0,
+		run->stub.ainfo);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Failed to start algorithm (%d)!", retval);
+		goto _cleanup;
+	}
+
+	if (run->usr_func) {
+		/* give target algorithm stub time to init itself, then user func can communicate to it safely */
+		alive_sleep(100);
+		retval = run->usr_func(target, run->usr_func_arg);
+		if (retval != ERROR_OK)
+			LOG_ERROR("Failed to exec algorithm user func (%d)!", retval);
+	}
+	uint32_t timeout_ms = 0;	/* do not wait if 'usr_func' returned error */
+	if (retval == ERROR_OK)
+		timeout_ms = run->timeout_ms ? run->timeout_ms : DEFAULT_ALGORITHM_TIMEOUT_MS;
+	LOG_DEBUG("Wait algorithm completion");
+	retval = target_wait_algorithm(target,
+		run->mem_args.count, run->mem_args.params,
+		run->reg_args.count, run->reg_args.params,
+		0, timeout_ms,
+		run->stub.ainfo);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Failed to wait algorithm (%d)!", retval);
+		/* target has been forced to stop in target_wait_algorithm() */
+	}
+	esp_algorithm_read_stub_logs(target, &run->stub);
+
+	if (run->usr_func_done)
+		run->usr_func_done(target, run, run->usr_func_arg);
+
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Algorithm run failed (%d)!", retval);
+	} else {
+		run->ret_code = esp_algorithm_user_arg_get_uint(run, 0);
+		LOG_DEBUG("Got algorithm RC 0x%" PRIx32, run->ret_code);
+	}
+
+_cleanup:
+	/* free memory arguments */
+	if (mem_handles) {
+		for (uint32_t i = 0; i < run->mem_args.count; i++) {
+			if (mem_handles[i])
+				target_free_working_area(target, mem_handles[i]);
+		}
+		free(mem_handles);
+	}
+	run->hw->algo_cleanup(target, run);
+
+	return retval;
+}
+
+static int esp_algorithm_run_debug_stub(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	va_list ap)
+{
+	if (!run || !run->hw)
+		return ERROR_FAIL;
+
+	int retval = run->hw->algo_init(target, run, num_args, ap);
+	if (retval != ERROR_OK)
+		return retval;
+
+	LOG_DEBUG("Algorithm start @ " TARGET_ADDR_FMT ", stack %d bytes @ " TARGET_ADDR_FMT,
+		run->stub.tramp_mapped_addr, run->stack_size, run->stub.stack_addr);
+	retval = target_start_algorithm(target,
+		run->mem_args.count, run->mem_args.params,
+		run->reg_args.count, run->reg_args.params,
+		run->stub.tramp_mapped_addr, 0,
+		run->stub.ainfo);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Failed to start algorithm (%d)!", retval);
+		goto _cleanup;
+	}
+
+	uint32_t timeout_ms = 0;	/* do not wait if 'usr_func' returned error */
+	if (retval == ERROR_OK)
+		timeout_ms = run->timeout_ms ? run->timeout_ms : DEFAULT_ALGORITHM_TIMEOUT_MS;
+	LOG_DEBUG("Wait algorithm completion");
+	retval = target_wait_algorithm(target,
+		run->mem_args.count, run->mem_args.params,
+		run->reg_args.count, run->reg_args.params,
+		0, timeout_ms,
+		run->stub.ainfo);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Failed to wait algorithm (%d)!", retval);
+		/* target has been forced to stop in target_wait_algorithm() */
+	}
+
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Algorithm run failed (%d)!", retval);
+	} else {
+		run->ret_code = esp_algorithm_user_arg_get_uint(run, 0);
+		LOG_DEBUG("Got algorithm RC 0x%" PRIx32, run->ret_code);
+	}
+
+_cleanup:
+	run->hw->algo_cleanup(target, run);
+
+	return retval;
+}
+
+static void reverse_binary(const uint8_t *src, uint8_t *dest, size_t length)
+{
+	size_t remaining = length % 4;
+	size_t offset = 0;
+	size_t aligned_len = ALIGN_UP(length, 4);
+
+	if (remaining > 0) {
+		/* Put extra bytes to the beginning with padding */
+		memset(dest + remaining, 0xFF, 4 - remaining);
+		for (size_t i = 0; i < remaining; i++)
+			dest[i] = src[length - remaining + i];
+		length -= remaining; /* reverse the others */
+		offset = 4;
+	}
+
+	for (size_t i = offset; i < aligned_len; i += 4) {
+		dest[i + 0] = src[length - i + offset - 4];
+		dest[i + 1] = src[length - i + offset - 3];
+		dest[i + 2] = src[length - i + offset - 2];
+		dest[i + 3] = src[length - i + offset - 1];
+	}
+}
+
+static int load_section_from_image(struct target *target,
+	struct esp_algorithm_run_data *run,
+	int section_num,
+	bool reverse)
+{
+	if (!run)
+		return ERROR_FAIL;
+
+	struct imagesection *section = &run->image.image.sections[section_num];
+	uint32_t sec_wr = 0;
+	uint8_t buf[1024];
+
+	assert(sizeof(buf) % 4 == 0);
+
+	while (sec_wr < section->size) {
+		uint32_t nb = section->size - sec_wr > sizeof(buf) ? sizeof(buf) : section->size - sec_wr;
+		size_t size_read = 0;
+		int retval = image_read_section(&run->image.image, section_num, sec_wr, nb, buf, &size_read);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("Failed to read stub section (%d)!", retval);
+			return retval;
+		}
+
+		if (reverse) {
+			size_t aligned_len = ALIGN_UP(size_read, 4);
+			uint8_t reversed_buf[aligned_len];
+
+			/* Send original size to allow padding */
+			reverse_binary(buf, reversed_buf, size_read);
+
+			/*
+				The address range accessed via the instruction bus is in reverse order (word-wise) compared to access
+				via the data bus. That is to say, address
+				0x3FFE_0000 and 0x400B_FFFC access the same word
+				0x3FFE_0004 and 0x400B_FFF8 access the same word
+				0x3FFE_0008 and 0x400B_FFF4 access the same word
+				...
+				The data bus and instruction bus of the CPU are still both little-endian,
+				so the byte order of individual words is not reversed between address spaces.
+				For example, address
+				0x3FFE_0000 accesses the least significant byte in the word accessed by 0x400B_FFFC.
+				0x3FFE_0001 accesses the second least significant byte in the word accessed by 0x400B_FFFC.
+				0x3FFE_0002 accesses the second most significant byte in the word accessed by 0x400B_FFFC.
+				For more details, please refer to ESP32 TRM, Internal SRAM1 section.
+			*/
+			retval = target_write_buffer(target, run->image.dram_org - sec_wr - aligned_len, aligned_len, reversed_buf);
+			if (retval != ERROR_OK) {
+				LOG_ERROR("Failed to write stub section!");
+				return retval;
+			}
+		} else {
+			retval = target_write_buffer(target, section->base_address + sec_wr, size_read, buf);
+			if (retval != ERROR_OK) {
+				LOG_ERROR("Failed to write stub section!");
+				return retval;
+			}
+		}
+
+		sec_wr += size_read;
+	}
+
+	return ERROR_OK;
+}
+
+/*
+ * Configuration:
+ * ----------------------------
+ * The linker scripts defines the memory layout for the stub code.
+ * The OpenOCD script specifies the workarea address and it's size
+ * Sections defined in the linker are organized to share the same addresses with the workarea.
+ * code and data sections are located in Internal SRAM1 and OpenOCD fills these sections using the data bus.
+ */
+int esp_algorithm_load_func_image(struct target *target, struct esp_algorithm_run_data *run)
+{
+	int retval;
+	size_t tramp_sz = 0;
+	const uint8_t *tramp = NULL;
+	struct duration algo_time;
+	bool alloc_code_working_area = true;
+
+	if (!run || !run->hw)
+		return ERROR_FAIL;
+
+	if (duration_start(&algo_time) != 0) {
+		LOG_ERROR("Failed to start algo time measurement!");
+		return ERROR_FAIL;
+	}
+
+	if (run->hw->stub_tramp_get) {
+		tramp = run->hw->stub_tramp_get(target, &tramp_sz);
+		if (!tramp)
+			return ERROR_FAIL;
+	}
+
+	LOG_DEBUG("stub: base 0x%x, start 0x%" PRIx32 ", %d sections",
+		run->image.image.base_address_set ? (unsigned int)run->image.image.base_address : 0,
+		run->image.image.start_address,
+		run->image.image.num_sections);
+	run->stub.entry = run->image.image.start_address;
+
+	/* [code + trampoline] + <padding> + [data] */
+
+	/* ESP32 has reversed memory region. It will use the last part of DRAM, the others will use the first part.
+	 * To avoid complexity for the backup/restore process, we will allocate a workarea for all IRAM region from
+	 * the beginning. In that case no need to have a padding area.
+	 */
+	if (run->image.reverse) {
+		if (target_alloc_working_area(target, run->image.iram_len, &run->stub.code) != ERROR_OK) {
+			LOG_ERROR("no working area available, can't alloc space for stub code!");
+			retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+			goto _on_error;
+		}
+		alloc_code_working_area = false;
+	}
+
+	uint32_t code_size = 0;
+
+	/* Load code section */
+	for (unsigned int i = 0; i < run->image.image.num_sections; i++) {
+		struct imagesection *section = &run->image.image.sections[i];
+
+		if (section->size == 0)
+			continue;
+
+		if (section->flags & ESP_IMAGE_ELF_PHF_EXEC) {
+			LOG_DEBUG("addr " TARGET_ADDR_FMT ", sz %d, flags %" PRIx64,
+				section->base_address, section->size, section->flags);
+
+			if (alloc_code_working_area) {
+				retval = target_alloc_working_area(target, section->size, &run->stub.code);
+				if (retval != ERROR_OK) {
+					LOG_ERROR("no working area available, can't alloc space for stub code!");
+					retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+					goto _on_error;
+				}
+			}
+
+			if (section->base_address == 0) {
+				section->base_address = run->stub.code->address;
+				/* sanity check, stub is compiled to be run from working area */
+			} else if (run->stub.code->address != section->base_address) {
+				LOG_ERROR("working area " TARGET_ADDR_FMT " and stub code section " TARGET_ADDR_FMT
+					" address mismatch!",
+					section->base_address,
+					run->stub.code->address);
+				retval = ERROR_FAIL;
+				goto _on_error;
+			}
+
+			retval = load_section_from_image(target, run, i, run->image.reverse);
+			if (retval != ERROR_OK)
+				goto _on_error;
+
+			code_size += ALIGN_UP(section->size, 4);
+			break; /* Stub has one executable text section */
+		}
+	}
+
+	/* If exists, load trampoline to the code area */
+	if (tramp) {
+		if (run->stub.tramp_addr == 0) {
+			if (alloc_code_working_area) {
+				/* alloc trampoline in code working area */
+				if (target_alloc_working_area(target, tramp_sz, &run->stub.tramp) != ERROR_OK) {
+					LOG_ERROR("no working area available, can't alloc space for stub jumper!");
+					retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+					goto _on_error;
+				}
+				run->stub.tramp_addr = run->stub.tramp->address;
+			}
+		}
+
+		size_t al_tramp_size = ALIGN_UP(tramp_sz, 4);
+
+		if (run->image.reverse) {
+			target_addr_t reversed_tramp_addr = run->image.dram_org - code_size;
+			uint8_t reversed_tramp[al_tramp_size];
+
+			/* Send original size to allow padding */
+			reverse_binary(tramp, reversed_tramp, tramp_sz);
+			run->stub.tramp_addr = reversed_tramp_addr - al_tramp_size;
+			LOG_DEBUG("Write reversed tramp to addr " TARGET_ADDR_FMT ", sz %zu", run->stub.tramp_addr, al_tramp_size);
+			retval = target_write_buffer(target, run->stub.tramp_addr, al_tramp_size, reversed_tramp);
+		} else {
+			LOG_DEBUG("Write tramp to addr " TARGET_ADDR_FMT ", sz %zu", run->stub.tramp_addr, tramp_sz);
+			retval = target_write_buffer(target, run->stub.tramp_addr, tramp_sz, tramp);
+		}
+
+		if (retval != ERROR_OK) {
+			LOG_ERROR("Failed to write stub jumper!");
+			goto _on_error;
+		}
+
+		run->stub.tramp_mapped_addr = run->image.iram_org + code_size;
+		code_size += al_tramp_size;
+		LOG_DEBUG("Tramp mapped to addr " TARGET_ADDR_FMT, run->stub.tramp_mapped_addr);
+	}
+
+	/* allocate dummy space until the data address */
+	if (alloc_code_working_area) {
+		/* we dont need to restore padding area. */
+		uint32_t backup_working_area_prev = target->backup_working_area;
+		target->backup_working_area = 0;
+		if (target_alloc_working_area(target, run->image.iram_len - code_size, &run->stub.padding) != ERROR_OK) {
+			LOG_ERROR("no working area available, can't alloc space for stub code!");
+			retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+			goto _on_error;
+		}
+		target->backup_working_area = backup_working_area_prev;
+	}
+
+	/*  Load the data section */
+	for (unsigned int i = 0; i < run->image.image.num_sections; i++) {
+		struct imagesection *section = &run->image.image.sections[i];
+
+		if (section->size == 0)
+			continue;
+
+		if (!(section->flags & ESP_IMAGE_ELF_PHF_EXEC)) {
+			LOG_DEBUG("addr " TARGET_ADDR_FMT ", sz %d, flags %" PRIx64, section->base_address, section->size,
+				section->flags);
+			/* target_alloc_working_area() aligns the whole working area size to 4-byte boundary.
+			   We alloc one area for both DATA and BSS, so align each of them ourselves. */
+			uint32_t data_sec_sz = ALIGN_UP(section->size, 4);
+			LOG_DEBUG("DATA sec size %" PRIu32 " -> %" PRIu32, section->size, data_sec_sz);
+			uint32_t bss_sec_sz = ALIGN_UP(run->image.bss_size, 4);
+			LOG_DEBUG("BSS sec size %" PRIu32 " -> %" PRIu32, run->image.bss_size, bss_sec_sz);
+			if (target_alloc_working_area(target, data_sec_sz + bss_sec_sz, &run->stub.data) != ERROR_OK) {
+				LOG_ERROR("no working area available, can't alloc space for stub data!");
+				retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+				goto _on_error;
+			}
+			if (section->base_address == 0) {
+				section->base_address = run->stub.data->address;
+				/* sanity check, stub is compiled to be run from working area */
+			} else if (run->stub.data->address != section->base_address) {
+				LOG_ERROR("working area " TARGET_ADDR_FMT
+					" and stub data section " TARGET_ADDR_FMT
+					" address mismatch!",
+					section->base_address,
+					run->stub.data->address);
+				retval = ERROR_FAIL;
+				goto _on_error;
+			}
+
+			retval = load_section_from_image(target, run, i, false);
+			if (retval != ERROR_OK)
+				goto _on_error;
+		}
+	}
+
+	/* stack */
+	if (run->stub.stack_addr == 0 && run->stack_size > 0) {
+		/* allocate stack in data working area */
+		if (target_alloc_working_area(target, run->stack_size, &run->stub.stack) != ERROR_OK) {
+			LOG_ERROR("no working area available, can't alloc stub stack!");
+			retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+			goto _on_error;
+		}
+		run->stub.stack_addr = run->stub.stack->address + run->stack_size;
+	}
+
+	if (duration_measure(&algo_time) != 0) {
+		LOG_ERROR("Failed to stop algo run measurement!");
+		retval = ERROR_FAIL;
+		goto _on_error;
+	}
+	LOG_DEBUG("Stub loaded in %g ms", duration_elapsed(&algo_time) * 1000);
+	return ERROR_OK;
+
+_on_error:
+	esp_algorithm_unload_func_image(target, run);
+	return retval;
+}
+
+int esp_algorithm_unload_func_image(struct target *target, struct esp_algorithm_run_data *run)
+{
+	if (!run)
+		return ERROR_FAIL;
+
+	target_free_all_working_areas(target);
+
+	run->stub.tramp = NULL;
+	run->stub.stack = NULL;
+	run->stub.code = NULL;
+	run->stub.data = NULL;
+	run->stub.padding = NULL;
+
+	return ERROR_OK;
+}
+
+int esp_algorithm_exec_func_image_va(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	va_list ap)
+{
+	if (!run || !run->image.image.start_address_set || run->image.image.start_address == 0)
+		return ERROR_FAIL;
+
+	return esp_algorithm_run_image(target, run, num_args, ap);
+}
+
+int esp_algorithm_load_onboard_func(struct target *target, target_addr_t func_addr, struct esp_algorithm_run_data *run)
+{
+	int res;
+	const uint8_t *tramp = NULL;
+	size_t tramp_sz = 0;
+	struct duration algo_time;
+
+	if (!run || !run->hw)
+		return ERROR_FAIL;
+
+	if (duration_start(&algo_time) != 0) {
+		LOG_ERROR("Failed to start algo time measurement!");
+		return ERROR_FAIL;
+	}
+
+	if (run->hw->stub_tramp_get) {
+		tramp = run->hw->stub_tramp_get(target, &tramp_sz);
+		if (!tramp)
+			return ERROR_FAIL;
+	}
+
+	if (tramp_sz > run->on_board.code_buf_size) {
+		LOG_ERROR("Stub tramp size %zu bytes exceeds target buf size %d bytes!",
+			tramp_sz, run->on_board.code_buf_size);
+		return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+	}
+
+	if (run->stack_size > run->on_board.min_stack_size) {
+		LOG_ERROR("Algorithm stack size not fit into the allocated target stack!");
+		return ERROR_FAIL;
+	}
+
+	run->stub.stack_addr = run->on_board.min_stack_addr + run->stack_size;
+	run->stub.tramp_addr = run->on_board.code_buf_addr;
+	run->stub.tramp_mapped_addr = run->stub.tramp_addr;
+	run->stub.entry = func_addr;
+
+	if (tramp) {
+		res = target_write_buffer(target, run->stub.tramp_addr, tramp_sz, tramp);
+		if (res != ERROR_OK) {
+			LOG_ERROR("Failed to write stub jumper!");
+			esp_algorithm_unload_onboard_func(target, run);
+			return res;
+		}
+	}
+
+	if (duration_measure(&algo_time) != 0) {
+		LOG_ERROR("Failed to stop algo run measurement!");
+		return ERROR_FAIL;
+	}
+	LOG_DEBUG("Stub loaded in %g ms", duration_elapsed(&algo_time) * 1000);
+
+	return ERROR_OK;
+}
+
+int esp_algorithm_unload_onboard_func(struct target *target, struct esp_algorithm_run_data *run)
+{
+	return ERROR_OK;
+}
+
+int esp_algorithm_exec_onboard_func_va(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	va_list ap)
+{
+	return esp_algorithm_run_debug_stub(target, run, num_args, ap);
+}
diff --git a/src/target/espressif/esp_algorithm.h b/src/target/espressif/esp_algorithm.h
new file mode 100644
index 000000000..11d275777
--- /dev/null
+++ b/src/target/espressif/esp_algorithm.h
@@ -0,0 +1,420 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+
+/***************************************************************************
+ *   Espressif chips common algorithm API for OpenOCD                      *
+ *   Copyright (C) 2022 Espressif Systems Ltd.                             *
+ ***************************************************************************/
+
+#ifndef OPENOCD_TARGET_ESP_ALGORITHM_H
+#define OPENOCD_TARGET_ESP_ALGORITHM_H
+
+#include "helper/log.h"
+#include "helper/binarybuffer.h"
+#include <helper/time_support.h>
+#include <target/algorithm.h>
+#include <target/image.h>
+
+/**
+ * API defined below allows executing pieces of code on target without breaking the execution of the running program.
+ * This functionality can be useful for various debugging and maintenance procedures.
+ * @note ESP flashing code to load flasher stub on target and write/read/erase flash.
+ * Also ESP GCOV command uses some of these functions to run onboard routines to dump coverage info.
+ * Stub entry function can take up to 5 arguments and should be of the following form:
+ *
+ * int stub_entry([uint32_t a1 [, uint32_t a2 [, uint32_t a3 [, uint32_t a4 [, uint32_t a5]]]]]);
+ *
+ * The general scheme of stub code execution is shown below.
+ *
+ *  -------                                                    -----------   (initial frame)    ----
+ * |       | -------(registers, stub entry, stub args)------> |trampoline | ---(stub args)---> |    |
+ * |       |                                                  |           |                    |    |
+ * |OpenOCD| <----------(stub-specific communications)---------------------------------------> |stub|
+ * |       |                                                  |           |                    |    |
+ * |       | <---------(target halted event, ret code)------- |tramp break| <---(ret code)---- |    |
+ *  -------                                                    -----------                      ----
+ *
+ * Procedure of executing stub on target includes:
+ * 1) User prepares struct esp_algorithm_run_data and calls one of algorithm_run_xxx() functions.
+ * 2) Routine allocates all necessary stub code and data sections.
+ * 3) If a user specifies an initializer func esp_algorithm_usr_func_init_t it is called just before the stub starts.
+ * 4) If user specifies stub communication func esp_algorithm_usr_func_t (@see esp_flash_write/read in ESP flash driver)
+ *    it is called just after the stub starts. When communication with stub is finished this function must return.
+ * 5) OpenOCD waits for the stub to finish (hit exit breakpoint).
+ * 6) If the user specified arguments cleanup func esp_algorithm_usr_func_done_t,
+ *    it is called just after the stub finishes.
+ *
+ * There are two options to run code on target under OpenOCD control:
+ * - Run externally compiled stub code.
+ * - Run onboard pre-compiled code. @note For ESP chips debug stubs must be enabled in target code @see ESP IDF docs.
+ * The main difference between the execution of external stub code and target built-in functions is that
+ * in the latter case working areas can not be used to allocate target memory for code and data because they can overlap
+ * with code and data involved in onboard function execution. For example, if memory allocated in the working area
+ * for the stub stack will overlap with some on-board data used by the stub the stack will get overwritten.
+ * The same stands for allocations in target code space.
+ *
+ * External Code Execution
+ * -----------------------
+ * To run external code on the target user should use esp_algorithm_run_func_image().
+ * In this case all necessary memory (code/data) is allocated in working areas that have fixed configuration
+ * defined in target TCL file. Stub code is actually a standalone program, so all its segments must have known
+ * addresses due to position-dependent code nature. So stub must be linked in such a way that its code segment
+ * starts at the beginning of the working area for code space defined in TCL. The same restriction must be applied
+ * to stub's data segment and base addresses of working area for data space. @see ESP stub flasher LD scripts.
+ * Also in order to simplify memory allocation BSS section must follow the DATA section in the stub image.
+ * The size of the BSS section must be specified in the bss_size field of struct algorithm_image.
+ * Sample stub memory map is shown below.
+ *  ___________________________________________
+ * | data space working area start             |
+ * |                                           |
+ * | <stub .data segment>                      |
+ * |___________________________________________|
+ * | stub .bss start                           |
+ * |                                           |
+ * | <stub .bss segment of size 'bss_size'>    |
+ * |___________________________________________|
+ * | stub stack base                           |
+ * |                                           |
+ * | <stub stack>                              |
+ * |___________________________________________|
+ * |                                           |
+ * | <stub mem arg1>                           |
+ * |___________________________________________|
+ * |                                           |
+ * | <stub mem arg2>                           |
+ * |___________________________________________|
+ *  ___________________________________________
+ * | code space working area start             |
+ * |                                           |
+ * | <stub .text segment>                      |
+ * |___________________________________________|
+ * |                                           |
+ * | <stub trampoline with exit breakpoint>    |
+ * |___________________________________________|
+ *
+ * For example on how to execute external code with memory arguments @see esp_algo_flash_blank_check in
+ * ESP flash driver.
+ *
+ * On-Board Code Execution
+ * -----------------------
+ * To run on-board code on the target user should use esp_algorithm_run_onboard_func().
+ * On-board code execution process does not need to allocate target memory for stub code and data,
+ * Because the stub is pre-compiled to the code running on the target.
+ * But it still needs memory for stub trampoline, stack, and memory arguments.
+ * Working areas can not be used due to possible memory layout conflicts with on-board stub code and data.
+ * Debug stubs functionality provided by ESP IDF allows OpenOCD to overcome the above problem.
+ * It provides a special descriptor which provides info necessary to safely allocate memory on target.
+ * @see struct esp_dbg_stubs_desc.
+ * That info is also used to locate memory for stub trampoline code.
+ * User can execute target function at any address, but @see ESP IDF debug stubs also provide a way to pass to the host
+ * an entry address of pre-defined registered stub functions.
+ * For example of an on-board code execution @see esp32_cmd_gcov() in ESP32 apptrace module.
+*/
+
+/**
+ * Algorithm image data.
+ * Helper struct to work with algorithms consisting of code and data segments.
+ */
+struct esp_algorithm_image {
+	/** Image. */
+	struct image image;
+	/** BSS section size. */
+	uint32_t bss_size;
+	/** IRAM start address in the linker script */
+	uint32_t iram_org;
+	/** Total reserved IRAM size */
+	uint32_t iram_len;
+	/** DRAM start address in the linker script */
+	uint32_t dram_org;
+	/** Total reserved DRAM size */
+	uint32_t dram_len;
+	/** IRAM DRAM address range reversed or not */
+	bool reverse;
+};
+
+#define ESP_IMAGE_ELF_PHF_EXEC			0x1
+
+/**
+ * Algorithm stub data.
+ */
+struct esp_algorithm_stub {
+	/** Entry addr. */
+	target_addr_t entry;
+	/** Working area for code segment. */
+	struct working_area *code;
+	/** Working area for data segment. */
+	struct working_area *data;
+	/** Working area for trampoline. */
+	struct working_area *tramp;
+	/** Working area for padding between code and data area. */
+	struct working_area *padding;
+	/** Address of the target buffer for stub trampoline. If zero tramp->address will be used. */
+	target_addr_t tramp_addr;
+	/** Tramp code area will be filled from dbus.
+	 *  We need to map it to the ibus to be able to initialize PC register to start algorithm execution from.
+	 */
+	target_addr_t tramp_mapped_addr;
+	/** Working area for stack. */
+	struct working_area *stack;
+	/** Address of the target buffer for stack. If zero tramp->address will be used. */
+	target_addr_t stack_addr;
+	/** Address of the log buffer */
+	target_addr_t log_buff_addr;
+	/** Size of the log buffer */
+	uint32_t log_buff_size;
+	/** Algorithm's arch-specific info. */
+	void *ainfo;
+};
+
+/**
+ * Algorithm stub in-memory arguments.
+ */
+struct esp_algorithm_mem_args {
+	/** Memory params. */
+	struct mem_param *params;
+	/** Number of memory params. */
+	uint32_t count;
+};
+
+/**
+ * Algorithm stub register arguments.
+ */
+struct esp_algorithm_reg_args {
+	/** Algorithm register params. User args start from user_first_reg_param */
+	struct reg_param *params;
+	/** Number of register params. */
+	uint32_t count;
+	/** The first several reg_params can be used by stub itself (e.g. for trampoline).
+	 * This is the index of the first reg_param available for user to pass args to algorithm stub. */
+	uint32_t first_user_param;
+};
+
+struct esp_algorithm_run_data;
+
+/**
+ * @brief Algorithm run function.
+ *
+ * @param target Pointer to target.
+ * @param run    Pointer to algo run data.
+ * @param arg    Function specific argument.
+ *
+ * @return ERROR_OK on success, otherwise ERROR_XXX.
+ */
+typedef int (*esp_algorithm_func_t)(struct target *target, struct esp_algorithm_run_data *run, void *arg);
+
+/**
+ * @brief Host part of algorithm.
+ *        This function will be called while stub is running on target.
+ *        It can be used for communication with stub.
+ *
+ * @param target  Pointer to target.
+ * @param usr_arg Function specific argument.
+ *
+ * @return ERROR_OK on success, otherwise ERROR_XXX.
+ */
+typedef int (*esp_algorithm_usr_func_t)(struct target *target, void *usr_arg);
+
+/**
+ * @brief Algorithm's arguments setup function.
+ *        This function will be called just before stub start.
+ *        It must return when all operations with running stub are completed.
+ *        It can be used to prepare stub memory parameters.
+ *
+ * @param target  Pointer to target.
+ * @param run     Pointer to algo run data.
+ * @param usr_arg Function specific argument. The same as for esp_algorithm_usr_func_t.
+ *
+ * @return ERROR_OK on success, otherwise ERROR_XXX.
+ */
+typedef int (*esp_algorithm_usr_func_init_t)(struct target *target,
+	struct esp_algorithm_run_data *run,
+	void *usr_arg);
+
+/**
+ * @brief Algorithm's arguments cleanup function.
+ *        This function will be called just after stub exit.
+ *        It can be used to cleanup stub memory parameters.
+ *
+ * @param target  Pointer to target.
+ * @param run     Pointer to algo run data.
+ * @param usr_arg Function specific argument. The same as for esp_algorithm_usr_func_t.
+ *
+ * @return ERROR_OK on success, otherwise ERROR_XXX.
+ */
+typedef void (*esp_algorithm_usr_func_done_t)(struct target *target,
+	struct esp_algorithm_run_data *run,
+	void *usr_arg);
+
+struct esp_algorithm_hw {
+	int (*algo_init)(struct target *target, struct esp_algorithm_run_data *run, uint32_t num_args, va_list ap);
+	int (*algo_cleanup)(struct target *target, struct esp_algorithm_run_data *run);
+	const uint8_t *(*stub_tramp_get)(struct target *target, size_t *size);
+};
+
+/**
+ * Algorithm run data.
+ */
+struct esp_algorithm_run_data {
+	/** Algorithm completion timeout in ms. If 0, default value will be used */
+	uint32_t timeout_ms;
+	/** Algorithm stack size. */
+	uint32_t stack_size;
+	/** Algorithm register arguments. */
+	struct esp_algorithm_reg_args reg_args;
+	/** Algorithm memory arguments. */
+	struct esp_algorithm_mem_args mem_args;
+	/** Algorithm arch-specific info. For Xtensa this should point to struct xtensa_algorithm. */
+	void *arch_info;
+	/** Algorithm return code. */
+	int32_t ret_code;
+	/** Stub. */
+	struct esp_algorithm_stub stub;
+	union {
+		struct {
+			/** Size of the pre-alocated on-board buffer for stub's code. */
+			uint32_t code_buf_size;
+			/** Address of pre-compiled target buffer for stub trampoline. */
+			target_addr_t code_buf_addr;
+			/** Size of the pre-alocated on-board buffer for stub's stack. */
+			uint32_t min_stack_size;
+			/** Pre-compiled target buffer's addr for stack. */
+			target_addr_t min_stack_addr;
+		} on_board;
+		struct esp_algorithm_image image;
+	};
+	/** Host side algorithm function argument. */
+	void *usr_func_arg;
+	/** Host side algorithm function. */
+	esp_algorithm_usr_func_t usr_func;
+	/** Host side algorithm function setup routine. */
+	esp_algorithm_usr_func_init_t usr_func_init;
+	/** Host side algorithm function cleanup routine. */
+	esp_algorithm_usr_func_done_t usr_func_done;
+	/** Algorithm run function: see algorithm_run_xxx for example. */
+	esp_algorithm_func_t algo_func;
+	/** HW specific API */
+	const struct esp_algorithm_hw *hw;
+};
+
+int esp_algorithm_load_func_image(struct target *target, struct esp_algorithm_run_data *run);
+int esp_algorithm_unload_func_image(struct target *target, struct esp_algorithm_run_data *run);
+
+int esp_algorithm_exec_func_image_va(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	va_list ap);
+
+/**
+ * @brief Loads and runs stub from specified image.
+ *        This function should be used to run external stub code on target.
+ *
+ * @param target   Pointer to target.
+ * @param run      Pointer to algo run data.
+ * @param num_args Number of stub arguments that follow.
+ *
+ * @return ERROR_OK on success, otherwise ERROR_XXX. Stub return code is in run->ret_code.
+ */
+static inline int esp_algorithm_run_func_image_va(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	va_list ap)
+{
+	int ret = esp_algorithm_load_func_image(target, run);
+	if (ret != ERROR_OK)
+		return ret;
+	ret = esp_algorithm_exec_func_image_va(target, run, num_args, ap);
+	int rc = esp_algorithm_unload_func_image(target, run);
+	return ret != ERROR_OK ? ret : rc;
+}
+
+static inline int esp_algorithm_run_func_image(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	...)
+{
+	va_list ap;
+	va_start(ap, num_args);
+	int retval = esp_algorithm_run_func_image_va(target, run, num_args, ap);
+	va_end(ap);
+	return retval;
+}
+
+int esp_algorithm_load_onboard_func(struct target *target,
+	target_addr_t func_addr,
+	struct esp_algorithm_run_data *run);
+int esp_algorithm_unload_onboard_func(struct target *target, struct esp_algorithm_run_data *run);
+int esp_algorithm_exec_onboard_func_va(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t num_args,
+	va_list ap);
+
+/**
+ * @brief Runs pre-compiled on-board function.
+ *        This function should be used to run on-board stub code.
+ *
+ * @param target     Pointer to target.
+ * @param run        Pointer to algo run data.
+ * @param func_entry Address of the function to run.
+ * @param num_args   Number of function arguments that follow.
+ *
+ * @return ERROR_OK on success, otherwise ERROR_XXX. Stub return code is in run->ret_code.
+ */
+static inline int esp_algorithm_run_onboard_func_va(struct target *target,
+	struct esp_algorithm_run_data *run,
+	target_addr_t func_addr,
+	uint32_t num_args,
+	va_list ap)
+{
+	int ret = esp_algorithm_load_onboard_func(target, func_addr, run);
+	if (ret != ERROR_OK)
+		return ret;
+	ret = esp_algorithm_exec_onboard_func_va(target, run, num_args, ap);
+	if (ret != ERROR_OK)
+		return ret;
+	return esp_algorithm_unload_onboard_func(target, run);
+}
+
+static inline int esp_algorithm_run_onboard_func(struct target *target,
+	struct esp_algorithm_run_data *run,
+	target_addr_t func_addr,
+	uint32_t num_args,
+	...)
+{
+	va_list ap;
+	va_start(ap, num_args);
+	int retval = esp_algorithm_run_onboard_func_va(target, run, func_addr, num_args, ap);
+	va_end(ap);
+	return retval;
+}
+
+/**
+ * @brief Set the value of an argument passed via registers to the stub main function.
+ */
+static inline void esp_algorithm_user_arg_set_uint(struct esp_algorithm_run_data *run,
+	int arg_num,
+	uint64_t val)
+{
+	struct reg_param *param = &run->reg_args.params[run->reg_args.first_user_param + arg_num];
+
+	assert(param->size <= 64);
+
+	if (param->size <= 32)
+		buf_set_u32(param->value, 0, param->size, val);
+	else
+		buf_set_u64(param->value, 0, param->size, val);
+}
+
+/**
+ * @brief Get the value of an argument passed via registers from the stub main function.
+ */
+static inline uint64_t esp_algorithm_user_arg_get_uint(struct esp_algorithm_run_data *run, int arg_num)
+{
+	struct reg_param *param = &run->reg_args.params[run->reg_args.first_user_param + arg_num];
+
+	assert(param->size <= 64);
+
+	if (param->size <= 32)
+		return buf_get_u32(param->value, 0, param->size);
+	return buf_get_u64(param->value, 0, param->size);
+}
+
+#endif	/* OPENOCD_TARGET_ESP_ALGORITHM_H */
diff --git a/src/target/espressif/esp_xtensa_smp.c b/src/target/espressif/esp_xtensa_smp.c
index bc4d8a21a..f883b1ce7 100644
--- a/src/target/espressif/esp_xtensa_smp.c
+++ b/src/target/espressif/esp_xtensa_smp.c
@@ -16,6 +16,7 @@
 #include <target/semihosting_common.h>
 #include "esp_xtensa_smp.h"
 #include "esp_xtensa_semihosting.h"
+#include "esp_algorithm.h"
 
