esp-idf/components/vfs/vfs_semihost.c

// Copyright 2020 Espressif Systems (Shanghai) Co. Ltd.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "esp_vfs.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "soc/cpu.h"
#include <stdarg.h>
#include <stdbool.h>
#include <string.h>
#include <sys/errno.h>
#include <sys/stat.h>
#include <fcntl.h>

#ifndef CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS
#define CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS 1
#endif

#ifndef CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN
#define CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN 128
#endif

#ifdef VFS_SUPPRESS_SEMIHOSTING_LOG
#define LOG_LOCAL_LEVEL ESP_LOG_NONE
#endif //VFS_SUPPRESS_SEMIHOSTING_LOG

#include "esp_log.h"
const static char *TAG = "esp_semihost";

/* current semihosting implementation version */
#define DRIVER_SEMIHOSTING_VERSION 0x1

/* syscalls */
#define SYSCALL_INSTR           "break 1,1\n"
#define SYS_OPEN                0x01
#define SYS_CLOSE               0x02
#define SYS_WRITE               0x05
#define SYS_READ                0x06
#define SYS_SEEK                0x0A

#define SYS_DRVINFO             0xE0

/* additional open flags */
#define O_BINARY 0  // there is no binary flag in our toolchain, as well as in Linux OS
                    // but we are leaving it to have an identical to OOCD flags table
/** ESP-specific file open flag. Indicates that path passed to open() is absolute host path. */
#define ESP_O_SEMIHOST_ABSPATH  0x80000000

/* The table is identical to semihosting_common's one from OpenOCD */
static const int open_modeflags[12] = {
    O_RDONLY,
    O_RDONLY | O_BINARY,
    O_RDWR,
    O_RDWR | O_BINARY,
    O_WRONLY | O_CREAT | O_TRUNC,
    O_WRONLY | O_CREAT | O_TRUNC | O_BINARY,
    O_RDWR | O_CREAT | O_TRUNC,
    O_RDWR | O_CREAT | O_TRUNC | O_BINARY,
    O_WRONLY | O_CREAT | O_APPEND,
    O_WRONLY | O_CREAT | O_APPEND | O_BINARY,
    O_RDWR | O_CREAT | O_APPEND,
    O_RDWR | O_CREAT | O_APPEND | O_BINARY
};

/**
 * @brief semihosting driver information
 *
 */
typedef struct {
    int ver;
} drv_info_t;

/**
 * @brief Get the number of appropriate file open mode set from open_modeflags and add some esp flags to them
 *
 * @param flags value, every bit of which reflects state of some open-file flag
 * @return int
*                             -1 - there is no appropriate entry of open_modeflags[]
 *          esp_flags | (0...11) - esp-specific flags and number of flag set for oocd from @ref open_modeflags[]
 */
static inline int get_o_mode(int flags) {
    uint32_t esp_flags = flags & 0xfff00000; // that bits are not used, so let's use it for our espressif's purposes
    uint32_t semi_comm_flags = flags & 0x000fffff;
    if (semi_comm_flags & O_EXCL) { // bypassing lacking of this at table above
        semi_comm_flags &= ~(O_EXCL);
        semi_comm_flags |= O_CREAT;
    }

    for (int i = 0; i < sizeof(open_modeflags) / sizeof(open_modeflags[0]); i++) {
        if (semi_comm_flags == open_modeflags[i])
            return (esp_flags | i);
    }
    return -1; // there is no corresponding mode in the table
}

typedef struct {
    char base_path[ESP_VFS_PATH_MAX + 1];                    /* base path in VFS where host semihosting dir is mounted */
    char host_path[CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN + 1]; /* host path to use as base dir for open files */
} vfs_semihost_ctx_t;

static vfs_semihost_ctx_t s_semhost_ctx[CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS];


static inline int generic_syscall(int sys_nr, int arg1, int arg2, int arg3, int arg4, int* ret_errno)
{
#if !CONFIG_IDF_TARGET_ESP32C3 && !CONFIG_IDF_TARGET_ESP32H2 // TODO ESP32-C3 reenable semihost in C3 IDF-2287
    int host_ret, host_errno;

