target: improve robustness of reset command

Before this change jim_target_reset() checked examined state of a target
and failed without calling .assert_reset in particular target layer
(and without comprehensible warning to user).
Cortex-M target (which refuses access to DP under active SRST):
If connection is lost then reset process fails before asserting SRST
and connection with MCU is not restored.
This resulted in:
1) A lot of Cortex-M MCUs required use of reset button or cycling power
after firmware blocked SWD access somehow (sleep, misconfigured clock etc).
If firmware blocks SWD access early during initialization, a MCU could
become completely inaccessible by SWD.
2) If OpenOCD is (re)started and a MCU is in a broken state unresponsive
to SWD, reset command does not work even if it could help to restore communication.
Hopefully this scenario is not possible under full JTAG.

jim_target_reset() in target.c now does not check examined state
and delegates this task to a particular target. All targets have been checked
and xx_assert_reset() (or xx_deassert_reset()) procedures were changed
to check examined state if needed. Targets except arm11, cortex_a and cortex_m
just fail if target is not examined although it may be possible to use
at least hw reset. Left as TODO for developers familiar with these targets.

cortex_m_assert_reset(): memory access errors are stored
instead of immediate returning them to a higher level.
Errors from less important reads/writes are ignored.
Requested reset always leads to a configured action.

arm11_assert_reset() just asserts hw reset in case of not examined target.
cortex_a_assert_reset() works as usual in case of not examined target.

Change-Id: I84fa869f4f58e2fa83b6ea75de84440d9dc3d929
Signed-off-by: Tomas Vanek <vanekt@fbl.cz>
Reviewed-on: http://openocd.zylin.com/2606
Tested-by: jenkins
Reviewed-by: Matthias Welwarsky <matthias@welwarsky.de>
Reviewed-by: Paul Fertser <fercerpav@gmail.com>

9 files changed, 89 insertions, 49 deletions

diff --git a/src/target/arm11.c b/src/target/arm11.c
index 0cb1d8c..be21c52 100644
--- a/src/target/arm11.c
+++ b/src/target/arm11.c
@@ -694,21 +694,32 @@ static int arm11_assert_reset(struct target *target)
 {
 	struct arm11_common *arm11 = target_to_arm11(target);
 
-	/* optionally catch reset vector */
-	if (target->reset_halt && !(arm11->vcr & 1))
-		CHECK_RETVAL(arm11_sc7_set_vcr(arm11, arm11->vcr | 1));
-
-	/* Issue some kind of warm reset. */
-	if (target_has_event_action(target, TARGET_EVENT_RESET_ASSERT))
-		target_handle_event(target, TARGET_EVENT_RESET_ASSERT);
-	else if (jtag_get_reset_config() & RESET_HAS_SRST) {
-		/* REVISIT handle "pulls" cases, if there's
-		 * hardware that needs them to work.
-		 */
-		jtag_add_reset(0, 1);
+	if (!(target_was_examined(target))) {
+		if (jtag_get_reset_config() & RESET_HAS_SRST)
+			jtag_add_reset(0, 1);
+		else {
+			LOG_WARNING("Reset is not asserted because the target is not examined.");
+			LOG_WARNING("Use a reset button or power cycle the target.");
+			return ERROR_TARGET_NOT_EXAMINED;
+		}
 	} else {
-		LOG_ERROR("%s: how to reset?", target_name(target));
-		return ERROR_FAIL;
+
+		/* optionally catch reset vector */
+		if (target->reset_halt && !(arm11->vcr & 1))
+			CHECK_RETVAL(arm11_sc7_set_vcr(arm11, arm11->vcr | 1));
+
+		/* Issue some kind of warm reset. */
+		if (target_has_event_action(target, TARGET_EVENT_RESET_ASSERT))
+			target_handle_event(target, TARGET_EVENT_RESET_ASSERT);
+		else if (jtag_get_reset_config() & RESET_HAS_SRST) {
+			/* REVISIT handle "pulls" cases, if there's
+			 * hardware that needs them to work.
+			 */
+			jtag_add_reset(0, 1);
+		} else {
+			LOG_ERROR("%s: how to reset?", target_name(target));
+			return ERROR_FAIL;
+		}
 	}
 
 	/* registers are now invalid */
diff --git a/src/target/arm7_9_common.c b/src/target/arm7_9_common.c
index 7b40f50..73e0a85 100644
--- a/src/target/arm7_9_common.c
+++ b/src/target/arm7_9_common.c
@@ -875,6 +875,13 @@ int arm7_9_assert_reset(struct target *target)
 	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	bool use_event = false;
 
+	/* TODO: apply hw reset signal in not examined state */
+	if (!(target_was_examined(target))) {
+		LOG_WARNING("Reset is not asserted because the target is not examined.");
+		LOG_WARNING("Use a reset button or power cycle the target.");
+		return ERROR_TARGET_NOT_EXAMINED;
+	}
+
 	LOG_DEBUG("target->state: %s", target_state_name(target));
 
 	if (target_has_event_action(target, TARGET_EVENT_RESET_ASSERT))
diff --git a/src/target/cortex_a.c b/src/target/cortex_a.c
index 27a8a9b..4c0d163 100644
--- a/src/target/cortex_a.c
+++ b/src/target/cortex_a.c
@@ -1903,6 +1903,8 @@ static int cortex_a_assert_reset(struct target *target)
 