 /*
 Multiprocessor stuff common:
@@ -495,6 +496,83 @@ int esp_xtensa_smp_watchpoint_remove(struct target *target, struct watchpoint *w
 	return ERROR_OK;
 }
 
+int esp_xtensa_smp_run_func_image(struct target *target, struct esp_algorithm_run_data *run, uint32_t num_args, ...)
+{
+	struct target *run_target = target;
+	struct target_list *head;
+	va_list ap;
+	uint32_t smp_break = 0;
+	int res;
+
+	if (target->smp) {
+		/* find first HALTED and examined core */
+		foreach_smp_target(head, target->smp_targets) {
+			run_target = head->target;
+			if (target_was_examined(run_target) && run_target->state == TARGET_HALTED)
+				break;
+		}
+		if (!head) {
+			LOG_ERROR("Failed to find HALTED core!");
+			return ERROR_FAIL;
+		}
+
+		res = esp_xtensa_smp_smpbreak_disable(run_target, &smp_break);
+		if (res != ERROR_OK)
+			return res;
+	}
+
+	va_start(ap, num_args);
+	int algo_res = esp_algorithm_run_func_image_va(run_target, run, num_args, ap);
+	va_end(ap);
+
+	if (target->smp) {
+		res = esp_xtensa_smp_smpbreak_restore(run_target, smp_break);
+		if (res != ERROR_OK)
+			return res;
+	}
+	return algo_res;
+}
+
+int esp_xtensa_smp_run_onboard_func(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t func_addr,
+	uint32_t num_args,
+	...)
+{
+	struct target *run_target = target;
+	struct target_list *head;
+	va_list ap;
+	uint32_t smp_break = 0;
+	int res;
+
+	if (target->smp) {
+		/* find first HALTED and examined core */
+		foreach_smp_target(head, target->smp_targets) {
+			run_target = head->target;
+			if (target_was_examined(run_target) && run_target->state == TARGET_HALTED)
+				break;
+		}
+		if (!head) {
+			LOG_ERROR("Failed to find HALTED core!");
+			return ERROR_FAIL;
+		}
+		res = esp_xtensa_smp_smpbreak_disable(run_target, &smp_break);
+		if (res != ERROR_OK)
+			return res;
+	}
+
+	va_start(ap, num_args);
+	int algo_res = esp_algorithm_run_onboard_func_va(run_target, run, func_addr, num_args, ap);
+	va_end(ap);
+
+	if (target->smp) {
+		res = esp_xtensa_smp_smpbreak_restore(run_target, smp_break);
+		if (res != ERROR_OK)
+			return res;
+	}
+	return algo_res;
+}
+
 int esp_xtensa_smp_init_arch_info(struct target *target,
 	struct esp_xtensa_smp_common *esp_xtensa_smp,
 	struct xtensa_debug_module_config *dm_cfg,
diff --git a/src/target/espressif/esp_xtensa_smp.h b/src/target/espressif/esp_xtensa_smp.h
index 4e4f3b332..39afd8af1 100644
--- a/src/target/espressif/esp_xtensa_smp.h
+++ b/src/target/espressif/esp_xtensa_smp.h
@@ -9,6 +9,7 @@
 #define OPENOCD_TARGET_XTENSA_ESP_SMP_H
 
 #include "esp_xtensa.h"
+#include "esp_algorithm.h"
 
 struct esp_xtensa_smp_chip_ops {
 	int (*poll)(struct target *target);
@@ -47,7 +48,12 @@ int esp_xtensa_smp_init_arch_info(struct target *target,
 	struct xtensa_debug_module_config *dm_cfg,
 	const struct esp_xtensa_smp_chip_ops *chip_ops,
 	const struct esp_semihost_ops *semihost_ops);
-
+int esp_xtensa_smp_run_func_image(struct target *target, struct esp_algorithm_run_data *run, uint32_t num_args, ...);
+int esp_xtensa_smp_run_onboard_func(struct target *target,
+	struct esp_algorithm_run_data *run,
+	uint32_t func_addr,
+	uint32_t num_args,
+	...);
 extern const struct command_registration esp_xtensa_smp_command_handlers[];
 extern const struct command_registration esp_xtensa_smp_xtensa_command_handlers[];
 extern const struct command_registration esp_xtensa_smp_esp_command_handlers[];

-----------------------------------------------------------------------

Summary of changes:
 src/target/espressif/Makefile.am      |   4 +-
 src/target/espressif/esp_algorithm.c  | 595 ++++++++++++++++++++++++++++++++++
 src/target/espressif/esp_algorithm.h  | 420 ++++++++++++++++++++++++
 src/target/espressif/esp_xtensa_smp.c |  78 +++++
 src/target/espressif/esp_xtensa_smp.h |   8 +-
 5 files changed, 1103 insertions(+), 2 deletions(-)
 create mode 100644 src/target/espressif/esp_algorithm.c
 create mode 100644 src/target/espressif/esp_algorithm.h


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- Log -----------------------------------------------------------------
commit ba16fdc1c645bda82adb5a06b4403e7501e150c4
Author: Tomas Vanek <va...@fb...>
Date:   Tue Nov 7 14:45:45 2023 +0100

    drivers/cmsis_dap: use quirk workarounds optionally
    
    Introduce 'cmsis-dap quirk' command to enable and
    disable quirk mode.
    