    if (!esp_cpu_in_ocd_debug_mode()) {
        *ret_errno = EIO;
        return -1;
    }
    __asm__ volatile (
        "mov a2, %[sys_nr]\n" \
        "mov a3, %[arg1]\n" \
        "mov a4, %[arg2]\n" \
        "mov a5, %[arg3]\n" \
        "mov a6, %[arg4]\n" \
        SYSCALL_INSTR \
        "mov %[host_ret], a2\n" \
        "mov %[host_errno], a3\n" \
        :[host_ret]"=r"(host_ret),[host_errno]"=r"(host_errno)
        :[sys_nr]"r"(sys_nr),[arg1]"r"(arg1),[arg2]"r"(arg2),[arg3]"r"(arg3),[arg4]"r"(arg4)
        :"a2","a3","a4","a5","a6");
    *ret_errno = host_errno;
    return host_ret;
#else
    return 0;
#endif

}

inline bool ctx_is_unused(const vfs_semihost_ctx_t* ctx)
{
    return ctx->base_path[0] == 0;
}

inline bool ctx_uses_abspath(const vfs_semihost_ctx_t* ctx)
{
    return ctx->host_path[0];
}

/**
 * @brief Send a custom syscall SYS_DRVINFO to the host for determining
 *
 * @param ctx context
 * @return error
 */
static esp_err_t vfs_semihost_drvinfo(vfs_semihost_ctx_t *ctx) {
    drv_info_t drv_info = {
        .ver = DRIVER_SEMIHOSTING_VERSION
    };

    int host_err = 0;
    size_t ret = -1;

    ESP_LOGV(TAG, "%s: s_ver: %x, flags:  %x, par3:  %x, par4:  %x", __func__, (int)&drv_info, sizeof(drv_info), 0, 0);

    ret = generic_syscall(SYS_DRVINFO, (int)&drv_info, sizeof(drv_info), 0, 0, &host_err);

    /* Recognizing the version */
    ESP_LOGV(TAG, "Trying to determine semihosting's version...");
    if (ret == -1) { /* there is no such syscall -  old semihosting */
        ret = ESP_ERR_INVALID_VERSION;
    } else {
        ESP_LOGI(TAG, "OpenOCD Semihosting v.%d [Read from an OpenOCD response]", drv_info.ver);
        ESP_LOGV(TAG, "[Version was read from an OpenOCD response]");
    }
    return ret;
}

static int vfs_semihost_open(void* ctx, const char* path, int flags, int mode) {
    int ret_fd = -1, o_mode = 0, host_err = 0;
    char *host_path;
    vfs_semihost_ctx_t *semi_ctx = ctx;
    ESP_LOGV(TAG, "%s: %p '%s 0x%x 0x%x'", __func__, semi_ctx, path, flags, mode);

    /* flags processing */
    if (ctx_uses_abspath(semi_ctx)) {
        flags |= ESP_O_SEMIHOST_ABSPATH;
    }
    o_mode = get_o_mode(flags);

    if (o_mode == -1) { /* if wrong flags - error */
        errno = EINVAL;
    } else { /* if ok - host_path processing */
        if (ctx_uses_abspath(semi_ctx)) {
            host_path = malloc(strlen(semi_ctx->host_path) + strlen(path) + 1);
            if (host_path == NULL) { /* if no valid pointer - error and return */
                errno = ENOMEM;
                return -1;
            }
            strcpy(host_path, semi_ctx->host_path);
            strcat(host_path, path);
        } else {
            host_path = (char *)path;
        }
        /* everything is ready: syscall and cleanup */
        ret_fd = generic_syscall(SYS_OPEN, (int)host_path, o_mode, strlen(host_path), mode, &host_err);
        if (ret_fd == -1) {
            errno = host_err;
        }
        if (ctx_uses_abspath(semi_ctx)) {
            free(host_path);
        }
    }
    return ret_fd;
}

static ssize_t vfs_semihost_write(void* ctx, int fd, const void * data, size_t size)
{
    int host_err = 0;
    size_t ret = -1;

    ESP_LOGV(TAG, "%s: %d %u bytes", __func__, fd, size);
    ret = generic_syscall(SYS_WRITE, fd, (int)data, size, 0, &host_err);
    if (ret == -1) {
        errno = host_err;
    }
    return size - (ssize_t)ret; /* Write syscall returns the number of bytes NOT written */
}

static ssize_t vfs_semihost_read(void* ctx, int fd, void* data, size_t size)
{
    int host_err = 0;
    size_t ret = -1;