 	/* FIXME when halt is requested, make it work somehow... */
 
+	/* This function can be called in "target not examined" state */
+
 	/* Issue some kind of warm reset. */
 	if (target_has_event_action(target, TARGET_EVENT_RESET_ASSERT))
 		target_handle_event(target, TARGET_EVENT_RESET_ASSERT);
diff --git a/src/target/cortex_m.c b/src/target/cortex_m.c
index 6786c46..831d01a 100644
--- a/src/target/cortex_m.c
+++ b/src/target/cortex_m.c
@@ -992,34 +992,24 @@ static int cortex_m_assert_reset(struct target *target)
 	/* Enable debug requests */
 	int retval;
 	retval = mem_ap_read_atomic_u32(armv7m->debug_ap, DCB_DHCSR, &cortex_m->dcb_dhcsr);
-	if (retval != ERROR_OK)
-		return retval;
-	if (!(cortex_m->dcb_dhcsr & C_DEBUGEN)) {
+	/* Store important errors instead of failing and proceed to reset assert */
+
+	if (retval != ERROR_OK || !(cortex_m->dcb_dhcsr & C_DEBUGEN))
 		retval = mem_ap_write_u32(armv7m->debug_ap, DCB_DHCSR, DBGKEY | C_DEBUGEN);
-		if (retval != ERROR_OK)
-			return retval;
-	}
 
 	/* If the processor is sleeping in a WFI or WFE instruction, the
 	 * C_HALT bit must be asserted to regain control */
-	if (cortex_m->dcb_dhcsr & S_SLEEP) {
+	if (retval == ERROR_OK && (cortex_m->dcb_dhcsr & S_SLEEP))
 		retval = mem_ap_write_u32(armv7m->debug_ap, DCB_DHCSR, DBGKEY | C_HALT | C_DEBUGEN);
-		if (retval != ERROR_OK)
-			return retval;
-	}
 
-	retval = mem_ap_write_u32(armv7m->debug_ap, DCB_DCRDR, 0);
-	if (retval != ERROR_OK)
-		return retval;
+	mem_ap_write_u32(armv7m->debug_ap, DCB_DCRDR, 0);
+	/* Ignore less important errors */
 
 	if (!target->reset_halt) {
 		/* Set/Clear C_MASKINTS in a separate operation */
-		if (cortex_m->dcb_dhcsr & C_MASKINTS) {
-			retval = mem_ap_write_atomic_u32(armv7m->debug_ap, DCB_DHCSR,
+		if (cortex_m->dcb_dhcsr & C_MASKINTS)
+			mem_ap_write_atomic_u32(armv7m->debug_ap, DCB_DHCSR,
 					DBGKEY | C_DEBUGEN | C_HALT);
-			if (retval != ERROR_OK)
-				return retval;
-		}
 
 		/* clear any debug flags before resuming */
 		cortex_m_clear_halt(target);
@@ -1033,16 +1023,20 @@ static int cortex_m_assert_reset(struct target *target)
 		 * bad vector table entries.  Should this include MMERR or
 		 * other flags too?
 		 */
-		retval = mem_ap_write_atomic_u32(armv7m->debug_ap, DCB_DEMCR,
+		int retval2;
+		retval2 = mem_ap_write_atomic_u32(armv7m->debug_ap, DCB_DEMCR,
 				TRCENA | VC_HARDERR | VC_BUSERR | VC_CORERESET);
-		if (retval != ERROR_OK)
-			return retval;
+		if (retval != ERROR_OK || retval2 != ERROR_OK)
+			LOG_INFO("AP write error, reset will not halt");
 	}
 
 	if (jtag_reset_config & RESET_HAS_SRST) {
 		/* default to asserting srst */
 		if (!srst_asserted)
 			adapter_assert_reset();
+
+		/* srst is asserted, ignore AP access errors */
+		retval = ERROR_OK;
 	} else {
 		/* Use a standard Cortex-M3 software reset mechanism.
 		 * We default to using VECRESET as it is supported on all current cores.
@@ -1057,27 +1051,24 @@ static int cortex_m_assert_reset(struct target *target)
 				"handler to reset any peripherals or configure hardware srst support.");
 		}
 
-		retval = mem_ap_write_atomic_u32(armv7m->debug_ap, NVIC_AIRCR,
+		int retval3;
+		retval3 = mem_ap_write_atomic_u32(armv7m->debug_ap, NVIC_AIRCR,
 				AIRCR_VECTKEY | ((reset_config == CORTEX_M_RESET_SYSRESETREQ)
 				? AIRCR_SYSRESETREQ : AIRCR_VECTRESET));
-		if (retval != ERROR_OK)
+		if (retval3 != ERROR_OK)
 			LOG_DEBUG("Ignoring AP write error right after reset");
 