    If enabled, disconnect and connect before a switch
    sequence and do not use multiple packets pipelining.
    
    Change-Id: I6576f7de9f6c98a25c3cf9eec9a456a23610d00d
    Signed-off-by: Tomas Vanek <va...@fb...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7966
    Tested-by: jenkins

diff --git a/doc/openocd.texi b/doc/openocd.texi
index de990c538..db7315fe4 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -2569,6 +2569,18 @@ In most cases need not to be specified and interfaces are searched by
 interface string or for user class interface.
 @end deffn
 
+@deffn {Command} {cmsis-dap quirk} [@option{enable}|@option{disable}]
+Enables or disables the following workarounds of known CMSIS-DAP adapter
+quirks:
+@itemize @minus
+@item disconnect and re-connect before sending a switch sequence
+@item packets pipelining is suppressed, only one packet at a time is
+submitted to the adapter
+@end itemize
+The quirk workarounds are disabled by default.
+The command without a parameter displays current setting.
+@end deffn
+
 @deffn {Command} {cmsis-dap info}
 Display various device information, like hardware version, firmware version, current bus status.
 @end deffn
diff --git a/src/jtag/drivers/cmsis_dap.c b/src/jtag/drivers/cmsis_dap.c
index 5d060bdad..caacc9b91 100644
--- a/src/jtag/drivers/cmsis_dap.c
+++ b/src/jtag/drivers/cmsis_dap.c
@@ -861,9 +861,10 @@ static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 		goto skip;
 	}
 
-	dap->pending_fifo_put_idx = (dap->pending_fifo_put_idx + 1) % dap->packet_count;
+	unsigned int packet_count = dap->quirk_mode ? 1 : dap->packet_count;
+	dap->pending_fifo_put_idx = (dap->pending_fifo_put_idx + 1) % packet_count;
 	dap->pending_fifo_block_count++;
-	if (dap->pending_fifo_block_count > dap->packet_count)
+	if (dap->pending_fifo_block_count > packet_count)
 		LOG_ERROR("internal: too much pending writes %u", dap->pending_fifo_block_count);
 
 	return;
@@ -984,7 +985,8 @@ static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blo
 
 skip:
 	block->transfer_count = 0;
-	dap->pending_fifo_get_idx = (dap->pending_fifo_get_idx + 1) % dap->packet_count;
+	if (!dap->quirk_mode && dap->packet_count > 1)
+		dap->pending_fifo_get_idx = (dap->pending_fifo_get_idx + 1) % dap->packet_count;
 	dap->pending_fifo_block_count--;
 }
 
@@ -1079,7 +1081,8 @@ static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 		/* Not enough room in the queue. Run the queue. */
 		cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 
-		if (cmsis_dap_handle->pending_fifo_block_count >= cmsis_dap_handle->packet_count)
+		unsigned int packet_count = cmsis_dap_handle->quirk_mode ? 1 : cmsis_dap_handle->packet_count;
+		if (cmsis_dap_handle->pending_fifo_block_count >= packet_count)
 			cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
 	}
 
@@ -1222,7 +1225,7 @@ static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
 	if (swd_mode)
 		queued_retval = cmsis_dap_swd_run_queue();
 
-	if (seq != LINE_RESET &&
+	if (cmsis_dap_handle->quirk_mode && seq != LINE_RESET &&
 			(output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST))
 				== (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
 		/* Following workaround deasserts reset on most adapters.
@@ -2220,6 +2223,19 @@ COMMAND_HANDLER(cmsis_dap_handle_backend_command)
 	return ERROR_OK;
 }
 
+COMMAND_HANDLER(cmsis_dap_handle_quirk_command)
+{
+	if (CMD_ARGC > 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	if (CMD_ARGC == 1)
+		COMMAND_PARSE_ENABLE(CMD_ARGV[0], cmsis_dap_handle->quirk_mode);
+
+	command_print(CMD, "CMSIS-DAP quirk workarounds %s",
+				  cmsis_dap_handle->quirk_mode ? "enabled" : "disabled");
+	return ERROR_OK;
+}
+
 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
 	{
 		.name = "info",
@@ -2249,6 +2265,13 @@ static const struct command_registration cmsis_dap_subcommand_handlers[] = {
 		.help = "set the communication backend to use (USB bulk or HID).",
 		.usage = "(auto | usb_bulk | hid)",
 	},
+	{
+		.name = "quirk",
+		.handler = &cmsis_dap_handle_quirk_command,
+		.mode = COMMAND_ANY,
+		.help = "allow expensive workarounds of known adapter quirks.",
+		.usage = "[enable | disable]",
+	},
 #if BUILD_CMSIS_DAP_USB
 	{
 		.name = "usb",
diff --git a/src/jtag/drivers/cmsis_dap.h b/src/jtag/drivers/cmsis_dap.h
index 817636f34..e47697d1f 100644
--- a/src/jtag/drivers/cmsis_dap.h
+++ b/src/jtag/drivers/cmsis_dap.h
@@ -52,6 +52,7 @@ struct cmsis_dap {
 	unsigned int pending_fifo_block_count;
 
 	uint16_t caps;
+	bool quirk_mode;	/* enable expensive workarounds */
 
 	uint32_t swo_buf_sz;
 	bool trace_enabled;

-----------------------------------------------------------------------

Summary of changes:
 doc/openocd.texi             | 12 ++++++++++++
 src/jtag/drivers/cmsis_dap.c | 33 ++++++++++++++++++++++++++++-----
 src/jtag/drivers/cmsis_dap.h |  1 +
 3 files changed, 41 insertions(+), 5 deletions(-)


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[OpenOCD-commit] Main OpenOCD repository branch, master, updated. v0.12.0-425-g66391d283

[openocd-gerrit <ope...@us...>]

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generated because a ref change was pushed to the repository containing
the project "Main OpenOCD repository".

The branch, master has been updated
       via  66391d28373fef090999b253b193d19dbdc11217 (commit)
      from  fd75e9e542700e40f11d79532d19e311cf437de1 (commit)

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- Log -----------------------------------------------------------------
commit 66391d28373fef090999b253b193d19dbdc11217
Author: Tomas Vanek <va...@fb...>
Date:   Sun Nov 20 21:01:17 2022 +0100

    jtag/drivers/cmsis_dap: implement canceling of pending USB requests
    
    Use it whenever an out-of-sync response is detected to clean
    USB bulk transfer state.
    
    USB hidapi does not offer any means to cancel a pending request,
    therefore cmsis_dap_hid_cancel_all() does nothing.
    
    Signed-off-by: Tomas Vanek <va...@fb...>
    Change-Id: Ie36fa760c1643ae10be0e87fc633068965a72242
    Reviewed-on: https://review.openocd.org/c/openocd/+/7366
    Tested-by: jenkins
    Reviewed-by: zapb <de...@za...>

diff --git a/src/jtag/drivers/cmsis_dap.c b/src/jtag/drivers/cmsis_dap.c
index bc86eb46a..5d060bdad 100644
--- a/src/jtag/drivers/cmsis_dap.c
+++ b/src/jtag/drivers/cmsis_dap.c
@@ -365,6 +365,7 @@ static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
 		LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
 			 " received 0x%" PRIx8, current_cmd, resp[0]);
 
+		dap->backend->cancel_all(dap);
 		cmsis_dap_flush_read(dap);
 		return ERROR_FAIL;
 	}
@@ -758,7 +759,6 @@ static int cmsis_dap_cmd_dap_swo_data(
 	return ERROR_OK;
 }
 
-
 static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
 {
 	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++)
@@ -769,6 +769,13 @@ static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
 	dap->pending_fifo_block_count = 0;
 }
 
+static void cmsis_dap_swd_cancel_transfers(struct cmsis_dap *dap)
+{
+	dap->backend->cancel_all(dap);
+	cmsis_dap_flush_read(dap);
+	cmsis_dap_swd_discard_all_pending(dap);
+}
+
 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 {
 	uint8_t *command = dap->command;
@@ -913,8 +920,9 @@ static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blo
 	if (resp[0] != block->command) {
 		LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
 			block->command, resp[0]);
+		cmsis_dap_swd_cancel_transfers(dap);
 		queued_retval = ERROR_FAIL;
-		goto skip;
+		return;
 	}
 
 	unsigned int transfer_count;
@@ -940,9 +948,13 @@ static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blo
 		goto skip;
 	}
 
-	if (block->transfer_count != transfer_count)
+	if (block->transfer_count != transfer_count) {
 		LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 			  block->transfer_count, transfer_count);
+		cmsis_dap_swd_cancel_transfers(dap);
+		queued_retval = ERROR_FAIL;
+		return;
+	}
 
 	LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %u, %s mode",
 				 transfer_count, dap->pending_fifo_get_idx,
diff --git a/src/jtag/drivers/cmsis_dap.h b/src/jtag/drivers/cmsis_dap.h
index 187aeb54d..817636f34 100644
--- a/src/jtag/drivers/cmsis_dap.h
+++ b/src/jtag/drivers/cmsis_dap.h
@@ -66,6 +66,7 @@ struct cmsis_dap_backend {
 	int (*write)(struct cmsis_dap *dap, int len, int timeout_ms);
 	int (*packet_buffer_alloc)(struct cmsis_dap *dap, unsigned int pkt_sz);
 	void (*packet_buffer_free)(struct cmsis_dap *dap);
+	void (*cancel_all)(struct cmsis_dap *dap);
 };
 
 extern const struct cmsis_dap_backend cmsis_dap_hid_backend;
diff --git a/src/jtag/drivers/cmsis_dap_usb_bulk.c b/src/jtag/drivers/cmsis_dap_usb_bulk.c
index aaab5804d..17e490f05 100644
--- a/src/jtag/drivers/cmsis_dap_usb_bulk.c
+++ b/src/jtag/drivers/cmsis_dap_usb_bulk.c
@@ -634,6 +634,19 @@ static void cmsis_dap_usb_free(struct cmsis_dap *dap)
 	dap->response = NULL;
 }
 
+static void cmsis_dap_usb_cancel_all(struct cmsis_dap *dap)
+{
+	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
+		if (dap->bdata->command_transfers[i].status == CMSIS_DAP_TRANSFER_PENDING)
+			libusb_cancel_transfer(dap->bdata->command_transfers[i].transfer);
+		if (dap->bdata->response_transfers[i].status == CMSIS_DAP_TRANSFER_PENDING)
+			libusb_cancel_transfer(dap->bdata->response_transfers[i].transfer);
+
+		dap->bdata->command_transfers[i].status = CMSIS_DAP_TRANSFER_IDLE;
+		dap->bdata->response_transfers[i].status = CMSIS_DAP_TRANSFER_IDLE;
+	}
+}
+
 COMMAND_HANDLER(cmsis_dap_handle_usb_interface_command)
 {
 	if (CMD_ARGC == 1)
@@ -663,4 +676,5 @@ const struct cmsis_dap_backend cmsis_dap_usb_backend = {
 	.write = cmsis_dap_usb_write,
 	.packet_buffer_alloc = cmsis_dap_usb_alloc,
 	.packet_buffer_free = cmsis_dap_usb_free,
+	.cancel_all = cmsis_dap_usb_cancel_all,
 };
diff --git a/src/jtag/drivers/cmsis_dap_usb_hid.c b/src/jtag/drivers/cmsis_dap_usb_hid.c
index 6338886c8..1decc7156 100644
--- a/src/jtag/drivers/cmsis_dap_usb_hid.c
+++ b/src/jtag/drivers/cmsis_dap_usb_hid.c
@@ -236,6 +236,10 @@ static void cmsis_dap_hid_free(struct cmsis_dap *dap)
 	dap->packet_buffer = NULL;
 }
 
+static void cmsis_dap_hid_cancel_all(struct cmsis_dap *dap)
+{
+}
+
 const struct cmsis_dap_backend cmsis_dap_hid_backend = {
 	.name = "hid",
 	.open = cmsis_dap_hid_open,
@@ -244,4 +248,5 @@ const struct cmsis_dap_backend cmsis_dap_hid_backend = {
 	.write = cmsis_dap_hid_write,
 	.packet_buffer_alloc = cmsis_dap_hid_alloc,
 	.packet_buffer_free = cmsis_dap_hid_free,
+	.cancel_all = cmsis_dap_hid_cancel_all,
 };

-----------------------------------------------------------------------

Summary of changes:
 src/jtag/drivers/cmsis_dap.c          | 18 +++++++++++++++---
 src/jtag/drivers/cmsis_dap.h          |  1 +
 src/jtag/drivers/cmsis_dap_usb_bulk.c | 14 ++++++++++++++
 src/jtag/drivers/cmsis_dap_usb_hid.c  |  5 +++++
 4 files changed, 35 insertions(+), 3 deletions(-)


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- Log -----------------------------------------------------------------
commit fd75e9e542700e40f11d79532d19e311cf437de1
Author: Tomas Vanek <va...@fb...>
Date:   Sat Nov 19 07:26:37 2022 +0100

    jtag/drivers/cmsis_dap_bulk: use asynchronous libusb transfer
    
    The synchronous libusb_bulk_transfer() always waits
    for the transfer to complete. Therefore it does not allow issuing
    multiple USB requests as used on HID backend.
    
    Switch to asynchrounous libusb_submit_transfer().
    
    With this patch a good USB FS based CMSIS-DAPv2 adapter
    almost doubles the throughput:
    
     adapter speed: 20000 kHz
     poll off
    
     > load_image /run/user/1000/ram256k.bin 0x20000000
     262144 bytes written at address 0x20000000
     downloaded 262144 bytes in 0.428576s (597.327 KiB/s)
    
     > dump_image /dev/null 0x20000000 0x40000
     dumped 262144 bytes in 0.572875s (446.869 KiB/s)
    
    Signed-off-by: Tomas Vanek <va...@fb...>
    Change-Id: Ic6168ea4eca4f6bd1d8ad541a07a8d70427cc509
    Reviewed-on: https://review.openocd.org/c/openocd/+/7365
    Reviewed-by: zapb <de...@za...>
    Tested-by: jenkins

diff --git a/src/jtag/drivers/cmsis_dap.c b/src/jtag/drivers/cmsis_dap.c
index 03832431d..bc86eb46a 100644
--- a/src/jtag/drivers/cmsis_dap.c
+++ b/src/jtag/drivers/cmsis_dap.c
@@ -225,6 +225,12 @@ struct pending_scan_result {
 	unsigned int buffer_offset;
 };
 
+/* Read mode */
+enum cmsis_dap_blocking {
+	CMSIS_DAP_NON_BLOCKING,
+	CMSIS_DAP_BLOCKING
+};
+
 /* Each block in FIFO can contain up to pending_queue_len transfers */
 static unsigned int pending_queue_len;
 static unsigned int tfer_max_command_size;
@@ -315,7 +321,7 @@ static void cmsis_dap_flush_read(struct cmsis_dap *dap)
 	 * USB close/open so we need to flush up to 64 old packets
 	 * to be sure all buffers are empty */
 	for (i = 0; i < 64; i++) {
-		int retval = dap->backend->read(dap, 10);
+		int retval = dap->backend->read(dap, 10, NULL);
 		if (retval == ERROR_TIMEOUT_REACHED)
 			break;
 	}
@@ -326,10 +332,13 @@ static void cmsis_dap_flush_read(struct cmsis_dap *dap)
 /* Send a message and receive the reply */
 static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
 {
+	if (dap->write_count + dap->read_count) {
+		LOG_ERROR("internal: queue not empty before xfer");
+	}
 	if (dap->pending_fifo_block_count) {
 		LOG_ERROR("pending %u blocks, flushing", dap->pending_fifo_block_count);
 		while (dap->pending_fifo_block_count) {
-			dap->backend->read(dap, 10);
+			dap->backend->read(dap, 10, NULL);
 			dap->pending_fifo_block_count--;
 		}
 		dap->pending_fifo_put_idx = 0;
@@ -342,7 +351,7 @@ static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
 		return retval;
 
 	/* get reply */
-	retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS);
+	retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, NULL);
 	if (retval < 0)
 		return retval;
 
@@ -750,6 +759,16 @@ static int cmsis_dap_cmd_dap_swo_data(
 }
 
 
+static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
+{
+	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++)
+		dap->pending_fifo[i].transfer_count = 0;
+
+	dap->pending_fifo_put_idx = 0;
+	dap->pending_fifo_get_idx = 0;
+	dap->pending_fifo_block_count = 0;
+}
+
 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 {
 	uint8_t *command = dap->command;
@@ -770,8 +789,10 @@ static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 		goto skip;
 	}
 
-	if (block->transfer_count == 0)
+	if (block->transfer_count == 0) {
+		LOG_ERROR("internal: write an empty queue?!");
 		goto skip;
+	}
 
 	bool block_cmd = !cmsis_dap_handle->swd_cmds_differ
 					 && block->transfer_count >= CMD_DAP_TFER_BLOCK_MIN_OPS;
@@ -831,14 +852,12 @@ static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 	if (retval < 0) {
 		queued_retval = retval;
 		goto skip;
-	} else {
-		queued_retval = ERROR_OK;
 	}
 
 	dap->pending_fifo_put_idx = (dap->pending_fifo_put_idx + 1) % dap->packet_count;
 	dap->pending_fifo_block_count++;
 	if (dap->pending_fifo_block_count > dap->packet_count)
-		LOG_ERROR("too much pending writes %u", dap->pending_fifo_block_count);
+		LOG_ERROR("internal: too much pending writes %u", dap->pending_fifo_block_count);
 
 	return;
 
@@ -846,21 +865,47 @@ skip:
 	block->transfer_count = 0;
 }
 
-static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
+static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blocking blocking)
 {
+	int retval;
 	struct pending_request_block *block = &dap->pending_fifo[dap->pending_fifo_get_idx];
 
