VSCode + JTAG調試合宙ESP32C3

環境

Windows10

VSCode + ESP-IDF

合宙ESP32C3（無串口晶元版本）

理論

想要直接使用內置JTAG，USB要求連接GPIO18和GPIO19

合宙ESP32C3有串口晶元版本USB經過CH343連接的串口，無法使用內置JTAG

合宙ESP32C3無串口晶元版本滿足要求

步驟

連接PC後有一個虛擬串口和一個USB JTAG介面

按住BOOT，然後按下RST，鬆開BOOT，晶元進入下載模式，下載固件

PS F:\Espressif\frameworks\esp-idf-v4.4.3\workspace\hello_world> idf.py flash -p COM16 -b 921600
Executing action: flash
Running ninja in directory f:\espressif\frameworks\esp-idf-v4.4.3\workspace\hello_world\build
Executing "ninja flash"...
[1/5] cmd.exe /C "cd /D F:\Espressif\frameworks\esp-idf-v4.4.3\workspace\hello_world\build\esp-idf\esptool_py && ...ion_table/partition-table.bin F:/Espressif/frameworks/esp-idf-v4.4.3/workspace/hello_world/build/hello_world.bin"hello_world.bin binary size 0x25130 bytes. Smallest app partition is 0x100000 bytes. 0xdaed0 bytes (86%) free.
[2/5] Performing build step for 'bootloader'
[1/1] cmd.exe /C "cd /D F:\Espressif\frameworks\esp-idf-v4.4.3\workspace\hello_world\build\bootloader\esp-idf\esptool_py && F:\Espressif\python_env\idf4.4_py3.8_env\Scripts\python.exe F:/Espressif/frameworks/esp-idf-v4.4.3/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x0 F:/Espressif/frameworks/esp-idf-v4.4.3/workspace/hello_world/build/bootloader/bootloader.bin"
Bootloader binary size 0x4d70 bytes. 0x3290 bytes (40%) free.
[2/3] cmd.exe /C "cd /D F:\Espressif\frameworks\esp-idf-v4.4.3\components\esptool_py && F:\Espressif\tools\cmake\...rkspace/hello_world/build" -P F:/Espressif/frameworks/esp-idf-v4.4.3/components/esptool_py/run_serial_tool.cmake"esptool.py esp32c3 -p COM16 -b 921600 --before=default_reset --after=hard_reset write_flash --flash_mode dio --flash_freq 80m --flash_size 2MB 0x0 bootloader/bootloader.bin 0x10000 hello_world.bin 0x8000 partition_table/partition-table.bin
esptool.py v3.3.2
Serial port COM16
Connecting....
Chip is ESP32-C3 (revision 3)
Features: Wi-Fi
Crystal is 40MHz
MAC: 60:55:f9:75:9c:90
Uploading stub...
Running stub...
Stub running...
Changing baud rate to 921600
Changed.
Configuring flash size...
Flash will be erased from 0x00000000 to 0x00004fff...
Flash will be erased from 0x00010000 to 0x00035fff...
Flash will be erased from 0x00008000 to 0x00008fff...
Compressed 19824 bytes to 12050...
Writing at 0x00000000... (100 %)
Wrote 19824 bytes (12050 compressed) at 0x00000000 in 0.3 seconds (effective 585.5 kbit/s)...
Hash of data verified.
Compressed 151856 bytes to 82022...
Writing at 0x00010000... (16 %)
Writing at 0x00019991... (33 %)
Writing at 0x000202c8... (50 %)
Writing at 0x0002749a... (66 %)
Writing at 0x0002dacd... (83 %)
Writing at 0x00035037... (100 %)
Wrote 151856 bytes (82022 compressed) at 0x00010000 in 1.8 seconds (effective 687.7 kbit/s)...
Hash of data verified.
Compressed 3072 bytes to 103...
Writing at 0x00008000... (100 %)
Wrote 3072 bytes (103 compressed) at 0x00008000 in 0.0 seconds (effective 684.5 kbit/s)...
Hash of data verified.

