Add OpenOCD test

.github/scripts/openocd_test.sh

@@ -0,0 +1,78 @@
+#!/bin/bash
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Antmicro <www.antmicro.com>
+#
+# 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.
+#
+# This script runs Verilator RTL simulation in background and invokes OpenOCD
+# to perform JTAG access test
+
+SIM_LOG=`realpath sim.log`
+OPENOCD_LOG=`realpath openocd.log`
+
+set +e
+
+if [ "$#" -lt 1 ]; then
+    echo "Usage: openocd_test.sh [openocd args ...]"
+    exit 1
+fi
+OPENOCD_ARGS=$@
+
+# Utils
+source `dirname ${BASH_SOURCE[0]}`/utils.sh
+
+print_logs () {
+    echo -e "${COLOR_WHITE}======== Simulation log ========${COLOR_OFF}"
+    cat ${SIM_LOG} || true
+    echo -e "${COLOR_WHITE}======== OpenOCD log ========${COLOR_OFF}"
+    cat ${OPENOCD_LOG} || true
+}
+
+echo -e "${COLOR_WHITE}======== Launching interactive simulation ========${COLOR_OFF}"
+
+# Start the simulation
+echo -e "Starting simulation..."
+obj_dir/Vtb_top >"${SIM_LOG}" 2>&1 &
+SIM_PID=$!
+
+# Wait
+wait_for_phrase "${SIM_LOG}" "VerilatorTB: Start of sim"
+if [ $? -ne 0 ]; then
+    echo -e "${COLOR_RED}Failed to start the simulation!${COLOR_OFF}"
+    print_logs
+    terminate ${SIM_PID}; exit -1
+fi
+echo -e "Simulation running and ready (pid=${SIM_PID})"
+
+# Wait a bit
+sleep 2s
+
+# Run the test
+echo -e "${COLOR_WHITE}======== Running OpenOCD test '$@' ========${COLOR_OFF}"
+cd ${RV_ROOT}/testbench/openocd_scripts && openocd -d2 ${OPENOCD_ARGS} >"${OPENOCD_LOG}" 2>&1
+EXITCODE=$?
+
+if [ ${EXITCODE} -eq 0 ]; then
+    echo -e "${COLOR_GREEN}[PASSED]${COLOR_OFF}"
+else
+    echo -e "${COLOR_RED}[FAILED]${COLOR_OFF}"
+fi
+
+# Display logs
+print_logs
+
+wait $SIM_PID
+
+# Honor the exitcode
+exit ${EXITCODE}
+

.github/scripts/utils.sh

@@ -0,0 +1,64 @@
+#!/bin/bash
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Antmicro <www.antmicro.com>
+#
+# 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.
+#
+
+# Colors
+COLOR_OFF='\033[0m'
+COLOR_RED='\033[31m'
+COLOR_GREEN='\033[32m'
+COLOR_WHITE='\033[1;37m'
+
+# Waits until the given phrase appears in a log file (actively written to)
+# Usage: wait_for_phrase <log_file> <phrase>
+wait_for_phrase () {
+
+    # Check if the log exists
+    sleep 1s
+    if ! [ -f "$1" ]; then
+        echo -e "${COLOR_RED}Log file '$1' not found!${COLOR_OFF}"
+        return -1
+    fi
+
+    # Wait for the phrase
+    DEADLINE=$((${EPOCHSECONDS} + 30))
+    while [ ${EPOCHSECONDS} -lt ${DEADLINE} ]
+    do
+        # Check for the phrase
+        grep "$2" "$1" >/dev/null
+        if [ $? -eq 0 ]; then
+            return 0
+        fi
+
+        # Sleep and retry
+        sleep 1s
+    done
+
+    # Timeout
+    return -1
+}
+
+# Terminates a process. First via SIGINT and if this doesn't work after 10s
+# retries with SIGKILL
+# Usage: terminate <pid>
+terminate () {
+
+    local PID=$1
+
+    # Gently interrupt, wait some time and then kill
+    /bin/kill -s SIGINT  ${PID} || true
+    sleep 10s
+    /bin/kill -s SIGKILL ${PID} || true
+}

