Picoprobe upload issues through platformio

[tkanarsky]

Hi! Trying to setup my platformio workflow: target Pico connected via USB for power, other Pico flashed with latest Picoprobe firmware connected to SWD headers on target Pico.

I'm having issues with uploading via picoprobe, so I haven't gotten to testing the debugging part.

My platformio.ini is as follows:

[env:pico]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = pico
framework = arduino
board_build.core = earlephilhower
board_build.filesystem_size = 1m
lib_deps = 
	; adafruit/Adafruit SSD1306@^2.5.3
	; adafruit/Adafruit BusIO@^1.11.4
	; jandrassy/WiFiEspAT@^1.3.2
	https://github.com/tkanarsky/Pico-PIO-USB.git
platform_packages =
    maxgerhardt/framework-arduinopico@https://github.com/earlephilhower/arduino-pico.git
    maxgerhardt/toolchain-pico@https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.3-a/x86_64-linux-gnu.arm-none-eabi-ed6d983.220212.tar.gz
    platformio/tool-openocd-raspberrypi@https://gitee.com/flyboard2040/pio-openocd-picoprobe-linux.git
debug_tool = picoprobe
upload_protocol = picoprobe
monitor_speed = 115200

The other parts of the platformio.ini, other than the line platformio/tool-openocd-raspberrypi@https://gitee.com/flyboard2040/pio-openocd-picoprobe-linux.git and debug_tool/upload_protocol, work fine and result in properly uploaded firmware. I wanted to bite the bullet and set up a proper debugger because printf'ing everything was driving me mad.

I get the following output when starting an upload (verbose):

tim@tim-latitude:~/study-orders/firmware/order_tracker$ platformio run --target upload --verbose
Processing pico (platform: https://github.com/maxgerhardt/platform-raspberrypi.git; board: pico; framework: arduino; board_build.core: earlephilhower; board_build.filesystem_size: 1m; lib_deps: https://github.com/tkanarsky/Pico-PIO-USB.git; platform_packages: maxgerhardt/framework-arduinopico@https://github.com/earlephilhower/arduino-pico.git, maxgerhardt/toolchain-pico@https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.3-a/x86_64-linux-gnu.arm-none-eabi-ed6d983.220212.tar.gz, platformio/tool-openocd-raspberrypi@https://gitee.com/flyboard2040/pio-openocd-picoprobe-linux.git; debug_tool: picoprobe; upload_protocol: picoprobe; monitor_speed: 115200)
----------------------------------------------------------------------------------------------------------------------------
CONFIGURATION: https://docs.platformio.org/page/boards/raspberrypi/pico.html
PLATFORM: Raspberry Pi RP2040 (1.6.0+sha.d20e2ed) (git+https://github.com/maxgerhardt/platform-raspberrypi.git) > Raspberry Pi Pico
HARDWARE: RP2040 133MHz, 264KB RAM, 2MB Flash
DEBUG: Current (picoprobe) External (cmsis-dap, jlink, picoprobe, raspberrypi-swd)
PACKAGES: 
 - framework-arduinopico 1.20000.0+sha.55394a7 (git+https://github.com/earlephilhower/arduino-pico.git) 
 - tool-mklittlefs 1.203.210628 (2.3) 
 - tool-openocd-raspberrypi 2.1100.0+sha.af6aec9 (git+https://gitee.com/flyboard2040/pio-openocd-picoprobe-linux.git) 
 - tool-rp2040tools 1.0.2 
 - toolchain-pico 5.100300.220212 (10.3.0, https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.3-a/x86_64-linux-gnu.arm-none-eabi-ed6d983.220212.tar.gz)
Flash size: 2.00MB
Sketch size: 1.00MB
Filesystem size: 1.00MB
Maximium size: 1044480 Flash Length: 1044480 EEPROM Start: 270528512 Filesystem start 269479936 Filesystem end 270528512
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Ignored library /home/tim/.platformio/packages/framework-arduinopico/libraries/Adafruit_TinyUSB_Arduino
More details about "Library Compatibility Mode": https://docs.platformio.org/page/librarymanager/ldf.html#ldf-compat-mode
Found 19 compatible libraries
Scanning dependencies...
Dependency Graph
|-- <Pico-PIO-USB> 0.0.0+20220502022230.sha.1d60795 [git+https://github.com/tkanarsky/Pico-PIO-USB.git] (/home/tim/study-orders/firmware/order_tracker/.pio/libdeps/pico/Pico-PIO-USB)
Building in release mode
<lambda>(["checkprogsize"], [".pio/build/pico/firmware.elf"])
Flash size: 2.00MB
Sketch size: 1.00MB
Filesystem size: 1.00MB
Maximium size: 1044480 Flash Length: 1044480 EEPROM Start: 270528512 Filesystem start 269479936 Filesystem end 270528512
MethodWrapper(["checkprogsize"], [".pio/build/pico/firmware.elf"])
Advanced Memory Usage is available via "PlatformIO Home > Project Inspect"
RAM:   [          ]   4.2% (used 11044 bytes from 262144 bytes)
Flash: [=         ]   7.2% (used 75652 bytes from 1044480 bytes)
.pio/build/pico/firmware.elf  :
section                  size        addr
.boot2                    256   268435456
.text                   64952   268435712
.rodata                  3268   268500664
.ARM.extab                188   268503932
.ARM.exidx                520   268504120
.ram_vector_table         192   536870912
.data                    6656   536871104
.uninitialized_data         0   536877760
.scratch_x                  0   537133056
.scratch_y                  0   537137152
.bss                     4388   536877760
.heap                    2048   536882148
.stack1_dummy            2048   537133056
.stack_dummy             2048   537137152
.ARM.attributes            45           0
.comment                   18           0
.debug_info            509504           0
.debug_abbrev           85410           0
.debug_loc             243026           0
.debug_aranges          10056           0
.debug_ranges           44904           0
.debug_line            203508           0
.debug_str              80219           0
.debug_frame            24652           0
Total                 1287906
<lambda>(["upload"], [".pio/build/pico/firmware.elf"])
AVAILABLE: cmsis-dap, jlink, picoprobe, picotool, raspberrypi-swd
CURRENT: upload_protocol = picoprobe
openocd -d2 -s /home/tim/.platformio/packages/tool-openocd-raspberrypi/share/openocd/scripts -f interface/picoprobe.cfg -f target/rp2040.cfg -c "program {.pio/build/pico/firmware.elf} 0x10000000 verify reset; shutdown;"
Open On-Chip Debugger 0.11.0+dev-g0628da7-dirty (2021-10-29-19:23)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
debug_level: 2