Leaving...
Hard resetting via RTS pin...
Done
PS F:\Espressif\frameworks\esp-idf-v4.4.3\workspace\hello_world> 

啟動OpenOCD和GDB前先按下RST重啟晶元，運行在正常模式，而不是下載模式

使用樂鑫OpenOCD，搭配board/esp32c3-builtin.cfg

啟動OpenOCD，監聽3333，成功

PS F:\Espressif\frameworks\esp-idf-v4.4.3\workspace\hello_world> openocd -f board/esp32c3-builtin.cfg
Open On-Chip Debugger  v0.11.0-esp32-20220706 (2022-07-06-15:48)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Info : only one transport option; autoselect 'jtag'       
Info : esp_usb_jtag: VID set to 0x303a and PID to 0x1001  
Info : esp_usb_jtag: capabilities descriptor set to 0x2000
Warn : Transport "jtag" was already selected
Info : Listening on port 6666 for tcl connections   
Info : Listening on port 4444 for telnet connections
Info : esp_usb_jtag: serial (60:55:F9:75:9C:90)     
Info : esp_usb_jtag: Device found. Base speed 40000KHz, div range 1 to 255
Info : clock speed 40000 kHz
Info : JTAG tap: esp32c3.cpu tap/device found: 0x00005c25 (mfg: 0x612 (Espressif Systems), part: 0x0005, ver: 0x0)
Info : datacount=2 progbufsize=16
Info : Examined RISC-V core; found 1 harts       
Info :  hart 0: XLEN=32, misa=0x40101104
Info : starting gdb server for esp32c3 on 3333   
Info : Listening on port 3333 for gdb connections

根據官方教程創建gdbinit文件，埠3333

target remote :3333
set remote hardware-watchpoint-limit 2
mon reset halt
flushregs
thb app_main
c

啟動GDB調試，成功，此時已經可以使用GDB調試了

PS F:\Espressif\frameworks\esp-idf-v4.4.3\workspace\hello_world> riscv32-esp-elf-gdb -x gdbinit build/hello_world.elf
F:\Espressif\tools\riscv32-esp-elf\esp-2021r2-patch5-8.4.0\riscv32-esp-elf\bin\riscv32-esp-elf-gdb.exe: warning: Couldn't determine a path for the index cache directory.
GNU gdb (crosstool-NG esp-2021r2-patch5) 9.2.90.20200913-git
Copyright (C) 2020 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "--host=x86_64-host_w64-mingw32 --target=riscv32-esp-elf".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
    <http://www.gnu.org/software/gdb/documentation/>.

For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from build/hello_world.elf...
0x40000000 in ?? ()
JTAG tap: esp32c3.cpu tap/device found: 0x00005c25 (mfg: 0x612 (Espressif Systems), part: 0x0005, ver: 0x0)
Reset cause (3) - (Software core reset)
Hardware assisted breakpoint 1 at 0x42005eee: file F:/Espressif/frameworks/esp-idf-v4.4.3/workspace/hello_world/main/hello_world_main.c, line 17.
[New Thread 1070136696]
[New Thread 1070130304]
[Switching to Thread 1070134812]

Thread 1 "main" hit Temporary breakpoint 1, app_main () at F:/Espressif/frameworks/esp-idf-v4.4.3/workspace/hello_world/main/hello_world_main.c:17
17      {
(gdb)