.github/workflows/build-openocd.yml

@@ -0,0 +1,54 @@
+name: OpenOCD Build
+
+on:
+  workflow_call:
+
+jobs:
+  openOCD:
+    name: Build OpenOCD
+    runs-on: ubuntu-latest
+    env:
+      # A custom fork is needed to allow bypassing core examination and accessing
+      # peripherals regardless of core state.
+      OPENOCD_REPO: https://github.com/antmicro/openocd
+      OPENOCD_VERSION: riscv-nohalt
+
+    steps:
+      - name: Setup Cache Metadata
+        id: cache_metadata
+        run: |
+          cache_date=$(date +"%Y_%m_%d")
+          cache_name=cache_openocd
+          echo "Cache date: "$cache_date
+          echo "Cache name: "$cache_name
+          echo "cache_date=$cache_date" >> "$GITHUB_ENV"
+          echo "cache_name=$cache_name" >> "$GITHUB_ENV"
+
+      - name: Setup cache
+        uses: actions/cache@v3
+        id: cache
+        timeout-minutes: 60
+        with:
+          path: |
+            /opt/openocd
+            /opt/openocd/.cache
+          key: ${{ env.cache_name }}_${{ env.cache_date }}
+          restore-keys: ${{ env.cache_name }}_
+
+      - name: Install prerequisities
+        if: ${{ steps.cache.outputs.cache-hit != 'true' }}
+        run: |
+          sudo apt -qqy update && sudo apt -qqy --no-install-recommends install \
+          make libtool pkg-config autoconf automake texinfo
+
+      - name: Build and install OpenOCD
+        if: ${{ steps.cache.outputs.cache-hit != 'true' }}
+        run: |
+          git clone -b "${OPENOCD_VERSION}" "${OPENOCD_REPO}"
+          pushd openocd
+            ./bootstrap
+            ./configure --prefix=/opt/openocd --enable-remote-bitbang \
+            CFLAGS="-Wno-error=misleading-indentation -Wno-error=stringop-overflow"
+            make -j`nproc`
+            sudo make install
+          popd

.github/workflows/ci.yml

@@ -16,6 +16,10 @@ jobs:
     name: Build-Spike
     uses: ./.github/workflows/build-spike.yml
 
+  Build-OpenOCD:
+    name: Build-OpenOCD
+    uses: ./.github/workflows/build-openocd.yml
+
   Test-Regression:
     name: Test-Regression
     needs: [Build-Verilator]
@@ -50,9 +54,14 @@ jobs:
     name: Test-Renode
     uses: ./.github/workflows/test-renode.yml
 
+  Test-OpenOCD:
+    name: Test-OpenOCD
+    needs: [Build-Verilator, Build-OpenOCD]
+    uses: ./.github/workflows/test-openocd.yml
+
   Report-Coverage:
     name: Report-Coverage
-    needs: [Test-Regression, Test-Verification, Test-Microarchitectural, Test-RISCV-DV, Test-RISCOF]
+    needs: [Test-Regression, Test-Verification, Test-Microarchitectural, Test-RISCV-DV, Test-RISCOF, Test-OpenOCD]
     uses: ./.github/workflows/report-coverage.yml
 
   Build-Docs:

.github/workflows/report-coverage.yml

@@ -66,6 +66,12 @@ jobs:
           name: riscof_coverage_data
           path: ./
 
+      - name: Download coverage reports
+        uses: actions/download-artifact@v3
+        with:
+          name: openocd_coverage_data
+          path: ./
+
       - name: Generate reports
         run: |
           export PATH=${{ env.LCOV_PATH }}:${PATH}