-	if (dap->pending_fifo_block_count == 0)
-		LOG_ERROR("no pending write");
+	if (dap->pending_fifo_block_count == 0) {
+		LOG_ERROR("internal: no pending write when reading?!");
+		return;
+	}
+
+	if (queued_retval != ERROR_OK) {
+		/* keep reading blocks until the pipeline is empty */
+		retval = dap->backend->read(dap, 10, NULL);
+		if (retval == ERROR_TIMEOUT_REACHED || retval == 0) {
+			/* timeout means that we flushed the pipeline,
+			 * we can safely discard remaining pending requests */
+			cmsis_dap_swd_discard_all_pending(dap);
+			return;
+		}
+		goto skip;
+	}
 
 	/* get reply */
-	int retval = dap->backend->read(dap, timeout_ms);
-	if (retval == ERROR_TIMEOUT_REACHED && timeout_ms < LIBUSB_TIMEOUT_MS)
+	struct timeval tv = {
+		.tv_sec = 0,
+		.tv_usec = 0
+	};
+	retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, blocking ? NULL : &tv);
+	bool timeout = (retval == ERROR_TIMEOUT_REACHED || retval == 0);
+	if (timeout && blocking == CMSIS_DAP_NON_BLOCKING)
 		return;
 
 	if (retval <= 0) {
-		LOG_DEBUG("error reading data");
+		LOG_DEBUG("error reading adapter response");
 		queued_retval = ERROR_FAIL;
+		if (timeout) {
+			/* timeout means that we flushed the pipeline,
+			 * we can safely discard remaining pending requests */
+			cmsis_dap_swd_discard_all_pending(dap);
+			return;
+		}
 		goto skip;
 	}
 
@@ -899,8 +944,9 @@ static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
 		LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 			  block->transfer_count, transfer_count);
 
-	LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %u timeout %i",
-		 transfer_count, dap->pending_fifo_get_idx, timeout_ms);
+	LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %u, %s mode",
+				 transfer_count, dap->pending_fifo_get_idx,
+				 blocking ? "blocking" : "nonblocking");
 
 	for (unsigned int i = 0; i < transfer_count; i++) {
 		struct pending_transfer_result *transfer = &(block->transfers[i]);
@@ -932,13 +978,15 @@ skip:
 
 static int cmsis_dap_swd_run_queue(void)
 {
-	if (cmsis_dap_handle->pending_fifo_block_count)
-		cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
+	if (cmsis_dap_handle->write_count + cmsis_dap_handle->read_count) {
+		if (cmsis_dap_handle->pending_fifo_block_count)
+			cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
 
-	cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
+		cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
+	}
 
 	while (cmsis_dap_handle->pending_fifo_block_count)
-		cmsis_dap_swd_read_process(cmsis_dap_handle, LIBUSB_TIMEOUT_MS);
+		cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
 
 	cmsis_dap_handle->pending_fifo_put_idx = 0;
 	cmsis_dap_handle->pending_fifo_get_idx = 0;
@@ -979,10 +1027,16 @@ static unsigned int cmsis_dap_tfer_resp_size(unsigned int write_count,
 
 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 {
+	/* TARGETSEL register write cannot be queued */
+	if (swd_cmd(false, false, DP_TARGETSEL) == cmd) {
+		queued_retval = cmsis_dap_swd_run_queue();
+
+		cmsis_dap_metacmd_targetsel(data);
+		return;
+	}
+
 	/* Compute sizes of the DAP Transfer command and the expected response
 	 * for all queued and this operation */
-	bool targetsel_cmd = swd_cmd(false, false, DP_TARGETSEL) == cmd;
-
 	unsigned int write_count = cmsis_dap_handle->write_count;
 	unsigned int read_count = cmsis_dap_handle->read_count;
 	bool block_cmd;
@@ -1003,20 +1057,18 @@ static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 													block_cmd);
 	unsigned int max_transfer_count = block_cmd ? 65535 : 255;
 
-	/* Does the DAP Transfer command and the expected response fit into one packet?
-	 * Run the queue also before a targetsel - it cannot be queued */
+	/* Does the DAP Transfer command and also its expected response fit into one packet? */
 	if (cmd_size > tfer_max_command_size
 			|| resp_size > tfer_max_response_size
-			|| targetsel_cmd
 			|| write_count + read_count > max_transfer_count) {
 		if (cmsis_dap_handle->pending_fifo_block_count)
-			cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
+			cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
 
 		/* Not enough room in the queue. Run the queue. */
 		cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 
 		if (cmsis_dap_handle->pending_fifo_block_count >= cmsis_dap_handle->packet_count)
-			cmsis_dap_swd_read_process(cmsis_dap_handle, LIBUSB_TIMEOUT_MS);
+			cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
 	}
 
 	assert(cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx].transfer_count < pending_queue_len);
@@ -1024,11 +1076,6 @@ static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 	if (queued_retval != ERROR_OK)
 		return;
 
-	if (targetsel_cmd) {
-		cmsis_dap_metacmd_targetsel(data);
-		return;
-	}
-
 	struct pending_request_block *block = &cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx];
 	struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
 	transfer->data = data;
@@ -1160,6 +1207,9 @@ static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
 	unsigned int s_len;
 	int retval;
 
+	if (swd_mode)
+		queued_retval = cmsis_dap_swd_run_queue();
+
 	if (seq != LINE_RESET &&
 			(output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST))
 				== (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
@@ -1296,7 +1346,7 @@ static int cmsis_dap_init(void)
 	if (data[0] == 2) {  /* short */
 		uint16_t pkt_sz = data[1] + (data[2] << 8);
 		if (pkt_sz != cmsis_dap_handle->packet_size) {
-			free(cmsis_dap_handle->packet_buffer);
+			cmsis_dap_handle->backend->packet_buffer_free(cmsis_dap_handle);
 			retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
 			if (retval != ERROR_OK)
 				goto init_err;
diff --git a/src/jtag/drivers/cmsis_dap.h b/src/jtag/drivers/cmsis_dap.h
index a8554de80..187aeb54d 100644
--- a/src/jtag/drivers/cmsis_dap.h
+++ b/src/jtag/drivers/cmsis_dap.h
@@ -61,9 +61,11 @@ struct cmsis_dap_backend {
 	const char *name;
 	int (*open)(struct cmsis_dap *dap, uint16_t vids[], uint16_t pids[], const char *serial);
 	void (*close)(struct cmsis_dap *dap);
-	int (*read)(struct cmsis_dap *dap, int timeout_ms);
+	int (*read)(struct cmsis_dap *dap, int transfer_timeout_ms,
+			    struct timeval *wait_timeout);
 	int (*write)(struct cmsis_dap *dap, int len, int timeout_ms);
 	int (*packet_buffer_alloc)(struct cmsis_dap *dap, unsigned int pkt_sz);
+	void (*packet_buffer_free)(struct cmsis_dap *dap);
 };
 
 extern const struct cmsis_dap_backend cmsis_dap_hid_backend;
diff --git a/src/jtag/drivers/cmsis_dap_usb_bulk.c b/src/jtag/drivers/cmsis_dap_usb_bulk.c
index 6599c414c..aaab5804d 100644
--- a/src/jtag/drivers/cmsis_dap_usb_bulk.c
+++ b/src/jtag/drivers/cmsis_dap_usb_bulk.c
@@ -28,8 +28,29 @@
 #include <libusb.h>
 #include <helper/log.h>
 #include <helper/replacements.h>
+#include <jtag/jtag.h>	/* ERROR_JTAG_DEVICE_ERROR only */
 
 #include "cmsis_dap.h"
+#include "libusb_helper.h"
+
+#if !defined(LIBUSB_API_VERSION) || (LIBUSB_API_VERSION < 0x01000105) \
+		|| defined(_WIN32) || defined(__CYGWIN__)
+	#define libusb_dev_mem_alloc(dev, sz) malloc(sz)
+	#define libusb_dev_mem_free(dev, buffer, sz) free(buffer)
+#endif
+
+enum {
+	CMSIS_DAP_TRANSFER_PENDING = 0,	/* must be 0, used in libusb_handle_events_completed */
+	CMSIS_DAP_TRANSFER_IDLE,
+	CMSIS_DAP_TRANSFER_COMPLETED
+};
+
+struct cmsis_dap_bulk_transfer {
+	struct libusb_transfer *transfer;
+	uint8_t *buffer;
+	int status;		/* either CMSIS_DAP_TRANSFER_ enum or error code */
+	int transferred;
+};
 
 struct cmsis_dap_backend_data {
 	struct libusb_context *usb_ctx;
@@ -37,12 +58,16 @@ struct cmsis_dap_backend_data {
 	unsigned int ep_out;
 	unsigned int ep_in;
 	int interface;
+
+	struct cmsis_dap_bulk_transfer command_transfers[MAX_PENDING_REQUESTS];
+	struct cmsis_dap_bulk_transfer response_transfers[MAX_PENDING_REQUESTS];
 };
 
 static int cmsis_dap_usb_interface = -1;
 
 static void cmsis_dap_usb_close(struct cmsis_dap *dap);
 static int cmsis_dap_usb_alloc(struct cmsis_dap *dap, unsigned int pkt_sz);
+static void cmsis_dap_usb_free(struct cmsis_dap *dap);
 
 static int cmsis_dap_usb_open(struct cmsis_dap *dap, uint16_t vids[], uint16_t pids[], const char *serial)
 {
@@ -358,6 +383,24 @@ static int cmsis_dap_usb_open(struct cmsis_dap *dap, uint16_t vids[], uint16_t p
 			dap->bdata->ep_in = ep_in;
 			dap->bdata->interface = interface_num;
 
+			for (unsigned int idx = 0; idx < MAX_PENDING_REQUESTS; idx++) {
+				dap->bdata->command_transfers[idx].status = CMSIS_DAP_TRANSFER_IDLE;
+				dap->bdata->command_transfers[idx].transfer = libusb_alloc_transfer(0);
+				if (!dap->bdata->command_transfers[idx].transfer) {
+					LOG_ERROR("unable to allocate USB transfer");
+					cmsis_dap_usb_close(dap);
+					return ERROR_FAIL;
+				}
+
+				dap->bdata->response_transfers[idx].status = CMSIS_DAP_TRANSFER_IDLE;
+				dap->bdata->response_transfers[idx].transfer = libusb_alloc_transfer(0);
+				if (!dap->bdata->response_transfers[idx].transfer) {
+					LOG_ERROR("unable to allocate USB transfer");
+					cmsis_dap_usb_close(dap);
+					return ERROR_FAIL;
+				}
+			}
+
 			err = cmsis_dap_usb_alloc(dap, packet_size);
 			if (err != ERROR_OK)
 				cmsis_dap_usb_close(dap);
@@ -376,65 +419,178 @@ static int cmsis_dap_usb_open(struct cmsis_dap *dap, uint16_t vids[], uint16_t p
 
 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 {
+	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
+		libusb_free_transfer(dap->bdata->command_transfers[i].transfer);
+		libusb_free_transfer(dap->bdata->response_transfers[i].transfer);
+	}
+	cmsis_dap_usb_free(dap);
 	libusb_release_interface(dap->bdata->dev_handle, dap->bdata->interface);
 	libusb_close(dap->bdata->dev_handle);
 	libusb_exit(dap->bdata->usb_ctx);
 	free(dap->bdata);
 	dap->bdata = NULL;
-	free(dap->packet_buffer);
-	dap->packet_buffer = NULL;
 }
 
-static int cmsis_dap_usb_read(struct cmsis_dap *dap, int timeout_ms)
+static void LIBUSB_CALL cmsis_dap_usb_callback(struct libusb_transfer *transfer)
+{
+	struct cmsis_dap_bulk_transfer *tr;
+
+	tr = (struct cmsis_dap_bulk_transfer *)transfer->user_data;
+	if (transfer->status == LIBUSB_TRANSFER_COMPLETED) {
+		tr->status = CMSIS_DAP_TRANSFER_COMPLETED;
+		tr->transferred = transfer->actual_length;
+	} else if (transfer->status == LIBUSB_TRANSFER_TIMED_OUT) {
+		tr->status = ERROR_TIMEOUT_REACHED;
+	} else {
+		tr->status = ERROR_JTAG_DEVICE_ERROR;
+	}
+}
+
+static int cmsis_dap_usb_read(struct cmsis_dap *dap, int transfer_timeout_ms,
+							  struct timeval *wait_timeout)
 {
 	int transferred = 0;
 	int err;
+	struct cmsis_dap_bulk_transfer *tr;
+	tr = &dap->bdata->response_transfers[dap->pending_fifo_get_idx];
+
+	if (tr->status == CMSIS_DAP_TRANSFER_IDLE) {
+		libusb_fill_bulk_transfer(tr->transfer,
+								  dap->bdata->dev_handle, dap->bdata->ep_in,
+								  tr->buffer, dap->packet_size,
+								  &cmsis_dap_usb_callback, tr,
+								  transfer_timeout_ms);
+		LOG_DEBUG_IO("submit read @ %u", dap->pending_fifo_get_idx);
+		tr->status = CMSIS_DAP_TRANSFER_PENDING;
+		err = libusb_submit_transfer(tr->transfer);
+		if (err) {
+			tr->status = CMSIS_DAP_TRANSFER_IDLE;
+			LOG_ERROR("error submitting USB read: %s", libusb_strerror(err));
+			return ERROR_FAIL;
+		}
+	}
 
-	err = libusb_bulk_transfer(dap->bdata->dev_handle, dap->bdata->ep_in,
-							dap->packet_buffer, dap->packet_size, &transferred, timeout_ms);
-	if (err) {
-		if (err == LIBUSB_ERROR_TIMEOUT) {
-			return ERROR_TIMEOUT_REACHED;
-		} else {
-			LOG_ERROR("error reading data: %s", libusb_strerror(err));
+	struct timeval tv = {
+		.tv_sec = transfer_timeout_ms / 1000,
+		.tv_usec = transfer_timeout_ms % 1000 * 1000
+	};
+
+	while (tr->status == CMSIS_DAP_TRANSFER_PENDING) {
+		err = libusb_handle_events_timeout_completed(dap->bdata->usb_ctx,
+												 wait_timeout ? wait_timeout : &tv,
+												 &tr->status);
+		if (err) {
+			LOG_ERROR("error handling USB events: %s", libusb_strerror(err));
 			return ERROR_FAIL;
 		}
+		if (wait_timeout)
+			break;
 	}
 
-	memset(&dap->packet_buffer[transferred], 0, dap->packet_buffer_size - transferred);
+	if (tr->status < 0 || tr->status == CMSIS_DAP_TRANSFER_COMPLETED) {
+		/* Check related command request for an error */
+		struct cmsis_dap_bulk_transfer *tr_cmd;
+		tr_cmd = &dap->bdata->command_transfers[dap->pending_fifo_get_idx];
+		if (tr_cmd->status < 0) {
+			err = tr_cmd->status;
+			tr_cmd->status = CMSIS_DAP_TRANSFER_IDLE;
+			if (err != ERROR_TIMEOUT_REACHED)
+				LOG_ERROR("error writing USB data");
+			else
+				LOG_DEBUG("command write USB timeout @ %u", dap->pending_fifo_get_idx);
+
+			return err;
+		}
+		if (tr_cmd->status == CMSIS_DAP_TRANSFER_COMPLETED)
+			tr_cmd->status = CMSIS_DAP_TRANSFER_IDLE;
+	}
+
+	if (tr->status < 0) {
+		err = tr->status;
+		tr->status = CMSIS_DAP_TRANSFER_IDLE;
+		if (err != ERROR_TIMEOUT_REACHED)
+			LOG_ERROR("error reading USB data");
+		else
+			LOG_DEBUG("USB timeout @ %u", dap->pending_fifo_get_idx);
+
+		return err;
+	}
+
+	if (tr->status == CMSIS_DAP_TRANSFER_COMPLETED) {
+		transferred = tr->transferred;
+		LOG_DEBUG_IO("completed read @ %u, transferred %i",
+					 dap->pending_fifo_get_idx, transferred);
+		memcpy(dap->packet_buffer, tr->buffer, transferred);
+		memset(&dap->packet_buffer[transferred], 0, dap->packet_buffer_size - transferred);
+		tr->status = CMSIS_DAP_TRANSFER_IDLE;
+	}
 
 	return transferred;
 }
 
 static int cmsis_dap_usb_write(struct cmsis_dap *dap, int txlen, int timeout_ms)
 {
-	int transferred = 0;
 	int err;
+	struct cmsis_dap_bulk_transfer *tr;
+	tr = &dap->bdata->command_transfers[dap->pending_fifo_put_idx];
+
+	if (tr->status == CMSIS_DAP_TRANSFER_PENDING) {
+		LOG_ERROR("busy command USB transfer at %u", dap->pending_fifo_put_idx);
+		struct timeval tv = {
+			.tv_sec = timeout_ms / 1000,
+			.tv_usec = timeout_ms % 1000 * 1000
+		};
+		libusb_handle_events_timeout_completed(dap->bdata->usb_ctx, &tv, &tr->status);
+	}
+	if (tr->status < 0) {
+		if (tr->status != ERROR_TIMEOUT_REACHED)
+			LOG_ERROR("error writing USB data, late detect");
+		else
+			LOG_DEBUG("USB write timeout @ %u, late detect", dap->pending_fifo_get_idx);
+		tr->status = CMSIS_DAP_TRANSFER_IDLE;
+	}
+	if (tr->status == CMSIS_DAP_TRANSFER_COMPLETED) {
+		LOG_ERROR("USB write: late transfer competed");
+		tr->status = CMSIS_DAP_TRANSFER_IDLE;
+	}
+	if (tr->status != CMSIS_DAP_TRANSFER_IDLE) {
+		libusb_cancel_transfer(tr->transfer);
+		/* TODO: switch to less verbose errors and wait for USB working again */
+		return ERROR_JTAG_DEVICE_ERROR;
+	}
+
+	memcpy(tr->buffer, dap->packet_buffer, txlen);
+
+	libusb_fill_bulk_transfer(tr->transfer,
+							  dap->bdata->dev_handle, dap->bdata->ep_out,
+							  tr->buffer, txlen,
+							  &cmsis_dap_usb_callback, tr,
+							  timeout_ms);
 
-	/* skip the first byte that is only used by the HID backend */
-	err = libusb_bulk_transfer(dap->bdata->dev_handle, dap->bdata->ep_out,
-							dap->packet_buffer, txlen, &transferred, timeout_ms);
+	LOG_DEBUG_IO("submit write @ %u", dap->pending_fifo_put_idx);
+	tr->status = CMSIS_DAP_TRANSFER_PENDING;
+	err = libusb_submit_transfer(tr->transfer);
 	if (err) {
-		if (err == LIBUSB_ERROR_TIMEOUT) {
-			return ERROR_TIMEOUT_REACHED;
-		} else {
-			LOG_ERROR("error writing data: %s", libusb_strerror(err));
-			return ERROR_FAIL;
-		}
+		if (err == LIBUSB_ERROR_BUSY)
+			libusb_cancel_transfer(tr->transfer);
+		else
+			tr->status = CMSIS_DAP_TRANSFER_IDLE;
+
+		LOG_ERROR("error submitting USB write: %s", libusb_strerror(err));
+		return ERROR_FAIL;
 	}
 
-	return transferred;
+	return ERROR_OK;
 }
 
 static int cmsis_dap_usb_alloc(struct cmsis_dap *dap, unsigned int pkt_sz)
 {
-	uint8_t *buf = malloc(pkt_sz);
-	if (!buf) {
+	dap->packet_buffer = malloc(pkt_sz);
+	if (!dap->packet_buffer) {
 		LOG_ERROR("unable to allocate CMSIS-DAP packet buffer");
 		return ERROR_FAIL;
 	}
 
-	dap->packet_buffer = buf;
 	dap->packet_size = pkt_sz;
 	dap->packet_buffer_size = pkt_sz;
 	/* Prevent sending zero size USB packets */
@@ -443,9 +599,41 @@ static int cmsis_dap_usb_alloc(struct cmsis_dap *dap, unsigned int pkt_sz)
 	dap->command = dap->packet_buffer;
 	dap->response = dap->packet_buffer;
 