    ESP_LOGV(TAG, "%s: %d %u bytes", __func__, fd, size);
    ret = generic_syscall(SYS_READ, fd, (int)data, size, 0, &host_err);
    if (ret == -1) {
        errno = host_err;
        return ret;
    }
    return size - (ssize_t)ret; /* Read syscall returns the number of bytes NOT read */

}


static int vfs_semihost_close(void* ctx, int fd)
{
    int ret = -1, host_err = 0;

    ESP_LOGV(TAG, "%s: %d", __func__, fd);
    ret = generic_syscall(SYS_CLOSE, fd, 0, 0, 0, &host_err);
    if (ret == -1) {
        errno = host_err;
    }
    return ret;
}

static off_t vfs_semihost_lseek(void* ctx, int fd, off_t offset, int mode)
{
    int ret = -1, host_err = 0;

    ESP_LOGV(TAG, "%s: %d %ld %d", __func__, fd, offset, mode);
    ret = generic_syscall(SYS_SEEK, fd, offset, mode, 0, &host_err);
    if (ret == -1) {
        errno = host_err;
    }
    return (off_t)ret;
}

esp_err_t esp_vfs_semihost_register(const char* base_path, const char* host_path)
{
    const esp_vfs_t vfs = {
        .flags = ESP_VFS_FLAG_CONTEXT_PTR,
        .write_p = &vfs_semihost_write,
        .open_p = &vfs_semihost_open,
        .close_p = &vfs_semihost_close,
        .read_p = &vfs_semihost_read,
        .lseek_p = &vfs_semihost_lseek,
    };
    ESP_LOGD(TAG, "Register semihosting driver '%s' -> '%s'", base_path, host_path ? host_path : "null");
    if (!esp_cpu_in_ocd_debug_mode()) {
        ESP_LOGE(TAG, "OpenOCD is not connected!");
        return ESP_ERR_NOT_SUPPORTED;
    }
    int i = 0;
    for (i = 0; i < CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS; i++) {
        if (ctx_is_unused(&s_semhost_ctx[i])) {
            break;
        }
        if (strcmp(base_path, s_semhost_ctx[i].base_path) == 0) {
            return ESP_ERR_INVALID_STATE;
        }
    }
    if (i == CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS) {
        return ESP_ERR_NO_MEM;
    }
    strlcpy(s_semhost_ctx[i].base_path, base_path, sizeof(s_semhost_ctx[i].base_path) - 1);
    if (host_path) {
        strlcpy(s_semhost_ctx[i].host_path, host_path, sizeof(s_semhost_ctx[i].host_path) - 1);
    }
    ESP_LOGD(TAG, "Register semihosting driver %d %p", i, &s_semhost_ctx[i]);
    esp_err_t err = vfs_semihost_drvinfo(&s_semhost_ctx[i]); // define semihosting version
    if (err != ESP_OK) {
        ESP_LOGE(TAG, "Incompatible OpenOCD version detected. Please follow the getting started guides to install the required version.");
    }
    err = esp_vfs_register(base_path, &vfs, &s_semhost_ctx[i]);
    if (err != ESP_OK) {
        ESP_LOGE(TAG, "Can't register the semihosting! Error: %s", esp_err_to_name(err));
        return err;
    }
    return err;
}

esp_err_t esp_vfs_semihost_unregister(const char* base_path)
{
    ESP_LOGD(TAG, "Unregister semihosting driver @ '%s'", base_path);
    int i = 0;
    for (i = 0; i < CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS; i++) {
        if (s_semhost_ctx[i].base_path[0] != 0 && strcmp(base_path, s_semhost_ctx[i].base_path) == 0) {
            break;
        }
    }
    if (i == CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS) {
        return ESP_ERR_INVALID_ARG;
    }
    esp_err_t ret = esp_vfs_unregister(s_semhost_ctx[i].base_path);
    if (ret != ESP_OK) {
        return ret;
    }
    s_semhost_ctx[i].base_path[0] = 0;
    s_semhost_ctx[i].host_path[0] = 0;
    ESP_LOGD(TAG, "Unregistered semihosting driver @ '%s'", base_path);
    return ESP_OK;
}