.github/workflows/test-openocd.yml

@@ -0,0 +1,101 @@
+name: Test-OpenOCD
+
+on:
+  workflow_call:
+
+jobs:
+
+  tests:
+    name: Run OpenOCD tests
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        coverage: ["all", "branch", "toggle"] #TODO: add functional coverage
+        bus: ["axi4", "ahb_lite"]
+    env:
+      DEBIAN_FRONTEND: "noninteractive"
+      CCACHE_DIR: "/opt/openocd-tests/.cache/"
+      VERILATOR_VERSION: v5.010
+
+    steps:
+      - name: Install utils
+        run: |
+          sudo apt -qqy update && sudo apt -qqy --no-install-recommends install \
+             cpanminus ccache ninja-build gcc-riscv64-unknown-elf
+          pip3 install meson
+          sudo cpanm Bit::Vector
+
+      - name: Setup Cache Metadata
+        id: cache_metadata
+        run: |
+          date=$(date +"%Y_%m_%d")
+          time=$(date +"%Y%m%d_%H%M%S_%N")
+          cache_verilator_restore_key=cache_verilator_
+          cache_verilator_key=${cache_verilator_restore_key}${{ env.VERILATOR_VERSION }}
+          cache_openocd_restore_key=cache_openocd_
+          cache_openocd_key=${cache_openocd_restore_key}
+          cache_test_restore_key=${{ matrix.coverage }}_
+          cache_test_key=${cache_test_restore_key}${time}
+          echo "date=$date" | tee -a "$GITHUB_ENV"
+          echo "time=$time" | tee -a "$GITHUB_ENV"
+          echo "cache_verilator_restore_key=$cache_verilator_restore_key" | tee -a "$GITHUB_ENV"
+          echo "cache_verilator_key=$cache_verilator_key" | tee -a "$GITHUB_ENV"
+          echo "cache_openocd_restore_key=$cache_openocd_restore_key" | tee -a "$GITHUB_ENV"
+          echo "cache_openocd_key=$cache_openocd_key" | tee -a "$GITHUB_ENV"
+          echo "cache_test_restore_key=$cache_test_restore_key" | tee -a "$GITHUB_ENV"
+          echo "cache_test_key=$cache_test_key" | tee -a "$GITHUB_ENV"
+
+      - name: Restore Verilator cache
+        id: cache-verilator-restore
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+            /opt/verilator
+            /opt/verilator/.cache
+          key: ${{ env.cache_verilator_key }}
+          restore-keys: ${{ env.cache_verilator_restore_key }}
+
+      - name: Restore OpenOCD cache
+        id: cache-openocd-restore
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+            /opt/openocd
+            /opt/openocd/.cache
+          key: ${{ env.cache_openocd_key }}
+          restore-keys: ${{ env.cache_openocd_restore_key }}
+
+      - name: Setup repository
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+
+      - name: Build verilated simulation
+        run: |
+          export PATH=/opt/verilator/bin:/opt/openocd/bin:$PATH
+          export RV_ROOT=$(pwd)
+          mkdir run
+          make -C run -f ${RV_ROOT}/tools/Makefile verilator-build program.hex TEST=infinite_loop \
+            CONF_PARAMS="-set build_${{ matrix.bus }} -set openocd_test" COVERAGE=${{ matrix.coverage }}
+          cd run
+          ${RV_ROOT}/.github/scripts/openocd_test.sh \
+            -f ${RV_ROOT}/testbench/openocd_scripts/verilator-rst.cfg \
+            -f ${RV_ROOT}/testbench/openocd_scripts/jtag_cg.tcl
+
+      - name: Prepare coverage data
+        run: |
+          export PATH=/opt/verilator/bin:$PATH
+          export RV_ROOT=$(pwd)
+          .github/scripts/convert_coverage_data.sh ${RV_ROOT}/run
+          echo "convert_coverage_data.sh exited with RET_CODE = "$?
+          mkdir -p results
+          mv ${RV_ROOT}/run/coverage.info \
+             results/coverage_openocd_${{ matrix.bus }}_${{ matrix.coverage }}.info
+
+      - name: Pack artifacts
+        if: always()
+        uses: actions/upload-artifact@v3
+        with:
+          name: openocd_coverage_data
+          path: results/*.info

configs/veer.config

@@ -272,6 +272,7 @@ my $fast_interrupt_redirect = 1;                        # ON by default
 my $lsu_num_nbload=4;
 my $ahb = 0;
 my $axi = 1;
+my $openocd_test = 0;
 my $text_in_iccm = 0;
 
 my $lsu2dma = 0;
@@ -1045,6 +1046,7 @@ our %config = (#{{{
         "build_ahb_lite"    => "$ahb",
         "build_axi4"        => "$axi",
         "build_axi_native"  => "1",
+        "openocd_test"      => "$openocd_test",
         "ext_datawidth"     => "64",
         "ext_addrwidth"     => "32",
         "sterr_rollback"    => "0",
@@ -1929,6 +1931,8 @@ if (defined($config{"testbench"}{"build_axi_native"}) && ($config{"testbench"}{"
 
 delete $config{core}{fpga_optimize} if ($config{core}{fpga_optimize} == 0);
 
+delete $config{testbench}{openocd_test} if ($config{testbench}{openocd_test} == 0);
+
 # Remove TECH_SPECIFIC_* defines if they are set to 0
 foreach my $key (sort keys(%config)) {
     if (grep(/tech_specific_/, $key)) {