+	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
+		dap->bdata->command_transfers[i].buffer =
+			libusb_dev_mem_alloc(dap->bdata->dev_handle, pkt_sz);
+		if (!dap->bdata->command_transfers[i].buffer) {
+			LOG_ERROR("unable to allocate CMSIS-DAP packet buffer");
+			return ERROR_FAIL;
+		}
+		dap->bdata->response_transfers[i].buffer =
+			libusb_dev_mem_alloc(dap->bdata->dev_handle, pkt_sz);
+		if (!dap->bdata->response_transfers[i].buffer) {
+			LOG_ERROR("unable to allocate CMSIS-DAP packet buffer");
+			return ERROR_FAIL;
+		}
+	}
+
 	return ERROR_OK;
 }
 
+static void cmsis_dap_usb_free(struct cmsis_dap *dap)
+{
+	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
+		libusb_dev_mem_free(dap->bdata->dev_handle,
+			dap->bdata->command_transfers[i].buffer, dap->packet_size);
+		dap->bdata->command_transfers[i].buffer = NULL;
+		libusb_dev_mem_free(dap->bdata->dev_handle,
+			dap->bdata->response_transfers[i].buffer, dap->packet_size);
+		dap->bdata->response_transfers[i].buffer = NULL;
+	}
+
+	free(dap->packet_buffer);
+	dap->packet_buffer = NULL;
+	dap->command = NULL;
+	dap->response = NULL;
+}
+
 COMMAND_HANDLER(cmsis_dap_handle_usb_interface_command)
 {
 	if (CMD_ARGC == 1)
@@ -474,4 +662,5 @@ const struct cmsis_dap_backend cmsis_dap_usb_backend = {
 	.read = cmsis_dap_usb_read,
 	.write = cmsis_dap_usb_write,
 	.packet_buffer_alloc = cmsis_dap_usb_alloc,
+	.packet_buffer_free = cmsis_dap_usb_free,
 };
diff --git a/src/jtag/drivers/cmsis_dap_usb_hid.c b/src/jtag/drivers/cmsis_dap_usb_hid.c
index 52dfd7616..6338886c8 100644
--- a/src/jtag/drivers/cmsis_dap_usb_hid.c
+++ b/src/jtag/drivers/cmsis_dap_usb_hid.c
@@ -36,6 +36,7 @@ struct cmsis_dap_backend_data {
 
 static void cmsis_dap_hid_close(struct cmsis_dap *dap);
 static int cmsis_dap_hid_alloc(struct cmsis_dap *dap, unsigned int pkt_sz);
+static void cmsis_dap_hid_free(struct cmsis_dap *dap);
 
 static int cmsis_dap_hid_open(struct cmsis_dap *dap, uint16_t vids[], uint16_t pids[], const char *serial)
 {
@@ -165,14 +166,21 @@ static void cmsis_dap_hid_close(struct cmsis_dap *dap)
 	hid_exit();
 	free(dap->bdata);
 	dap->bdata = NULL;
-	free(dap->packet_buffer);
-	dap->packet_buffer = NULL;
+	cmsis_dap_hid_free(dap);
 }
 
-static int cmsis_dap_hid_read(struct cmsis_dap *dap, int timeout_ms)
+static int cmsis_dap_hid_read(struct cmsis_dap *dap, int transfer_timeout_ms,
+							  struct timeval *wait_timeout)
 {
-	int retval = hid_read_timeout(dap->bdata->dev_handle, dap->packet_buffer, dap->packet_buffer_size, timeout_ms);
-
+	int timeout_ms;
+	if (wait_timeout)
+		timeout_ms = wait_timeout->tv_usec / 1000 + wait_timeout->tv_sec * 1000;
+	else
+		timeout_ms = transfer_timeout_ms;
+
+	int retval = hid_read_timeout(dap->bdata->dev_handle,
+								  dap->packet_buffer, dap->packet_buffer_size,
+								  timeout_ms);
 	if (retval == 0) {
 		return ERROR_TIMEOUT_REACHED;
 	} else if (retval == -1) {
@@ -222,6 +230,12 @@ static int cmsis_dap_hid_alloc(struct cmsis_dap *dap, unsigned int pkt_sz)
 	return ERROR_OK;
 }
 
+static void cmsis_dap_hid_free(struct cmsis_dap *dap)
+{
+	free(dap->packet_buffer);
+	dap->packet_buffer = NULL;
+}
+
 const struct cmsis_dap_backend cmsis_dap_hid_backend = {
 	.name = "hid",
 	.open = cmsis_dap_hid_open,
@@ -229,4 +243,5 @@ const struct cmsis_dap_backend cmsis_dap_hid_backend = {
 	.read = cmsis_dap_hid_read,
 	.write = cmsis_dap_hid_write,
 	.packet_buffer_alloc = cmsis_dap_hid_alloc,
+	.packet_buffer_free = cmsis_dap_hid_free,
 };

-----------------------------------------------------------------------

Summary of changes:
 src/jtag/drivers/cmsis_dap.c          | 114 +++++++++++-----
 src/jtag/drivers/cmsis_dap.h          |   4 +-
 src/jtag/drivers/cmsis_dap_usb_bulk.c | 239 ++++++++++++++++++++++++++++++----
 src/jtag/drivers/cmsis_dap_usb_hid.c  |  25 +++-
 4 files changed, 319 insertions(+), 63 deletions(-)


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Main OpenOCD repository

[OpenOCD-commit] Main OpenOCD repository branch, master, updated. v0.12.0-423-g0f70c6c32

[openocd-gerrit <ope...@us...>]

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The branch, master has been updated
       via  0f70c6c325785517f35bbbb9316801bef7a79d8b (commit)
      from  119a5338623d77bbdbc37b6ecb5e93df3368af30 (commit)

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- Log -----------------------------------------------------------------
commit 0f70c6c325785517f35bbbb9316801bef7a79d8b
Author: Manuel Wick <ma...@ma...>
Date:   Sat Jan 30 22:46:50 2021 +0100

    remote_bitbang: Add SWD support
    
    This adds new command characters to make SWD work with the new split
    jtag and swd operations of bitbang.
    
    The command characters are as follows:
        O - SWDIO drive 1
        o - SWDIO drive 0
        c - SWDIO read request
        d - SWD write 0 0
        e - SWD write 0 1
        f - SWD write 1 0
        g - SWD write 1 1
    
    Documentation has been updated accordingly. The new commands will be
    used by an adapted version of the jtag-openocd applet of the "Glasgow
    Debug Tool" (https://github.com/glasgowEmbedded/Glasgow). It has been
    tested against an stm32f103 and an at91samd21 target.
    
    contrib/remote/bitbang/remote_bitbang_sysfsgpio.c has also been adapted
    to support SWD via the new command set. Some limited testing has been
    done using a Raspberry Pi 2 with an stm32f103 and an at91samd21 target
    attached.
    
    Change-Id: I8e998a2cb36905142cb16e534483094cd99e8fa7
    Signed-off-by: Manuel Wick <ma...@ma...>
    Signed-off-by: David Ryskalczyk <dav...@gm...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/6044
    Tested-by: jenkins
    Reviewed-by: Tomas Vanek <va...@fb...>
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/configure.ac b/configure.ac
index a2442d40b..c9cf0214e 100644
--- a/configure.ac
+++ b/configure.ac
@@ -382,7 +382,7 @@ AC_ARG_ENABLE([internal-libjaylink],
   [use_internal_libjaylink=$enableval], [use_internal_libjaylink=no])
 
 AC_ARG_ENABLE([remote-bitbang],
-  AS_HELP_STRING([--enable-remote-bitbang], [Enable building support for the Remote Bitbang jtag driver]),
+  AS_HELP_STRING([--enable-remote-bitbang], [Enable building support for the Remote Bitbang driver]),
   [build_remote_bitbang=$enableval], [build_remote_bitbang=no])
 
 AS_CASE(["${host_cpu}"],
@@ -598,9 +598,9 @@ AS_IF([test "x$use_internal_jimtcl" = "xyes"], [
 
 AS_IF([test "x$build_remote_bitbang" = "xyes"], [
   build_bitbang=yes
-  AC_DEFINE([BUILD_REMOTE_BITBANG], [1], [1 if you want the Remote Bitbang JTAG driver.])
+  AC_DEFINE([BUILD_REMOTE_BITBANG], [1], [1 if you want the Remote Bitbang driver.])
 ], [
-  AC_DEFINE([BUILD_REMOTE_BITBANG], [0], [0 if you don't want the Remote Bitbang JTAG driver.])
+  AC_DEFINE([BUILD_REMOTE_BITBANG], [0], [0 if you don't want the Remote Bitbang driver.])
 ])
 
 AS_IF([test "x$build_sysfsgpio" = "xyes"], [
diff --git a/contrib/remote_bitbang/remote_bitbang_sysfsgpio.c b/contrib/remote_bitbang/remote_bitbang_sysfsgpio.c
index 9294837e3..1588eb9a3 100644
--- a/contrib/remote_bitbang/remote_bitbang_sysfsgpio.c
+++ b/contrib/remote_bitbang/remote_bitbang_sysfsgpio.c
@@ -1,30 +1,31 @@
 // SPDX-License-Identifier: GPL-2.0-or-later
 
 /***************************************************************************
+ *   Copyright (C) 2021 by Manuel Wick <ma...@ma...>                *
  *   Copyright (C) 2013 Paul Fertser <fer...@gm...>                 *
  *   Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
  ***************************************************************************/
 
 /*
-  This is a test application to be used as a remote bitbang server for
-  the OpenOCD remote_bitbang interface driver.
-
-  To compile run:
-  gcc -Wall -ansi -pedantic -std=c99 -o remote_bitbang_sysfsgpio remote_bitbang_sysfsgpio.c
-
-
-  Usage example:
-
-  On Raspberry Pi run:
-  socat TCP6-LISTEN:7777,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
-
-  On host run:
-  openocd -c "interface remote_bitbang; remote_bitbang host raspberrypi; remote_bitbang port 7777" \
-	  -f target/stm32f1x.cfg
-
-  Or if you want to test UNIX sockets, run both on Raspberry Pi:
-  socat UNIX-LISTEN:/tmp/remotebitbang-socket,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
-  openocd -c "interface remote_bitbang; remote_bitbang host /tmp/remotebitbang-socket" -f target/stm32f1x.cfg
+ * This is a test application to be used as a remote bitbang server for
+ * the OpenOCD remote_bitbang interface driver.
+ *
+ * To compile run:
+ * gcc -Wall -ansi -pedantic -std=c99 -o remote_bitbang_sysfsgpio remote_bitbang_sysfsgpio.c
+ *
+ *
+ * Usage example:
+ *
+ * On Raspberry Pi run:
+ * socat TCP6-LISTEN:7777,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
+ *
+ * On host run:
+ * openocd -c "adapter driver remote_bitbang; remote_bitbang host raspberrypi; remote_bitbang port 7777" \
+ *  -f target/stm32f1x.cfg
+ *
+ * Or if you want to test UNIX sockets, run both on Raspberry Pi:
+ * socat UNIX-LISTEN:/tmp/remotebitbang-socket,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
+ * openocd -c "adapter driver remote_bitbang; remote_bitbang host /tmp/remotebitbang-socket" -f target/stm32f1x.cfg
 */
 
 #include <sys/types.h>
@@ -97,11 +98,14 @@ static void unexport_sysfs_gpio(int gpio)
  * If the gpio is an output, it is initialized according to init_high,
  * otherwise it is ignored.
  *
+ * When open_rw is set, the file descriptor will be open as read and write,
+ * e.g. for SWDIO (TMS) that is used as input and output.
+ *
  * If the gpio is already exported we just show a warning and continue; if
  * openocd happened to crash (or was killed by user) then the gpios will not
  * have been cleaned up.
  */
-static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
+static int setup_sysfs_gpio(int gpio, int is_output, int init_high, int open_rw)
 {
 	char buf[40];
 	char gpiostr[4];
@@ -132,7 +136,9 @@ static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
 	}
 
 	snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio);
-	if (is_output)
+	if (open_rw)
+		ret = open(buf, O_RDWR | O_NONBLOCK | O_SYNC);
+	else if (is_output)
 		ret = open(buf, O_WRONLY | O_NONBLOCK | O_SYNC);
 	else
 		ret = open(buf, O_RDONLY | O_NONBLOCK | O_SYNC);
@@ -143,6 +149,37 @@ static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
 	return ret;
 }
 
+/*
+ * Change direction for gpio.
+ */
+static int change_dir_sysfs_gpio(int gpio, int is_output, int init_high)
+{
+	char buf[40];
+	int ret;
+
+	if (!is_gpio_valid(gpio))
+		return ERROR_OK;
+
+	snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", gpio);
+	ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in");
+	if (ret < 0) {
+		LOG_ERROR("Couldn't set direction for gpio %d", gpio);
+		perror("sysfsgpio: ");
+		unexport_sysfs_gpio(gpio);
+		return ERROR_FAIL;
+	}
+
+	return ERROR_OK;
+}
+
+/* gpio numbers for each gpio. Negative values are invalid */
+static int tck_gpio = -1;
+static int tms_gpio = -1;
+static int tdi_gpio = -1;
+static int tdo_gpio = -1;
+static int trst_gpio = -1;
+static int srst_gpio = -1;
+
 /*
  * file descriptors for /sys/class/gpio/gpioXX/value
  * Set up during init.
@@ -154,6 +191,15 @@ static int tdo_fd = -1;
 static int trst_fd = -1;
 static int srst_fd = -1;
 
+/*
+ * GPIO state of /sys/class/gpio/gpioXX/value
+ */
+static int last_tck = -1;
+static int last_tms = -1;
+static int last_tms_drive = -1;
+static int last_tdi = -1;
+static int last_initialized = -1;
+
 /*
  * Bitbang interface read of TDO
  *
@@ -179,26 +225,22 @@ static int sysfsgpio_read(void)
 /*
  * Bitbang interface write of TCK, TMS, TDI
  *
- * Seeing as this is the only function where the outputs are changed,
- * we can cache the old value to avoid needlessly writing it.
+ * Output states are changed here and in sysfsgpio_write_swd,
+ * which are not used simultaneously, so we can cache the old
+ * value to avoid needlessly writing it.
  */
 static void sysfsgpio_write(int tck, int tms, int tdi)
 {
 	const char one[] = "1";
 	const char zero[] = "0";
 
-	static int last_tck;
-	static int last_tms;
-	static int last_tdi;
-
-	static int first_time;
 	size_t bytes_written;
 
-	if (!first_time) {
+	if (!last_initialized) {
 		last_tck = !tck;
 		last_tms = !tms;
 		last_tdi = !tdi;
-		first_time = 1;
+		last_initialized = 1;
 	}
 
 	if (tdi != last_tdi) {
@@ -251,13 +293,81 @@ static void sysfsgpio_reset(int trst, int srst)
 	}
 }
 
-/* gpio numbers for each gpio. Negative values are invalid */
-static int tck_gpio = -1;
-static int tms_gpio = -1;
-static int tdi_gpio = -1;
-static int tdo_gpio = -1;
-static int trst_gpio = -1;
-static int srst_gpio = -1;
+/*
+ * Bitbang interface set direction of SWDIO (TMS)
+ */
+static void sysfsgpio_swdio_drive(int is_output)
+{
+	int ret;
+
+	if (is_output != 0 && last_tms == -1)
+		last_tms = 0;
+
+	ret = change_dir_sysfs_gpio(tms_gpio, (is_output != 0) ? 1 : 0, last_tms);
+	if (ret != ERROR_OK)
+		LOG_WARNING("Failed to change SWDIO (TMS) direction to output");
+	else
+		last_tms_drive = (is_output != 0) ? 1 : 0;
+}
+
+/*
+ * Bitbang interface read of SWDIO (TMS)
+ *
+ * The sysfs value will read back either '0' or '1'. The trick here is to call
+ * lseek to bypass buffering in the sysfs kernel driver.
+ */
+static int sysfsgpio_swdio_read(void)
+{
+	char buf[1];
+
+	/* important to seek to signal sysfs of new read */
+	lseek(tms_fd, 0, SEEK_SET);
+	int ret = read(tms_fd, &buf, sizeof(buf));
+
+	if (ret < 0) {
+		LOG_WARNING("reading swdio (tms) failed");
+		return 0;
+	}
+
+	return buf[0];
+}
+
+/*
+ * Bitbang interface write of SWCLK (TCK) and SWDIO (TMS)
+ *
+ * Output states are changed here and in sysfsgpio_write, which
+ * are not used simultaneously, so we can cache the old value
+ * to avoid needlessly writing it.
+ */
+static void sysfsgpio_swd_write(int swclk, int swdio)
+{
+	static const char one[] = "1";
+	static const char zero[] = "0";
+
+	size_t bytes_written;
+
+	if (!last_initialized) {
+		last_tck = !swclk;
+		last_tms = !swdio;
+		last_initialized = 1;
+	}
+
+	if (last_tms_drive == 1 && swdio != last_tms) {
+		bytes_written = write(tms_fd, swdio ? &one : &zero, 1);
+		if (bytes_written != 1)
+			LOG_WARNING("writing swdio (tms) failed");
+	}
+
+	/* write clk last */
+	if (swclk != last_tck) {
+		bytes_written = write(tck_fd, swclk ? &one : &zero, 1);
+		if (bytes_written != 1)
+			LOG_WARNING("writing swclk (tck) failed");
+	}
+
+	last_tms = swdio;
+	last_tck = swclk;
+}
 
 /* helper func to close and cleanup files only if they were valid/ used */
 static void cleanup_fd(int fd, int gpio)
@@ -293,13 +403,21 @@ static void process_remote_protocol(void)
 			char d = c - 'r';
 			sysfsgpio_reset(!!(d & 2),
 					(d & 1));
-		} else if (c >= '0' && c <= '0' + 7) {/* Write */
+		} else if (c >= '0' && c <= '0' + 7) { /* Write */
 			char d = c - '0';
 			sysfsgpio_write(!!(d & 4),
 					!!(d & 2),
 					(d & 1));
 		} else if (c == 'R')
 			putchar(sysfsgpio_read());
+		else if (c == 'c') /* SWDIO read */
+			putchar(sysfsgpio_swdio_read());
+		else if (c == 'o' || c == 'O') /* SWDIO drive */
+			sysfsgpio_swdio_drive(c == 'o' ? 0 : 1);
+		else if (c >= 'd' && c <= 'g') { /* SWD write */
+			char d = c - 'd';
+			sysfsgpio_swd_write((d & 2), (d & 1));
+		}
 		else
 			LOG_ERROR("Unknown command '%c' received", c);
 	}
@@ -307,7 +425,7 @@ static void process_remote_protocol(void)
 
 int main(int argc, char *argv[])
 {
-	LOG_WARNING("SysfsGPIO remote_bitbang JTAG driver\n");
+	LOG_WARNING("SysfsGPIO remote_bitbang JTAG+SWD driver\n");
 
 	for (int i = 1; i < argc; i++) {
 		if (!strcmp(argv[i], "tck"))
@@ -349,36 +467,39 @@ int main(int argc, char *argv[])
 	 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
 	 * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
 	 */
-	tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
+	tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0, 0);
 	if (tck_fd < 0)
 		goto out_error;
 
-	tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
+	tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1, 1);
 	if (tms_fd < 0)
 		goto out_error;
+	last_tms_drive = 0;
 
-	tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
+	tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0, 0);
 	if (tdi_fd < 0)
 		goto out_error;
 
-	tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
+	tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0, 0);
 	if (tdo_fd < 0)
 		goto out_error;
 
 	/* assume active low */
 	if (trst_gpio > 0) {
-		trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1);
+		trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1, 0);
 		if (trst_fd < 0)
 			goto out_error;
 	}
 
 	/* assume active low */
 	if (srst_gpio > 0) {
-		srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1);
+		srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1, 0);
 		if (srst_fd < 0)
 			goto out_error;
 	}
 
+	last_initialized = 0;
+
 	LOG_WARNING("SysfsGPIO nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
 		 tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 	LOG_WARNING("SysfsGPIO num: srst = %d", srst_gpio);
diff --git a/doc/manual/jtag/drivers/remote_bitbang.txt b/doc/manual/jtag/drivers/remote_bitbang.txt
index f394d736a..7c8eee289 100644
--- a/doc/manual/jtag/drivers/remote_bitbang.txt
+++ b/doc/manual/jtag/drivers/remote_bitbang.txt
@@ -1,15 +1,19 @@
 /** @remote_bitbangpage OpenOCD Developer's Guide
 
-The remote_bitbang JTAG driver is used to drive JTAG from a remote process. The
-remote_bitbang driver communicates via TCP or UNIX sockets with some remote
-process using an ASCII encoding of the bitbang interface. The remote process
-presumably then drives the JTAG however it pleases. The remote process should
-act as a server, listening for connections from the openocd remote_bitbang
-driver.
+The remote_bitbang JTAG+SWD driver is used to drive JTAG and/or SWD from a
+remote process. The remote_bitbang driver communicates via TCP or UNIX
+sockets with some remote process using an ASCII encoding of the bitbang
+interface. The remote process presumably then drives the JTAG/SWD however
+it pleases. The remote process should act as a server, listening for
+connections from the openocd remote_bitbang driver.
 