-		retval = dap_dp_init(armv7m->debug_ap->dap);
-		if (retval != ERROR_OK) {
+		retval3 = dap_dp_init(armv7m->debug_ap->dap);
+		if (retval3 != ERROR_OK)
 			LOG_ERROR("DP initialisation failed");
-			return retval;
-		}
 
-		{
+		else {
 			/* I do not know why this is necessary, but it
 			 * fixes strange effects (step/resume cause NMI
 			 * after reset) on LM3S6918 -- Michael Schwingen
 			 */
 			uint32_t tmp;
-			retval = mem_ap_read_atomic_u32(armv7m->debug_ap, NVIC_AIRCR, &tmp);
-			if (retval != ERROR_OK)
-				return retval;
+			mem_ap_read_atomic_u32(armv7m->debug_ap, NVIC_AIRCR, &tmp);
 		}
 	}
 
@@ -1086,6 +1077,10 @@ static int cortex_m_assert_reset(struct target *target)
 
 	register_cache_invalidate(cortex_m->armv7m.arm.core_cache);
 
+	/* now return stored error code if any */
+	if (retval != ERROR_OK)
+		return retval;
+
 	if (target->reset_halt) {
 		retval = target_halt(target);
 		if (retval != ERROR_OK)
diff --git a/src/target/feroceon.c b/src/target/feroceon.c
index 9c204f0..1d3cc59 100644
--- a/src/target/feroceon.c
+++ b/src/target/feroceon.c
@@ -64,6 +64,13 @@ static int feroceon_assert_reset(struct target *target)
 	struct arm7_9_common *arm7_9 = arm->arch_info;
 	int ud = arm7_9->use_dbgrq;
 
+	/* TODO: apply hw reset signal in not examined state */
+	if (!(target_was_examined(target))) {
+		LOG_WARNING("Reset is not asserted because the target is not examined.");
+		LOG_WARNING("Use a reset button or power cycle the target.");
+		return ERROR_TARGET_NOT_EXAMINED;
+	}
+
 	arm7_9->use_dbgrq = 0;
 	if (target->reset_halt)
 		arm7_9_halt(target);
diff --git a/src/target/mips_m4k.c b/src/target/mips_m4k.c
index 5b740cc..650f799 100644
--- a/src/target/mips_m4k.c
+++ b/src/target/mips_m4k.c
@@ -302,6 +302,13 @@ static int mips_m4k_assert_reset(struct target *target)
 	struct mips_m4k_common *mips_m4k = target_to_m4k(target);
 	struct mips_ejtag *ejtag_info = &mips_m4k->mips32.ejtag_info;
 
+	/* TODO: apply hw reset signal in not examined state */
+	if (!(target_was_examined(target))) {
+		LOG_WARNING("Reset is not asserted because the target is not examined.");
+		LOG_WARNING("Use a reset button or power cycle the target.");
+		return ERROR_TARGET_NOT_EXAMINED;
+	}
+
 	LOG_DEBUG("target->state: %s",
 		target_state_name(target));
 
diff --git a/src/target/nds32.c b/src/target/nds32.c
index b6c5f61..afdafef 100644
--- a/src/target/nds32.c
+++ b/src/target/nds32.c
@@ -2199,6 +2199,13 @@ int nds32_assert_reset(struct target *target)
 	struct aice_port_s *aice = target_to_aice(target);
 	struct nds32_cpu_version *cpu_version = &(nds32->cpu_version);
 
+	/* TODO: apply hw reset signal in not examined state */
+	if (!(target_was_examined(target))) {
+		LOG_WARNING("Reset is not asserted because the target is not examined.");
+		LOG_WARNING("Use a reset button or power cycle the target.");
+		return ERROR_TARGET_NOT_EXAMINED;
+	}
+
 	if (target->reset_halt) {
 		if ((nds32->soft_reset_halt)
 			|| (nds32->edm.version < 0x51)
diff --git a/src/target/target.c b/src/target/target.c
index d634a12..e12760c 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -4920,10 +4920,7 @@ static int jim_target_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 	struct target *target = Jim_CmdPrivData(goi.interp);
 	if (!target->tap->enabled)
 		return jim_target_tap_disabled(interp);
-	if (!(target_was_examined(target))) {
-		LOG_ERROR("Target not examined yet");
-		return ERROR_TARGET_NOT_EXAMINED;
-	}
+
 	if (!target->type->assert_reset || !target->type->deassert_reset) {
 		Jim_SetResultFormatted(interp,
 				"No target-specific reset for %s",
diff --git a/src/target/xscale.c b/src/target/xscale.c
index 8799e5c..713a31e 100644
--- a/src/target/xscale.c
+++ b/src/target/xscale.c
@@ -1446,6 +1446,13 @@ static int xscale_assert_reset(struct target *target)
 {
 	struct xscale_common *xscale = target_to_xscale(target);
 
+	/* TODO: apply hw reset signal in not examined state */
+	if (!(target_was_examined(target))) {
+		LOG_WARNING("Reset is not asserted because the target is not examined.");
+		LOG_WARNING("Use a reset button or power cycle the target.");
+		return ERROR_TARGET_NOT_EXAMINED;
+	}
+
 	LOG_DEBUG("target->state: %s",
 		target_state_name(target));