build(tools): Add RasPi4 target configuration for OpenOCD

Update and move rpi3 jtag configs.
Add rpi bringup doc - lists romtables for configuring.

nucleus/Makefile.toml

@@ -87,7 +87,7 @@ env = { "QEMU_RUNNER_OPTS" = "${QEMU_SERIAL_OPTS} ${QEMU_GDB_OPTS}" }
 [tasks.openocd]
 dependencies = ["build", "kernel-binary"]
 script = [
-    "${OPENOCD} -f interface/jlink.cfg -f ../doc/rpi2rpi_jtag/rpi3_target.cfg"
+    "${OPENOCD} -f interface/jlink.cfg -f ../ocd/rpi4_target.cfg"
 ]
 
 [tasks.gdb-config]

ocd/rpi3_target.cfg

@@ -1,32 +1,32 @@
-# Broadcom 2837 on Raspberry Pi 3 as JTAG target
+# Broadcom bcm2837 on Raspberry Pi 3 as JTAG target
 # From https://www.suse.com/c/debugging-raspberry-pi-3-with-jtag/
 
-telnet_port 4444
-gdb_port 5555
-
-transport select jtag
-
-# we need to enable srst even though we don't connect it
-reset_config trst_and_srst
-
-adapter speed 4000
-jtag_ntrst_delay 500
-
 if { [info exists CHIPNAME] } {
     set _CHIPNAME $CHIPNAME
 } else {
-    set _CHIPNAME rpi3
+    set _CHIPNAME bcm2837
 }
 
-#
-# Main DAP
-#
 if { [info exists DAP_TAPID] } {
     set _DAP_TAPID $DAP_TAPID
 } else {
     set _DAP_TAPID 0x4ba00477
 }
 
+adapter speed 4000
+
+transport select jtag
+# we need to enable srst even though we don't connect it
+reset_config trst_and_srst
+
+jtag_ntrst_delay 500
+
+telnet_port 4444
+gdb_port 5555
+
+#
+# Main DAP
+#
 jtag newtap $_CHIPNAME tap -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_DAP_TAPID -enable
 dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.tap
 
@@ -35,7 +35,9 @@ set _CTINAME $_CHIPNAME.cti
 
 set DBGBASE {0x80010000 0x80012000 0x80014000 0x80016000}
 set CTIBASE {0x80018000 0x80019000 0x8001a000 0x8001b000}
+
 set _cores 4
+set _smp_command ""
 
 for { set _core 0 } { $_core < $_cores } { incr _core } {
 
@@ -46,6 +48,15 @@ for { set _core 0 } { $_core < $_cores } { incr _core } {
         -dap $_CHIPNAME.dap -coreid $_core \
         -dbgbase [lindex $DBGBASE $_core] -cti $_CTINAME.$_core
 
+    if {$_core != 0} {
+        set _smp_command "$_smp_command ${_TARGETNAME}.${_core}"
+    } else {
+        set _smp_command "target smp ${_TARGETNAME}.${_core}"
+    }
+
     $_TARGETNAME.$_core configure -event reset-assert-post "aarch64 dbginit"
     $_TARGETNAME.$_core configure -event gdb-attach { halt }
 }
+
+eval $_smp_command
+targets $_TARGETNAME.0

ocd/rpi4_target.cfg

@@ -0,0 +1,62 @@
+# Broadcom bcm2711 on Raspberry Pi 4 as JTAG target
+# From https://gist.github.com/tnishinaga/46a3380e1f47f5e892bbb74e55b3cf3e
+# See also https://xihan94.gitbook.io/raspberry-pi/raspberry-pi-4-bringup
+
+if { [info exists CHIPNAME] } {
+    set _CHIPNAME $CHIPNAME
+} else {
+    set _CHIPNAME bcm2711
+}
+
+if { [info exists DAP_TAPID] } {
+    set _DAP_TAPID $DAP_TAPID
+} else {
+    set _DAP_TAPID 0x4ba00477
+}
+
+adapter speed 4000
+
+transport select jtag
+# we need to enable srst even though we don't connect it
+reset_config trst_and_srst
+
+jtag_ntrst_delay 500
+
+telnet_port 4444
+gdb_port 5555
+
+#
+# Main DAP
+#
+jtag newtap $_CHIPNAME tap -irlen 4 -expected-id $_DAP_TAPID
+dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.tap
+
+set _TARGETNAME $_CHIPNAME.a72
+set _CTINAME $_CHIPNAME.cti
+
+set DBGBASE {0x80410000 0x80510000 0x80610000 0x80710000}
+set CTIBASE {0x80420000 0x80520000 0x80620000 0x80720000}
+
+set _cores 4
+set _smp_command ""
+
+for { set _core 0 } { $_core < $_cores } { incr _core } {
+    cti create $_CTINAME.$_core -dap $_CHIPNAME.dap -ap-num 0 \
+        -baseaddr [lindex $CTIBASE $_core]
+
+    target create ${_TARGETNAME}.${_core} aarch64 \
+        -dap ${_CHIPNAME}.dap -coreid $_core \
+        -dbgbase [lindex $DBGBASE $_core] -cti ${_CTINAME}.${_core}
+
+    if {$_core != 0} {
+        set _smp_command "$_smp_command ${_TARGETNAME}.${_core}"
+    } else {
+        set _smp_command "target smp ${_TARGETNAME}.${_core}"
+    }
+
+    $_TARGETNAME.$_core configure -event reset-assert-post "aarch64 dbginit"
+    $_TARGETNAME.$_core configure -event gdb-attach { halt }
+}
+
+eval $_smp_command
+targets $_TARGETNAME.0