 The remote bitbang driver is useful for debugging software running on
 processors which are being simulated.
 
+There also is an implementation of the server-side protocol for the
+Glasgow Debug Tool (https://github.com/glasgowEmbedded/Glasgow) through
+the jtag-openocd applet.
+
 The bitbang interface consists of the following functions.
 
 blink on
@@ -24,11 +28,20 @@ write tck tms tdi
 reset trst srst
 	Set the value of trst, srst.
 
+swdio_drive
+	Set the output enable of the bidirectional swdio (tms) pin
+
+swdio_read
+	Sample the value of swdio (tms).
+
+swd_write
+	Set the value of swclk (tck) and swdio (tms).
+
 An additional function, quit, is added to the remote_bitbang interface to
 indicate there will be no more requests and the connection with the remote
 driver should be closed.
 
-These five functions are encoded in ASCII by assigning a single character to
+These eight functions are encoded in ASCII by assigning a single character to
 each possible request. The assignments are:
 
 	B - Blink on
@@ -47,7 +60,14 @@ each possible request. The assignments are:
 	s - Reset 0 1
 	t - Reset 1 0
 	u - Reset 1 1
+	O - SWDIO drive 1
+	o - SWDIO drive 0
+	c - SWDIO read request
+	d - SWD write 0 0
+	e - SWD write 0 1
+	f - SWD write 1 0
+	g - SWD write 1 1
 
-The read response is encoded in ASCII as either digit 0 or 1.
+The read responses are encoded in ASCII as either digit 0 or 1.
 
  */
diff --git a/doc/openocd.texi b/doc/openocd.texi
index c14ee9cb6..de990c538 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -2810,9 +2810,9 @@ If not specified, default 0xFFFF is used.
 @end deffn
 
 @deffn {Interface Driver} {remote_bitbang}
-Drive JTAG from a remote process. This sets up a UNIX or TCP socket connection
-with a remote process and sends ASCII encoded bitbang requests to that process
-instead of directly driving JTAG.
+Drive JTAG and SWD from a remote process. This sets up a UNIX or TCP socket
+connection with a remote process and sends ASCII encoded bitbang requests to
+that process instead of directly driving JTAG and SWD.
 
 The remote_bitbang driver is useful for debugging software running on
 processors which are being simulated.
diff --git a/src/jtag/drivers/remote_bitbang.c b/src/jtag/drivers/remote_bitbang.c
index 36bcbe19c..261c30df2 100644
--- a/src/jtag/drivers/remote_bitbang.c
+++ b/src/jtag/drivers/remote_bitbang.c
@@ -3,6 +3,8 @@
 /***************************************************************************
  *   Copyright (C) 2011 by Richard Uhler                                   *
  *   ru...@mi...                                                        *
+ *                                                                         *
+ *   Copyright (C) 2021 by Manuel Wick <ma...@ma...>                *
  ***************************************************************************/
 
 #ifdef HAVE_CONFIG_H
@@ -220,11 +222,35 @@ static int remote_bitbang_blink(int on)
 	return remote_bitbang_queue(c, FLUSH_SEND_BUF);
 }
 
+static void remote_bitbang_swdio_drive(bool is_output)
+{
+	char c = is_output ? 'O' : 'o';
+	if (remote_bitbang_queue(c, FLUSH_SEND_BUF) == ERROR_FAIL)
+		LOG_ERROR("Error setting direction for swdio");
+}
+
+static int remote_bitbang_swdio_read(void)
+{
+	if (remote_bitbang_queue('c', FLUSH_SEND_BUF) != ERROR_FAIL)
+		return remote_bitbang_read_sample();
+	else
+		return BB_ERROR;
+}
+
+static int remote_bitbang_swd_write(int swclk, int swdio)
+{
+	char c = 'd' + ((swclk ? 0x2 : 0x0) | (swdio ? 0x1 : 0x0));
+	return remote_bitbang_queue(c, NO_FLUSH);
+}
+
 static struct bitbang_interface remote_bitbang_bitbang = {
 	.buf_size = sizeof(remote_bitbang_recv_buf) - 1,
 	.sample = &remote_bitbang_sample,
 	.read_sample = &remote_bitbang_read_sample,
 	.write = &remote_bitbang_write,
+	.swdio_read = &remote_bitbang_swdio_read,
+	.swdio_drive = &remote_bitbang_swdio_drive,
+	.swd_write = &remote_bitbang_swd_write,
 	.blink = &remote_bitbang_blink,
 };
 
@@ -349,6 +375,8 @@ COMMAND_HANDLER(remote_bitbang_handle_remote_bitbang_host_command)
 	return ERROR_COMMAND_SYNTAX_ERROR;
 }
 
+static const char * const remote_bitbang_transports[] = { "jtag", "swd", NULL };
+
 static const struct command_registration remote_bitbang_subcommand_handlers[] = {
 	{
 		.name = "port",
@@ -401,7 +429,7 @@ static struct jtag_interface remote_bitbang_interface = {
 
 struct adapter_driver remote_bitbang_adapter_driver = {
 	.name = "remote_bitbang",
-	.transports = jtag_only,
+	.transports = remote_bitbang_transports,
 	.commands = remote_bitbang_command_handlers,
 
 	.init = &remote_bitbang_init,
@@ -409,4 +437,5 @@ struct adapter_driver remote_bitbang_adapter_driver = {
 	.reset = &remote_bitbang_reset,
 
 	.jtag_ops = &remote_bitbang_interface,
+	.swd_ops = &bitbang_swd,
 };

-----------------------------------------------------------------------

Summary of changes:
 configure.ac                                      |   6 +-
 contrib/remote_bitbang/remote_bitbang_sysfsgpio.c | 211 +++++++++++++++++-----
 doc/manual/jtag/drivers/remote_bitbang.txt        |  36 +++-
 doc/openocd.texi                                  |   6 +-
 src/jtag/drivers/remote_bitbang.c                 |  31 +++-
 5 files changed, 230 insertions(+), 60 deletions(-)


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Main OpenOCD repository

[OpenOCD-commit] Main OpenOCD repository branch, master, updated. v0.12.0-422-g119a53386

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This is an automated email from the git hooks/post-receive script. It was
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The branch, master has been updated
       via  119a5338623d77bbdbc37b6ecb5e93df3368af30 (commit)
      from  73d62f3f0cd4cb3fb6975d4223bf44b35a0e1479 (commit)

Those revisions listed above that are new to this repository have
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- Log -----------------------------------------------------------------
commit 119a5338623d77bbdbc37b6ecb5e93df3368af30
Author: Marc Schink <de...@za...>
Date:   Mon Nov 20 11:33:00 2023 +0100

    target/target: Fix 'wp' command usage
    
    While at it, fix the 'wp' command documentation.
    
    Change-Id: I70f3110e8ce286051f8f810260f1857b2285e634
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8022
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Reviewed-by: Jan Matyas <jan...@co...>

diff --git a/doc/openocd.texi b/doc/openocd.texi
index e8b207c52..c14ee9cb6 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -9374,7 +9374,7 @@ Remove the breakpoint at @var{address} or all breakpoints.
 Remove data watchpoint on @var{address} or all watchpoints.
 @end deffn
 
-@deffn {Command} {wp} [address len [(@option{r}|@option{w}|@option{a}) [value [mask]]]]
+@deffn {Command} {wp} [address length [(@option{r}|@option{w}|@option{a}) [value [mask]]]]
 With no parameters, lists all active watchpoints.
 Else sets a data watchpoint on data from @var{address} for @var{length} bytes.
 The watch point is an "access" watchpoint unless
diff --git a/src/target/target.c b/src/target/target.c
index 4a4c62613..f847894d6 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -7064,7 +7064,7 @@ static const struct command_registration target_exec_command_handlers[] = {
 		.handler = handle_wp_command,
 		.mode = COMMAND_EXEC,
 		.help = "list (no params) or create watchpoints",
-		.usage = "[address length [('r'|'w'|'a') value [mask]]]",
+		.usage = "[address length [('r'|'w'|'a') [value [mask]]]]",
 	},
 	{
 		.name = "rwp",

-----------------------------------------------------------------------

Summary of changes:
 doc/openocd.texi    | 2 +-
 src/target/target.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)


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- Log -----------------------------------------------------------------
commit 73d62f3f0cd4cb3fb6975d4223bf44b35a0e1479
Author: Evgeniy Naydanov <evg...@sy...>
Date:   Tue Oct 31 21:13:46 2023 +0300

    target: clarify usage of `coreid`
    
    By definition in `target/target.h`, `coreid` is not a unique identifier
    of a target -- it can be the same for targets on different TAPs.
    
    Change-Id: Ifce78da55fffe28dd8b6b06ecae7d8c4e305c0a2
    Signed-off-by: Evgeniy Naydanov <evg...@sy...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7997
    Tested-by: jenkins
    Reviewed-by: Marek Vrbka <mar...@co...>
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/target/armv8_cache.c b/src/target/armv8_cache.c
index 98f4b3f04..66d4e0080 100644
--- a/src/target/armv8_cache.c
+++ b/src/target/armv8_cache.c
@@ -243,7 +243,7 @@ static int  armv8_flush_all_data(struct target *target)
 		foreach_smp_target(head, target->smp_targets) {
 			struct target *curr = head->target;
 			if (curr->state == TARGET_HALTED) {
-				LOG_INFO("Wait flushing data l1 on core %" PRId32, curr->coreid);
+				LOG_TARGET_INFO(curr, "Wait flushing data l1.");
 				retval = _armv8_flush_all_data(curr);
 			}
 		}
diff --git a/src/target/cortex_a.c b/src/target/cortex_a.c
index ba3349d09..7fa0c4e8b 100644
--- a/src/target/cortex_a.c
+++ b/src/target/cortex_a.c
@@ -2989,29 +2989,29 @@ static int cortex_a_examine_first(struct target *target)
 				    armv7a->debug_base + CPUDBG_PRSR, &dbg_osreg);
 	if (retval != ERROR_OK)
 		return retval;
-	LOG_DEBUG("target->coreid %" PRId32 " DBGPRSR  0x%" PRIx32, target->coreid, dbg_osreg);
+	LOG_TARGET_DEBUG(target, "DBGPRSR  0x%" PRIx32, dbg_osreg);
 
 	if ((dbg_osreg & PRSR_POWERUP_STATUS) == 0) {
-		LOG_ERROR("target->coreid %" PRId32 " powered down!", target->coreid);
+		LOG_TARGET_ERROR(target, "powered down!");
 		target->state = TARGET_UNKNOWN; /* TARGET_NO_POWER? */
 		return ERROR_TARGET_INIT_FAILED;
 	}
 
 	if (dbg_osreg & PRSR_STICKY_RESET_STATUS)
-		LOG_DEBUG("target->coreid %" PRId32 " was reset!", target->coreid);
+		LOG_TARGET_DEBUG(target, "was reset!");
 
 	/* Read DBGOSLSR and check if OSLK is implemented */
 	retval = mem_ap_read_atomic_u32(armv7a->debug_ap,
 				armv7a->debug_base + CPUDBG_OSLSR, &dbg_osreg);
 	if (retval != ERROR_OK)
 		return retval;
-	LOG_DEBUG("target->coreid %" PRId32 " DBGOSLSR 0x%" PRIx32, target->coreid, dbg_osreg);
+	LOG_TARGET_DEBUG(target, "DBGOSLSR 0x%" PRIx32, dbg_osreg);
 
 	/* check if OS Lock is implemented */
 	if ((dbg_osreg & OSLSR_OSLM) == OSLSR_OSLM0 || (dbg_osreg & OSLSR_OSLM) == OSLSR_OSLM1) {
 		/* check if OS Lock is set */
 		if (dbg_osreg & OSLSR_OSLK) {
-			LOG_DEBUG("target->coreid %" PRId32 " OSLock set! Trying to unlock", target->coreid);
+			LOG_TARGET_DEBUG(target, "OSLock set! Trying to unlock");
 
 			retval = mem_ap_write_atomic_u32(armv7a->debug_ap,
 							armv7a->debug_base + CPUDBG_OSLAR,
@@ -3022,8 +3022,7 @@ static int cortex_a_examine_first(struct target *target)
 
 			/* if we fail to access the register or cannot reset the OSLK bit, bail out */
 			if (retval != ERROR_OK || (dbg_osreg & OSLSR_OSLK) != 0) {
-				LOG_ERROR("target->coreid %" PRId32 " OSLock sticky, core not powered?",
-						target->coreid);
+				LOG_TARGET_ERROR(target, "OSLock sticky, core not powered?");
 				target->state = TARGET_UNKNOWN; /* TARGET_NO_POWER? */
 				return ERROR_TARGET_INIT_FAILED;
 			}
@@ -3036,13 +3035,11 @@ static int cortex_a_examine_first(struct target *target)
 		return retval;
 
 	if (dbg_idpfr1 & 0x000000f0) {
-		LOG_DEBUG("target->coreid %" PRId32 " has security extensions",
-				target->coreid);
+		LOG_TARGET_DEBUG(target, "has security extensions");
 		armv7a->arm.core_type = ARM_CORE_TYPE_SEC_EXT;
 	}
 	if (dbg_idpfr1 & 0x0000f000) {
-		LOG_DEBUG("target->coreid %" PRId32 " has virtualization extensions",
-				target->coreid);
+		LOG_TARGET_DEBUG(target, "has virtualization extensions");
 		/*
 		 * overwrite and simplify the checks.
 		 * virtualization extensions require implementation of security extension
diff --git a/src/target/espressif/esp_xtensa_smp.c b/src/target/espressif/esp_xtensa_smp.c
index 1d70be9e3..bc4d8a21a 100644
--- a/src/target/espressif/esp_xtensa_smp.c
+++ b/src/target/espressif/esp_xtensa_smp.c
@@ -746,7 +746,7 @@ COMMAND_HANDLER(esp_xtensa_smp_cmd_perfmon_dump)
 		struct target *curr;
 		foreach_smp_target(head, target->smp_targets) {
 			curr = head->target;
-			LOG_INFO("CPU%d:", curr->coreid);
+			LOG_TARGET_INFO(curr, ":");
 			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_perfmon_dump_do,
 				target_to_xtensa(curr));
 			if (ret != ERROR_OK)
diff --git a/src/target/mips_m4k.c b/src/target/mips_m4k.c
index 0a06bb160..ad9808961 100644
--- a/src/target/mips_m4k.c
+++ b/src/target/mips_m4k.c
@@ -142,7 +142,7 @@ static int mips_m4k_halt_smp(struct target *target)
 			ret = mips_m4k_halt(curr);
 
 		if (ret != ERROR_OK) {
-			LOG_ERROR("halt failed target->coreid: %" PRId32, curr->coreid);
+			LOG_TARGET_ERROR(curr, "halt failed.");
 			retval = ret;
 		}
 	}
@@ -412,8 +412,8 @@ static int mips_m4k_restore_smp(struct target *target, uint32_t address, int han
 						   handle_breakpoints, 0);
 
 			if (ret != ERROR_OK) {
-				LOG_ERROR("target->coreid :%" PRId32 " failed to resume at address :0x%" PRIx32,
-						  curr->coreid, address);
+				LOG_TARGET_ERROR(curr, "failed to resume at address: 0x%" PRIx32,
+						address);
 				retval = ret;
 			}
 		}
diff --git a/src/target/smp.c b/src/target/smp.c
index effc63f52..50b19d01a 100644
--- a/src/target/smp.c
+++ b/src/target/smp.c
@@ -132,6 +132,9 @@ COMMAND_HANDLER(handle_smp_gdb_command)
 {
 	struct target *target = get_current_target(CMD_CTX);
 	int retval = ERROR_OK;
+
+	LOG_WARNING(DEPRECATED_MSG);
+
 	if (!list_empty(target->smp_targets)) {
 		if (CMD_ARGC == 1) {
 			int coreid = 0;
diff --git a/src/target/xtensa/xtensa.c b/src/target/xtensa/xtensa.c
index e862fe165..85dce0614 100644
--- a/src/target/xtensa/xtensa.c
+++ b/src/target/xtensa/xtensa.c
@@ -822,7 +822,7 @@ int xtensa_examine(struct target *target)
 	struct xtensa *xtensa = target_to_xtensa(target);
 	unsigned int cmd = PWRCTL_DEBUGWAKEUP(xtensa) | PWRCTL_MEMWAKEUP(xtensa) | PWRCTL_COREWAKEUP(xtensa);
 
-	LOG_DEBUG("coreid = %d", target->coreid);
+	LOG_TARGET_DEBUG(target, "");
 
 	if (xtensa->core_config->core_type == XT_UNDEF) {
 		LOG_ERROR("XTensa core not configured; is xtensa-core-openocd.cfg missing?");

-----------------------------------------------------------------------

Summary of changes:
 src/target/armv8_cache.c              |  2 +-
 src/target/cortex_a.c                 | 19 ++++++++-----------
 src/target/espressif/esp_xtensa_smp.c |  2 +-
 src/target/mips_m4k.c                 |  6 +++---
 src/target/smp.c                      |  3 +++
 src/target/xtensa/xtensa.c            |  2 +-
 6 files changed, 17 insertions(+), 17 deletions(-)


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- Log -----------------------------------------------------------------
commit 15038ab51a3c5811f7ff95c1f995c6e9dfe7d3d0
Author: Walter Ji <wal...@os...>
Date:   Fri Nov 17 11:27:09 2023 +0800

    target/mips32: pracc write cp0 status register first
    
    When user requested a change on cp0 status register,
    it may contain changes on EXL/ERL bits, and changes on
    these bits could lead to differnt behaviours on writing
    to other cp0 registers.
    