OpenOCD可以看到GDB連接後的行為

Info : accepting 'gdb' connection on tcp/3333
Memory protection is enabled. Reset target to disable it...
Info : JTAG tap: esp32c3.cpu tap/device found: 0x00005c25 (mfg: 0x612 (Espressif Systems), part: 0x0005, ver: 0x0)
Info : Reset cause (3) - (Software core reset)
Warn : No symbols for FreeRTOS!
Info : [esp32c3] Found 8 triggers
Info : Flash mapping 0: 0x10020 -> 0x3c020020, 27 KB
Info : Flash mapping 1: 0x20020 -> 0x42000020, 75 KB
Info : Auto-detected flash bank 'esp32c3.flash' size 4096 KB
Info : Using flash bank 'esp32c3.flash' size 4096 KB
Info : Flash mapping 0: 0x10020 -> 0x3c020020, 27 KB
Info : Flash mapping 1: 0x20020 -> 0x42000020, 75 KB
Info : Using flash bank 'esp32c3.irom' size 76 KB
Info : Flash mapping 0: 0x10020 -> 0x3c020020, 27 KB
Info : Flash mapping 1: 0x20020 -> 0x42000020, 75 KB
Info : Using flash bank 'esp32c3.drom' size 28 KB
Warn : negative reply, retrying
Warn : Prefer GDB command "target extended-remote :3333" instead of "target remote :3333"
Info : JTAG tap: esp32c3.cpu tap/device found: 0x00005c25 (mfg: 0x612 (Espressif Systems), part: 0x0005, ver: 0x0)
Info : Reset cause (3) - (Software core reset)

VSCode

使用指令行已成功，接下來使用VSCode

VSCode ESP-IDF插件官方說明如下，我使用ESP-IDF Debug Adapter失敗，使用Microsoft C/C++ extension調試成功

vscode-esp-idf-extension/DEBUGGING.md at master · espressif/vscode-esp-idf-extension · GitHub

使用ESP-IDF插件，啟動OpenOCD，列印如下，本質和指令行直接調用沒啥區別

[OpenOCD]
[Stopped] : OpenOCD Server
[OpenOCD]
Open On-Chip Debugger  v0.11.0-esp32-20220706 (2022-07-06-15:48)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
[OpenOCD]
debug_level: 2

[OpenOCD]
Info : only one transport option; autoselect 'jtag'
[OpenOCD]
Info : esp_usb_jtag: VID set to 0x303a and PID to 0x1001
Info : esp_usb_jtag: capabilities descriptor set to 0x2000
Warn : Transport "jtag" was already selected
[OpenOCD]
Info : Listening on port 6666 for tcl connections
[OpenOCD]
Info : Listening on port 4444 for telnet connections
[OpenOCD]
Info : esp_usb_jtag: serial (60:55:F9:75:9C:90)
[OpenOCD]
Info : esp_u[OpenOCD]
sb_jtag: Device found. Base speed 40000KHz, div range 1 to 255
[OpenOCD]
Info : cloc[OpenOCD]
k speed 40000 kHz
[OpenOCD]
Info : JTAG tap: esp32c3.cpu tap/device found: 0x00005c25 (mfg:[OpenOCD]
 0x612 (Espressif Systems), part: 0x0005, ver: 0x0)
[OpenOCD]
Info : datacount=2 progbufsize=16
[OpenOCD]
Info : Examined RISC-V[OpenOCD]
 core; found 1 harts
Info :  hart 0: XLEN=32, misa=0x40101104
[OpenOCD]
Info : [esp32c3] Found 8 trig[OpenOCD]
gers
[OpenOCD]
Info : starting gdb server for esp32c3 on 3333
Info : Listening on port 3333 for gdb connections

根據插件官方說明，創建launch.json，我修改了"miDebuggerPath"，根據自己的情況修改即可

{
  "version": "0.2.0",
  "configurations": [
    {
      "name": "GDB",
      "type": "cppdbg",
      "request": "launch",
      "MIMode": "gdb",
      "miDebuggerPath": "F:/Espressif/tools/riscv32-esp-elf/esp-2021r2-patch5-8.4.0/riscv32-esp-elf/bin/riscv32-esp-elf-gdb.exe",
      "program": "${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
      "windows": {
        "program": "${workspaceFolder}\\build\\${command:espIdf.getProjectName}.elf"
      },
      "cwd": "${workspaceFolder}",
      "environment": [{ "name": "PATH", "value": "${config:idf.customExtraPaths}" }],
      "setupCommands": [
        { "text": "target remote :3333" },
        { "text": "set remote hardware-watchpoint-limit 2"},
        { "text": "mon reset halt" },
        { "text": "thb app_main" },
        { "text": "flushregs" }
      ],
      "externalConsole": false,
      "logging": {
        "engineLogging": true
      }
    }
  ]
}

打個斷點按下F5進行調試，按了三下才開啟，原因未知