    Change-Id: Ic83039988c29c06ee134226b52de943c46d19da2
    Signed-off-by: Walter Ji <wal...@os...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7914
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/target/mips32_pracc.c b/src/target/mips32_pracc.c
index 9f0d87cd9..db50ef928 100644
--- a/src/target/mips32_pracc.c
+++ b/src/target/mips32_pracc.c
@@ -842,12 +842,12 @@ int mips32_pracc_write_regs(struct mips32_common *mips32)
 	};
 
 	uint32_t cp0_write_data[] = {
+		/* status */
+		c0rs[0],
 		/* lo */
 		gprs[32],
 		/* hi */
 		gprs[33],
-		/* status */
-		c0rs[0],
 		/* badvaddr */
 		c0rs[1],
 		/* cause */
@@ -856,6 +856,9 @@ int mips32_pracc_write_regs(struct mips32_common *mips32)
 		c0rs[3],
 	};
 
+	/* Write CP0 Status Register first, changes on EXL or ERL bits
+	 * may lead to different behaviour on writing to other CP0 registers.
+	 */
 	for (size_t i = 0; i < ARRAY_SIZE(cp0_write_code); i++) {
 		/* load CP0 value in $1 */
 		pracc_add_li32(&ctx, 1, cp0_write_data[i], 0);

-----------------------------------------------------------------------

Summary of changes:
 src/target/mips32_pracc.c | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)


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- Log -----------------------------------------------------------------
commit 7ac389cf47463cc35667659804d939015a4815e5
Author: Thomas Hebb <tom...@gm...>
Date:   Fri Apr 29 22:17:18 2022 -0700

    tcl/target/gd32vf103: work around broken ndmreset
    
    On this chip, the ndmreset bit in the RISC-V debug module doesn't
    trigger a system reset like it should. To work around this, add a custom
    "reset-assert" handler in its config file that resets the system by
    writing to memory-mapped registers.
    
    I've tested this workaround on a Sipeed Longan Nano dev board with a
    GD32VF103CBT6 chip. It works correctly for both "reset run" and "reset
    halt" (halting at pc=0 for the latter).
    
    I originally submitted[1] this workaround to the riscv-openocd fork of
    OpenOCD. That fork's maintainers accepted it, but have not upstreamed it
    like they have several other of my changes.
    
    [1] https://github.com/riscv/riscv-openocd/pull/538
    
    Change-Id: I7482990755b300fcbe4963c9a599d599bc02684d
    Signed-off-by: Thomas Hebb <tom...@gm...>
    Signed-off-by: Tomas Vanek <va...@fb...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/6957
    Tested-by: jenkins
    Reviewed-by: zapb <de...@za...>

diff --git a/tcl/target/gd32vf103.cfg b/tcl/target/gd32vf103.cfg
index 068124334..54a74e8cc 100644
--- a/tcl/target/gd32vf103.cfg
+++ b/tcl/target/gd32vf103.cfg
@@ -28,6 +28,12 @@ jtag newtap $_CHIPNAME cpu -irlen 5 -expected-id 0x1000563d
 set _TARGETNAME $_CHIPNAME.cpu
 target create $_TARGETNAME riscv -chain-position $_TARGETNAME
 
+proc default_mem_access {} {
+	riscv set_mem_access progbuf
+}
+
+default_mem_access
+
 $_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
 
 set _FLASHNAME $_CHIPNAME.flash
@@ -40,3 +46,74 @@ $_TARGETNAME configure -event reset-init {
 	# DBGMCU_CR |= DBG_WWDG_STOP | DBG_IWDG_STOP
 	mmw 0xE0042004 0x00000300 0
 }
+
+# On this chip, ndmreset (the debug module bit that triggers a software reset)
+# doesn't work. So for JTAG connections without an SRST, we need to trigger a
+# reset manually. This is an undocumented reset sequence that's used by the
+# JTAG flashing script in the vendor-supplied GD32VF103 PlatformIO plugin:
+#
+#   https://github.com/sipeed/platform-gd32v/commit/f9cbb44819bc05dd2010cc815c32be0486800cc2
+#
+$_TARGETNAME configure -event reset-assert {
+	set dmcontrol 		0x10
+	set dmcontrol_dmactive	[expr {1 << 0}]
+	set dmcontrol_ackhavereset [expr {1 << 28}]
+	set dmcontrol_haltreq	[expr {1 << 31}]
+
+	global _RESETMODE
+
+	# If hardware NRST signal is connected and configured (reset_config srst_only)
+	# the device has been recently reset in 'jtag arp_init-reset', therefore
+	# DM_DMSTATUS_ANYHAVERESET reads 1.
+	# The following 'halt' command checks this status bit
+	# and shows 'Hart 0 unexpectedly reset!' if set.
+	# Prevent this message by sending an acknowledge first.
+	set val [expr {$dmcontrol_dmactive | $dmcontrol_ackhavereset}]
+	riscv dmi_write $dmcontrol $val
+
+	# Halt the core so that we can write to memory. We do this first so
+	# that it doesn't clobber our dmcontrol configuration.
+	halt
+
+	# Set haltreq appropriately for the type of reset we're doing. This
+	# replicates what the generic RISC-V reset_assert() function would
+	# do if we weren't overriding it. The $_RESETMODE hack sucks, but
+	# it's the least invasive way to determine whether we need to halt.
+	#
+	# If we didn't override the generic handler, we'd actually still have
+	# to do this: the default handler sets ndmreset, which prevents memory
+	# access even though it doesn't actually trigger a reset on this chip.
+	# So we'd need to unset it here, which involves a write to dmcontrol,
+	# Since haltreq is write-only and there's no way to leave it unchanged,
+	# we'd have to figure out its proper value anyway.
+	set val $dmcontrol_dmactive
+	if {$_RESETMODE ne "run"} {
+		set val [expr {$val | $dmcontrol_haltreq}]
+	}
+	riscv dmi_write $dmcontrol $val
+
+	# Unlock 0xe0042008 so that the next write triggers a reset
+	mww 0xe004200c 0x4b5a6978
+
+	# We need to trigger the reset using abstract memory access, since
+	# progbuf access tries to read a status code out of a core register
+	# after the write happens, which fails when the core is in reset.
+	riscv set_mem_access abstract
+
+	# Go!
+	mww 0xe0042008 0x1
+
+	# Put the memory access mode back to what it was.
+	default_mem_access
+}
+
+# Capture the mode of a given reset so that we can use it later in the
+# reset-assert handler.
+proc init_reset { mode } {
+	global _RESETMODE
+	set _RESETMODE $mode
+
+	if {[using_jtag]} {
+		jtag arp_init-reset
+	}
+}

-----------------------------------------------------------------------

Summary of changes:
 tcl/target/gd32vf103.cfg | 77 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)


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- Log -----------------------------------------------------------------
commit 1b0b07baab2b23318ddc484a58d66214f0c2a0d2
Author: Marc Schink <de...@za...>
Date:   Sun Nov 12 11:43:48 2023 +0100

    target: Throw error in 'debug_reason' command
    
    Instead of returning an 'error string', throw an error. This makes it
    much easier to handle errors in Tcl scripts or in tools that use Tcl RPC.
    
    Change-Id: I75c48750cfad7430fa5e6bc88fe04ebd59d34cea
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8006
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/target/target.c b/src/target/target.c
index d8e65863c..4a4c62613 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -5845,7 +5845,17 @@ COMMAND_HANDLER(handle_target_debug_reason)
 
 	struct target *target = get_current_target(CMD_CTX);
 
-	command_print(CMD, "%s", debug_reason_name(target));
+
+	const char *debug_reason = nvp_value2name(nvp_target_debug_reason,
+		target->debug_reason)->name;
+
+	if (!debug_reason) {
+		command_print(CMD, "bug: invalid debug reason (%d)",
+			target->debug_reason);
+		return ERROR_FAIL;
+	}
+
+	command_print(CMD, "%s", debug_reason);
 
 	return ERROR_OK;
 }

-----------------------------------------------------------------------

Summary of changes:
 src/target/target.c | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)


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- Log -----------------------------------------------------------------
commit be5cfdc86bce09e688aad16134cb36561c85d5eb
Author: Evgeniy Naydanov <evg...@sy...>
Date:   Tue Oct 31 16:53:52 2023 +0300

    target: remove `target_number`
    
    Change-Id: Id36e5ad2967303483392fd2670630289ecde2553
    Signed-off-by: Evgeniy Naydanov <evg...@sy...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7998
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Reviewed-by: Marek Vrbka <mar...@co...>
    Reviewed-by: Tomas Vanek <va...@fb...>
    Tested-by: jenkins

diff --git a/src/target/target.c b/src/target/target.c
index 9f43e2f91..d8e65863c 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -298,23 +298,6 @@ const char *target_reset_mode_name(enum target_reset_mode reset_mode)
 	return cp;
 }
 
-/* determine the number of the new target */
-static int new_target_number(void)
-{
-	struct target *t;
-	int x;
-
-	/* number is 0 based */
-	x = -1;
-	t = all_targets;
-	while (t) {
-		if (x < t->target_number)
-			x = t->target_number;
-		t = t->next;
-	}
-	return x + 1;
-}
-
 static void append_to_list_all_targets(struct target *target)
 {
 	struct target **t = &all_targets;
@@ -450,7 +433,7 @@ void target_buffer_set_u16_array(struct target *target, uint8_t *buffer, uint32_
 		target_buffer_set_u16(target, &buffer[i * 2], srcbuf[i]);
 }
 
-/* return a pointer to a configured target; id is name or number */
+/* return a pointer to a configured target; id is name or index in all_targets */
 struct target *get_target(const char *id)
 {
 	struct target *target;
@@ -463,36 +446,17 @@ struct target *get_target(const char *id)
 			return target;
 	}
 
-	/* It's OK to remove this fallback sometime after August 2010 or so */
-
-	/* no match, try as number */
-	unsigned num;
-	if (parse_uint(id, &num) != ERROR_OK)
+	/* try as index */
+	unsigned int index, counter;
+	if (parse_uint(id, &index) != ERROR_OK)
 		return NULL;
 
-	for (target = all_targets; target; target = target->next) {
-		if (target->target_number == (int)num) {
-			LOG_WARNING("use '%s' as target identifier, not '%u'",
-					target_name(target), num);
-			return target;
-		}
-	}
-
-	return NULL;
-}
-
-/* returns a pointer to the n-th configured target */
-struct target *get_target_by_num(int num)
-{
-	struct target *target = all_targets;
+	for (target = all_targets, counter = index;
+			target && counter;
+			target = target->next, --counter)
+		;
 
-	while (target) {
-		if (target->target_number == num)
-			return target;
-		target = target->next;
-	}
-
-	return NULL;
+	return target;
 }
 
 struct target *get_current_target(struct command_context *cmd_ctx)
@@ -2843,10 +2807,10 @@ COMMAND_HANDLER(handle_targets_command)
 		}
 	}
 
-	struct target *target = all_targets;
+	unsigned int index = 0;
 	command_print(CMD, "    TargetName         Type       Endian TapName            State       ");
 	command_print(CMD, "--  ------------------ ---------- ------ ------------------ ------------");
-	while (target) {
+	for (struct target *target = all_targets; target; target = target->next, ++index) {
 		const char *state;
 		char marker = ' ';
 
@@ -2861,7 +2825,7 @@ COMMAND_HANDLER(handle_targets_command)
 		/* keep columns lined up to match the headers above */
 		command_print(CMD,
 				"%2d%c %-18s %-10s %-6s %-18s %s",
-				target->target_number,
+				index,
 				marker,
 				target_name(target),
 				target_type_name(target),
@@ -2869,7 +2833,6 @@ COMMAND_HANDLER(handle_targets_command)
 					target->endianness)->name,
 				target->tap->dotted_name,
 				state);
-		target = target->next;
 	}
 
 	return retval;
@@ -5063,8 +5026,7 @@ void target_handle_event(struct target *target, enum target_event e)
 
 	for (teap = target->event_action; teap; teap = teap->next) {
 		if (teap->event == e) {
-			LOG_DEBUG("target(%d): %s (%s) event: %d (%s) action: %s",
-					   target->target_number,
+			LOG_DEBUG("target: %s (%s) event: %d (%s) action: %s",
 					   target_name(target),
 					   target_type_name(target),
 					   e,
@@ -5849,8 +5811,7 @@ COMMAND_HANDLER(handle_target_event_list)
 	struct target *target = get_current_target(CMD_CTX);
 	struct target_event_action *teap = target->event_action;
 
-	command_print(CMD, "Event actions for target (%d) %s\n",
-				   target->target_number,
+	command_print(CMD, "Event actions for target %s\n",
 				   target_name(target));
 	command_print(CMD, "%-25s | Body", "Event");
 	command_print(CMD, "------------------------- | "
@@ -6189,9 +6150,6 @@ static int target_create(struct jim_getopt_info *goi)
 	/* set empty smp cluster */
 	target->smp_targets = &empty_smp_targets;
 
-	/* set target number */
-	target->target_number = new_target_number();
-
 	/* allocate memory for each unique target type */
 	target->type = malloc(sizeof(struct target_type));
 	if (!target->type) {
diff --git a/src/target/target.h b/src/target/target.h
index abeb8ed51..28a200807 100644
--- a/src/target/target.h
+++ b/src/target/target.h
@@ -115,7 +115,6 @@ enum target_register_class {
 struct target {
 	struct target_type *type;			/* target type definition (name, access functions) */
 	char *cmd_name;				/* tcl Name of target */
-	int target_number;					/* DO NOT USE!  field to be removed in 2010 */
 	struct jtag_tap *tap;				/* where on the jtag chain is this */
 	int32_t coreid;						/* which device on the TAP? */
 
@@ -412,7 +411,6 @@ int target_call_timer_callbacks_now(void);
  */
 int64_t target_timer_next_event(void);
 
-struct target *get_target_by_num(int num);
 struct target *get_current_target(struct command_context *cmd_ctx);
 struct target *get_current_target_or_null(struct command_context *cmd_ctx);
 struct target *get_target(const char *id);
diff --git a/src/target/xtensa/xtensa.c b/src/target/xtensa/xtensa.c
index 2aacc3620..e862fe165 100644
--- a/src/target/xtensa/xtensa.c
+++ b/src/target/xtensa/xtensa.c
@@ -1096,7 +1096,7 @@ int xtensa_assert_reset(struct target *target)
 {
 	struct xtensa *xtensa = target_to_xtensa(target);
 
-	LOG_TARGET_DEBUG(target, "target_number=%i, begin", target->target_number);
+	LOG_TARGET_DEBUG(target, " begin");
 	xtensa_queue_pwr_reg_write(xtensa,
 		XDMREG_PWRCTL,
 		PWRCTL_JTAGDEBUGUSE(xtensa) | PWRCTL_DEBUGWAKEUP(xtensa) | PWRCTL_MEMWAKEUP(xtensa) |

-----------------------------------------------------------------------

Summary of changes:
 src/target/target.c        | 70 ++++++++++------------------------------------
 src/target/target.h        |  2 --
 src/target/xtensa/xtensa.c |  2 +-
 3 files changed, 15 insertions(+), 59 deletions(-)


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- Log -----------------------------------------------------------------
commit 53e67c37abee6506bb06eaf0d50d4d9ce045c0c8
Author: Thiemo van Engelen <tva...@vi...>
Date:   Fri Jun 23 09:29:25 2023 +0200

    rtt_server: Add option for a message when client connects
    
    This is useful when using the SEGGER RTT tooling, as the SEGGER RTT
    tool J-Link RTT Viewer version 7.84f requires that it receives a
    messages immediately after connecting. Otherwise it will give a timeout
    and it will not connect.
    
    Change-Id: I9240a1b6a93cd5c0fbd18292afb33b89013d78bf
    Signed-off-by: Thiemo van Engelen <tva...@vi...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7752
    Tested-by: jenkins
    Reviewed-by: zapb <de...@za...>
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/doc/openocd.texi b/doc/openocd.texi
index 5d73fd174..e8b207c52 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -9448,8 +9448,9 @@ Return a list of all channels and their properties as Tcl list.
 The list can be manipulated easily from within scripts.
 @end deffn
 
-@deffn {Command} {rtt server start} port channel
-Start a TCP server on @var{port} for the channel @var{channel}.
+@deffn {Command} {rtt server start} port channel [message]
+Start a TCP server on @var{port} for the channel @var{channel}. When
+@var{message} is not empty, it will be sent to a client when it connects.
 @end deffn
 
 @deffn {Command} {rtt server stop} port
diff --git a/src/server/rtt_server.c b/src/server/rtt_server.c
index df2247bac..976915347 100644
--- a/src/server/rtt_server.c
+++ b/src/server/rtt_server.c
@@ -25,6 +25,7 @@
 
 struct rtt_service {
 	unsigned int channel;
+	char *hello_message;
 };
 
 static int read_callback(unsigned int channel, const uint8_t *buffer,
@@ -65,6 +66,9 @@ static int rtt_new_connection(struct connection *connection)
 	if (ret != ERROR_OK)
 		return ret;
 
+	if (service->hello_message)
+		connection_write(connection, service->hello_message, strlen(service->hello_message));
+
 	return ERROR_OK;
 }
 
@@ -117,16 +121,30 @@ COMMAND_HANDLER(handle_rtt_start_command)
 	int ret;
 	struct rtt_service *service;
 
-	if (CMD_ARGC != 2)
+	if (CMD_ARGC < 2 || CMD_ARGC > 3)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
-	service = malloc(sizeof(struct rtt_service));
+	service = calloc(1, sizeof(struct rtt_service));
 
 	if (!service)
 		return ERROR_FAIL;
 
 	COMMAND_PARSE_NUMBER(uint, CMD_ARGV[1], service->channel);
 
+	if (CMD_ARGC >= 3) {
+		const char *hello_message = CMD_ARGV[2];
+		size_t hello_length = strlen(hello_message);
+
+		service->hello_message = malloc(hello_length + 2);
+		if (!service->hello_message) {
+			LOG_ERROR("Out of memory");
+			free(service);
+			return ERROR_FAIL;
+		}
+		strcpy(service->hello_message, hello_message);
+		service->hello_message[hello_length] = '\n';
+		service->hello_message[hello_length + 1] = '\0';
+	}
 	ret = add_service(&rtt_service_driver, CMD_ARGV[0], CONNECTION_LIMIT_UNLIMITED, service);
 
 	if (ret != ERROR_OK) {
@@ -153,7 +171,7 @@ static const struct command_registration rtt_server_subcommand_handlers[] = {
 		.handler = handle_rtt_start_command,
 		.mode = COMMAND_ANY,
 		.help = "Start a RTT server",
-		.usage = "<port> <channel>"
+		.usage = "<port> <channel> [message]"
 	},
 	{
 		.name = "stop",

-----------------------------------------------------------------------

Summary of changes:
 doc/openocd.texi        |  5 +++--
 src/server/rtt_server.c | 24 +++++++++++++++++++++---
 2 files changed, 24 insertions(+), 5 deletions(-)


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- Log -----------------------------------------------------------------
commit acde409ba07dfd692c2356fabdabab89f6e6a281
Author: Marc Schink <de...@za...>
Date:   Sun Mar 27 17:55:53 2022 +0200

    rtt/tcl: Fix line indentation
    
    Change-Id: I21f8084ca648cfe35f8f4dba078b2227772578a8
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7993
    Reviewed-by: Tomas Vanek <va...@fb...>
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/rtt/tcl.c b/src/rtt/tcl.c
index f949aa1c9..2b8822fce 100644
--- a/src/rtt/tcl.c
+++ b/src/rtt/tcl.c
@@ -17,7 +17,7 @@
 
 COMMAND_HANDLER(handle_rtt_setup_command)
 {
-struct rtt_source source;
+	struct rtt_source source;
 
 	if (CMD_ARGC != 3)
 		return ERROR_COMMAND_SYNTAX_ERROR;

-----------------------------------------------------------------------

Summary of changes:
 src/rtt/tcl.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)


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- Log -----------------------------------------------------------------
commit 8ccd7827bed2859cd21725a2c857448ab2fcedf6
Author: Marc Schink <de...@za...>
Date:   Sat Nov 11 10:28:31 2023 +0100

    flash/nor/stmqspi: Use correct command errors
    
    Change-Id: I796b4e350653117bf63d18ad274a1d3d3d1337db
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8004
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Tested-by: jenkins
    Reviewed-by: Tomas Vanek <va...@fb...>

diff --git a/src/flash/nor/stmqspi.c b/src/flash/nor/stmqspi.c
index c9fc1bffa..a1e1d3411 100644
--- a/src/flash/nor/stmqspi.c
+++ b/src/flash/nor/stmqspi.c
@@ -646,21 +646,21 @@ COMMAND_HANDLER(stmqspi_handle_set)
 	COMMAND_PARSE_NUMBER(u32, CMD_ARGV[index++], stmqspi_info->dev.size_in_bytes);
 	if (log2u(stmqspi_info->dev.size_in_bytes) < 8) {
 		command_print(CMD, "stmqspi: device size must be 2^n with n >= 8");
-		return ERROR_COMMAND_SYNTAX_ERROR;
+		return ERROR_COMMAND_ARGUMENT_INVALID;
 	}
 
 	COMMAND_PARSE_NUMBER(u32, CMD_ARGV[index++], stmqspi_info->dev.pagesize);
 	if (stmqspi_info->dev.pagesize > stmqspi_info->dev.size_in_bytes ||
 		(log2u(stmqspi_info->dev.pagesize) < 0)) {
 		command_print(CMD, "stmqspi: page size must be 2^n and <= device size");
-		return ERROR_COMMAND_SYNTAX_ERROR;
+		return ERROR_COMMAND_ARGUMENT_INVALID;
 	}
 
 	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[index++], stmqspi_info->dev.read_cmd);
 	if ((stmqspi_info->dev.read_cmd != 0x03) &&
 		(stmqspi_info->dev.read_cmd != 0x13)) {
 		command_print(CMD, "stmqspi: only 0x03/0x13 READ cmd allowed");
-		return ERROR_COMMAND_SYNTAX_ERROR;
+		return ERROR_COMMAND_ARGUMENT_INVALID;
 	}
 
 	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[index++], stmqspi_info->dev.qread_cmd);
@@ -678,7 +678,7 @@ COMMAND_HANDLER(stmqspi_handle_set)
 		(stmqspi_info->dev.qread_cmd != 0xEE)) {
 		command_print(CMD, "stmqspi: only 0x0B/0x0C/0x3B/0x3C/"
 			"0x6B/0x6C/0xBB/0xBC/0xEB/0xEC/0xEE QREAD allowed");
-		return ERROR_COMMAND_SYNTAX_ERROR;
+		return ERROR_COMMAND_ARGUMENT_INVALID;
 	}
 
 	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[index++], stmqspi_info->dev.pprog_cmd);
@@ -686,7 +686,7 @@ COMMAND_HANDLER(stmqspi_handle_set)
 		(stmqspi_info->dev.pprog_cmd != 0x12) &&
 		(stmqspi_info->dev.pprog_cmd != 0x32)) {
 		command_print(CMD, "stmqspi: only 0x02/0x12/0x32 PPRG cmd allowed");
-		return ERROR_COMMAND_SYNTAX_ERROR;
+		return ERROR_COMMAND_ARGUMENT_INVALID;
 	}
 
 	if (index < CMD_ARGC)
@@ -700,7 +700,7 @@ COMMAND_HANDLER(stmqspi_handle_set)
 			(stmqspi_info->dev.sectorsize < stmqspi_info->dev.pagesize) ||
 			(log2u(stmqspi_info->dev.sectorsize) < 0)) {
 			command_print(CMD, "stmqspi: sector size must be 2^n and <= device size");
-			return ERROR_COMMAND_SYNTAX_ERROR;
+			return ERROR_COMMAND_ARGUMENT_INVALID;
 		}
 
 		if (index < CMD_ARGC)
@@ -786,7 +786,7 @@ COMMAND_HANDLER(stmqspi_handle_cmd)
 	num_write = CMD_ARGC - 2;
 	if (num_write > max) {
 		LOG_ERROR("at most %d bytes may be sent", max);
-		return ERROR_COMMAND_SYNTAX_ERROR;
+		return ERROR_COMMAND_ARGUMENT_INVALID;
 	}
 
 	retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -811,7 +811,7 @@ COMMAND_HANDLER(stmqspi_handle_cmd)
 		if (stmqspi_info->saved_cr & BIT(SPI_DUAL_FLASH)) {
 			if ((num_write & 1) == 0) {
 				LOG_ERROR("number of data bytes to write must be even in dual mode");
-				return ERROR_COMMAND_SYNTAX_ERROR;
+				return ERROR_COMMAND_ARGUMENT_INVALID;
 			}
 		}
 	} else {
@@ -819,12 +819,12 @@ COMMAND_HANDLER(stmqspi_handle_cmd)
 		if (stmqspi_info->saved_cr & BIT(SPI_DUAL_FLASH)) {
 			if ((num_read & 1) != 0) {
 				LOG_ERROR("number of bytes to read must be even in dual mode");
-				return ERROR_COMMAND_SYNTAX_ERROR;
+				return ERROR_COMMAND_ARGUMENT_INVALID;
 			}
 		}
 		if ((num_write < 1) || (num_write > 5)) {
 			LOG_ERROR("one cmd and up to four addr bytes must be send when reading");
-			return ERROR_COMMAND_SYNTAX_ERROR;
+			return ERROR_COMMAND_ARGUMENT_INVALID;
 		}
 	}
 

-----------------------------------------------------------------------

Summary of changes:
 src/flash/nor/stmqspi.c | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)


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- Log -----------------------------------------------------------------
commit 4e5b009a723963228509ae65a60af4df4344a68f
Author: Marc Schink <de...@za...>
Date:   Sat Nov 11 10:24:51 2023 +0100

    flash/nor/pic32mx: Remove redundant error message
    
    The correct syntax is already suggested due to the return
    value used.
    
    While at it, apply some minor code improvements.
    
    Change-Id: I990c0f7a0871f4b1a0fcdd13afc190149302443c
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8003
    Reviewed-by: Tomas Vanek <va...@fb...>
    Tested-by: jenkins
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/flash/nor/pic32mx.c b/src/flash/nor/pic32mx.c
index 9a1a63412..0f3937cfc 100644
--- a/src/flash/nor/pic32mx.c
+++ b/src/flash/nor/pic32mx.c
@@ -866,10 +866,8 @@ COMMAND_HANDLER(pic32mx_handle_unlock_command)
 	struct mips_ejtag *ejtag_info;
 	int timeout = 10;
 
-	if (CMD_ARGC < 1) {
-		command_print(CMD, "pic32mx unlock <bank>");
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -932,7 +930,7 @@ static const struct command_registration pic32mx_exec_command_handlers[] = {
 		.name = "unlock",
 		.handler = pic32mx_handle_unlock_command,
 		.mode = COMMAND_EXEC,
-		.usage = "[bank_id]",
+		.usage = "bank_id",
 		.help = "Unlock/Erase entire device.",
 	},
 	COMMAND_REGISTRATION_DONE

-----------------------------------------------------------------------

Summary of changes:
 src/flash/nor/pic32mx.c | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)


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- Log -----------------------------------------------------------------
commit ea07b3c53a5538dfd9732bb9a5a70f1b1c7c7308
Author: Marc Schink <de...@za...>
Date:   Sat Nov 11 10:19:43 2023 +0100

    flash/nor/stm32l4x: Remove redundant error messages
    
    The correct syntax is already suggested due to the return
    value used.
    
    While at it, apply some minor code improvements.
    
    Change-Id: Id32440cdd531077008abd679add32246c4249eb2
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8001
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Tested-by: jenkins
    Reviewed-by: Tomas Vanek <va...@fb...>

diff --git a/src/flash/nor/stm32l4x.c b/src/flash/nor/stm32l4x.c
index 96757a931..039938512 100644
--- a/src/flash/nor/stm32l4x.c
+++ b/src/flash/nor/stm32l4x.c
@@ -2218,10 +2218,8 @@ err_lock:
 
 COMMAND_HANDLER(stm32l4_handle_mass_erase_command)
 {
-	if (CMD_ARGC < 1) {
-		command_print(CMD, "stm32l4x mass_erase <STM32L4 bank>");
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -2239,10 +2237,8 @@ COMMAND_HANDLER(stm32l4_handle_mass_erase_command)
 
 COMMAND_HANDLER(stm32l4_handle_option_read_command)
 {
-	if (CMD_ARGC < 2) {
-		command_print(CMD, "stm32l4x option_read <STM32L4 bank> <option_reg offset>");
+	if (CMD_ARGC != 2)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -2266,10 +2262,8 @@ COMMAND_HANDLER(stm32l4_handle_option_read_command)
 
 COMMAND_HANDLER(stm32l4_handle_option_write_command)
 {
-	if (CMD_ARGC < 3) {
-		command_print(CMD, "stm32l4x option_write <STM32L4 bank> <option_reg offset> <value> [mask]");
+	if (CMD_ARGC != 3 && CMD_ARGC != 4)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -2381,7 +2375,7 @@ COMMAND_HANDLER(stm32l4_handle_lock_command)
 {
 	struct target *target = NULL;
 
-	if (CMD_ARGC < 1)
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	struct flash_bank *bank;
@@ -2416,7 +2410,7 @@ COMMAND_HANDLER(stm32l4_handle_unlock_command)
 {
 	struct target *target = NULL;
 
-	if (CMD_ARGC < 1)
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	struct flash_bank *bank;
@@ -2520,7 +2514,7 @@ COMMAND_HANDLER(stm32l4_handle_wrp_info_command)
 
 COMMAND_HANDLER(stm32l4_handle_otp_command)
 {
-	if (CMD_ARGC < 2)
+	if (CMD_ARGC != 2)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	struct flash_bank *bank;

-----------------------------------------------------------------------

Summary of changes:
 src/flash/nor/stm32l4x.c | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)


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- Log -----------------------------------------------------------------
commit b310b3ba9d89a059e0edc4f374a31632ec1c58fd
Author: Marc Schink <de...@za...>
Date:   Sat Nov 11 10:18:53 2023 +0100

    flash/nor/stm32h7x: Remove redundant error messages
    
    The correct syntax is already suggested due to the return
    value used.
    
    While at it, apply some minor code improvements.
    
    Change-Id: Idf3d7a46ddecd70823e06bc3997f41fcdb8e501f
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/8000
    Reviewed-by: Tomas Vanek <va...@fb...>
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Tested-by: jenkins

diff --git a/src/flash/nor/stm32h7x.c b/src/flash/nor/stm32h7x.c
index 21618b39b..c02fae992 100644
--- a/src/flash/nor/stm32h7x.c
+++ b/src/flash/nor/stm32h7x.c
@@ -1080,10 +1080,8 @@ flash_lock:
 
 COMMAND_HANDLER(stm32x_handle_mass_erase_command)
 {
-	if (CMD_ARGC < 1) {
-		command_print(CMD, "stm32h7x mass_erase <bank>");
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -1101,10 +1099,8 @@ COMMAND_HANDLER(stm32x_handle_mass_erase_command)
 
 COMMAND_HANDLER(stm32x_handle_option_read_command)
 {
-	if (CMD_ARGC < 2) {
-		command_print(CMD, "stm32h7x option_read <bank> <option_reg offset>");
+	if (CMD_ARGC != 2)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -1126,10 +1122,8 @@ COMMAND_HANDLER(stm32x_handle_option_read_command)
 
 COMMAND_HANDLER(stm32x_handle_option_write_command)
 {
-	if (CMD_ARGC < 3) {
-		command_print(CMD, "stm32h7x option_write <bank> <option_reg offset> <value> [mask]");
+	if (CMD_ARGC != 3 && CMD_ARGC != 4)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);

-----------------------------------------------------------------------

Summary of changes:
 src/flash/nor/stm32h7x.c | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)


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- Log -----------------------------------------------------------------
commit 738f1e1f72f64839462c6da97ea4ab7eba56e337
Author: Marc Schink <de...@za...>
Date:   Sat Nov 11 10:17:45 2023 +0100

    flash/nor/stm32f2x: Remove redundant error messages
    
    The correct syntax is already suggested due to the return
    value used.
    
    While at it, apply some minor code improvements.
    
    Change-Id: I676e2ebf5714c850a436854a32c2e9d2f181d537
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7999
    Tested-by: jenkins
    Reviewed-by: Tomas Vanek <va...@fb...>
    Reviewed-by: Antonio Borneo <bor...@gm...>

diff --git a/src/flash/nor/stm32f2x.c b/src/flash/nor/stm32f2x.c
index 2e0d15897..4e0f73182 100644
--- a/src/flash/nor/stm32f2x.c
+++ b/src/flash/nor/stm32f2x.c
@@ -1540,10 +1540,8 @@ static int stm32x_mass_erase(struct flash_bank *bank)
 
 COMMAND_HANDLER(stm32x_handle_mass_erase_command)
 {
-	if (CMD_ARGC < 1) {
-		command_print(CMD, "stm32x mass_erase <bank>");
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -1566,10 +1564,8 @@ COMMAND_HANDLER(stm32f2x_handle_options_read_command)
 	struct flash_bank *bank;
 	struct stm32x_flash_bank *stm32x_info = NULL;
 
-	if (CMD_ARGC != 1) {
-		command_print(CMD, "stm32f2x options_read <bank>");
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
 	if (retval != ERROR_OK)
@@ -1612,10 +1608,8 @@ COMMAND_HANDLER(stm32f2x_handle_options_write_command)
 	struct stm32x_flash_bank *stm32x_info = NULL;
 	uint16_t user_options, boot_addr0, boot_addr1, options_mask;
 
-	if (CMD_ARGC < 1) {
-		command_print(CMD, "stm32f2x options_write <bank> ...");
+	if (CMD_ARGC < 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
 	if (retval != ERROR_OK)
@@ -1627,19 +1621,14 @@ COMMAND_HANDLER(stm32f2x_handle_options_write_command)
 
 	stm32x_info = bank->driver_priv;
 	if (stm32x_info->has_boot_addr) {
-		if (CMD_ARGC != 4) {
-			command_print(CMD, "stm32f2x options_write <bank> <user_options>"
-				" <boot_addr0> <boot_addr1>");
+		if (CMD_ARGC != 4)
 			return ERROR_COMMAND_SYNTAX_ERROR;
-		}
+
 		COMMAND_PARSE_NUMBER(u16, CMD_ARGV[2], boot_addr0);
 		COMMAND_PARSE_NUMBER(u16, CMD_ARGV[3], boot_addr1);
 		stm32x_info->option_bytes.boot_addr = boot_addr0 | (((uint32_t) boot_addr1) << 16);
-	} else {
-		if (CMD_ARGC != 2) {
-			command_print(CMD, "stm32f2x options_write <bank> <user_options>");
-			return ERROR_COMMAND_SYNTAX_ERROR;
-		}
+	} else if (CMD_ARGC != 2) {
+		return ERROR_COMMAND_SYNTAX_ERROR;
 	}
 
 	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], user_options);
@@ -1674,10 +1663,8 @@ COMMAND_HANDLER(stm32f2x_handle_optcr2_write_command)
 	struct stm32x_flash_bank *stm32x_info = NULL;
 	uint32_t optcr2_pcrop;
 
-	if (CMD_ARGC != 2) {
-		command_print(CMD, "stm32f2x optcr2_write <bank> <optcr2_value>");
+	if (CMD_ARGC != 2)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
 	if (retval != ERROR_OK)
@@ -1711,10 +1698,8 @@ COMMAND_HANDLER(stm32f2x_handle_optcr2_write_command)
 
 COMMAND_HANDLER(stm32x_handle_otp_command)
 {
-	if (CMD_ARGC < 2) {
-		command_print(CMD, "stm32x otp <bank> (enable|disable|show)");
+	if (CMD_ARGC != 2)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	struct flash_bank *bank;
 	int retval = CALL_COMMAND_HANDLER(flash_command_get_bank, 0, &bank);
@@ -1787,7 +1772,7 @@ static const struct command_registration stm32f2x_exec_command_handlers[] = {
 		.name = "otp",
 		.handler = stm32x_handle_otp_command,
 		.mode = COMMAND_EXEC,
-		.usage = "bank_id",
+		.usage = "bank_id (enable|disable|show)",
 		.help = "OTP (One Time Programmable) memory write enable/disable.",
 	},
 	COMMAND_REGISTRATION_DONE

-----------------------------------------------------------------------

Summary of changes:
 src/flash/nor/stm32f2x.c | 35 ++++++++++-------------------------
 1 file changed, 10 insertions(+), 25 deletions(-)


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- Log -----------------------------------------------------------------
commit 1df35d92fe59eac4603f28a2e1c6e5ee1d56e7da
Author: Marc Schink <de...@za...>
Date:   Thu Nov 9 10:13:10 2023 +0100

    jtag/drivers/rshim: Remove redundant error message
    
    The correct syntax is already suggested due to the return
    value used.
    
    Change-Id: I0f4a7f93fdf056e7517c754d6d4ecd7928f1d226
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7992
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Reviewed-by: Tomas Vanek <va...@fb...>
    Tested-by: jenkins

diff --git a/src/jtag/drivers/rshim.c b/src/jtag/drivers/rshim.c
index 6170e86bd..21fc7fd37 100644
--- a/src/jtag/drivers/rshim.c
+++ b/src/jtag/drivers/rshim.c
@@ -434,10 +434,8 @@ static void rshim_disconnect(struct adiv5_dap *dap)
 
 COMMAND_HANDLER(rshim_dap_device_command)
 {
-	if (CMD_ARGC != 1) {
-		command_print(CMD, "Too many arguments");
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	free(rshim_dev_path);
 	rshim_dev_path = strdup(CMD_ARGV[0]);

-----------------------------------------------------------------------

Summary of changes:
 src/jtag/drivers/rshim.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)


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- Log -----------------------------------------------------------------
commit dc0f79d45d4ea1fec9f31557478ef0d0cdba1d01
Author: Marc Schink <de...@za...>
Date:   Thu Nov 9 10:12:51 2023 +0100

    jtag/drivers/jtag_vpi: Remove redundant error messages
    
    The correct syntax is already suggested due to the return
    value used.
    
    Change-Id: I971a579014c1eaf13b1932f7fa87c020a8eba69c
    Signed-off-by: Marc Schink <de...@za...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7971
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Reviewed-by: Tomas Vanek <va...@fb...>
    Tested-by: jenkins

diff --git a/src/jtag/drivers/jtag_vpi.c b/src/jtag/drivers/jtag_vpi.c
index f19e9ab44..c2b3b0808 100644
--- a/src/jtag/drivers/jtag_vpi.c
+++ b/src/jtag/drivers/jtag_vpi.c
@@ -593,10 +593,8 @@ static int jtag_vpi_quit(void)
 
 COMMAND_HANDLER(jtag_vpi_set_port)
 {
-	if (CMD_ARGC == 0) {
-		LOG_ERROR("Command \"jtag_vpi set_port\" expects 1 argument (TCP port number)");
+	if (CMD_ARGC == 0)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], server_port);
 	LOG_INFO("jtag_vpi: server port set to %u", server_port);
@@ -607,10 +605,8 @@ COMMAND_HANDLER(jtag_vpi_set_port)
 COMMAND_HANDLER(jtag_vpi_set_address)
 {
 
-	if (CMD_ARGC == 0) {
-		LOG_ERROR("Command \"jtag_vpi set_address\" expects 1 argument (IP address)");
+	if (CMD_ARGC == 0)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	free(server_address);
 	server_address = strdup(CMD_ARGV[0]);
@@ -621,10 +617,8 @@ COMMAND_HANDLER(jtag_vpi_set_address)
 
 COMMAND_HANDLER(jtag_vpi_stop_sim_on_exit_handler)
 {
-	if (CMD_ARGC != 1) {
-		LOG_ERROR("Command \"jtag_vpi stop_sim_on_exit\" expects 1 argument (on|off)");
+	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
 
 	COMMAND_PARSE_ON_OFF(CMD_ARGV[0], stop_sim_on_exit);
 	return ERROR_OK;

-----------------------------------------------------------------------

Summary of changes:
 src/jtag/drivers/jtag_vpi.c | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)


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