Info : only one transport option; autoselect 'swd'
Warn : Transport "swd" was already selected
adapter speed: 5000 kHz

Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : clock speed 5000 kHz
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x00000001
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x10000001
Info : rp2040.core0: hardware has 4 breakpoints, 2 watchpoints
Info : rp2040.core1: hardware has 4 breakpoints, 2 watchpoints
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
** Programming Started **
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
Info : Found flash device 'win w25q16jv' (ID 0x001540ef)
Info : RP2040 B0 Flash Probe: 2097152 bytes @0x10000000, in 32 sectors

Warn : no flash bank found for address 0x20000000
Warn : no flash bank found for address 0x20010e40
** Programming Finished **
** Verify Started **
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
Error: checksum mismatch - attempting binary compare
embedded:startup.tcl:542: Error: ** Verify Failed **
in procedure 'program' 
in procedure 'program_error' called at file "embedded:startup.tcl", line 603
at file "embedded:startup.tcl", line 542
*** [upload] Error 1
================================================ [FAILED] Took 2.46 seconds ================================================

It seems like it's having issues finding the proper offset to write the firmware to, which causes the checksum to fail

I'm not well-versed in this toolchain, so apologies in advance if the error is completely unrelated to your efforts. If so, could you point me in the right direction?

Thanks in advance!

[tkanarsky]

Okay, so I've been tweaking the openocd command and it seems the following works:

(I've changed my cwd to the package's bin dir, and copied over the firmware file to test locally)

./openocd -d2 -s /home/tim/.platformio/packages/tool-openocd-raspberrypi/share/openocd/scripts -f interface/picoprobe.cfg -f target/rp2040.cfg -c "program {firmware.elf} verify reset; shutdown;" 
Open On-Chip Debugger 0.11.0+dev-g0628da7-dirty (2021-10-29-19:23)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
debug_level: 2

Info : only one transport option; autoselect 'swd'
Warn : Transport "swd" was already selected
adapter speed: 5000 kHz

Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : clock speed 5000 kHz
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x00000001
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x10000001
Info : rp2040.core0: hardware has 4 breakpoints, 2 watchpoints
Info : rp2040.core1: hardware has 4 breakpoints, 2 watchpoints
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
** Programming Started **
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
Info : Found flash device 'win w25q16jv' (ID 0x001540ef)
Info : RP2040 B0 Flash Probe: 2097152 bytes @0x10000000, in 32 sectors

Info : Padding image section 1 at 0x10012840 with 192 bytes (bank write end alignment)
Warn : Adding extra erase range, 0x10012900 .. 0x1001ffff
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
** Programming Finished **
** Verify Started **
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x0000012a msp: 0x20041f00
** Verified OK **
** Resetting Target **
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x00000001
shutdown command invoked

I removed the 0x10000000 from the openocd command. I will try to find where in the build script the command is called, and edit it out. What's the root cause for that offset (I assume) being there?

[tkanarsky]

Looks like the platform wants the firmware image to start at 0x10000000.

  if "uploadfs" in COMMAND_LINE_TARGETS:
        # filesystem upload. use FS_START.
        openocd_args.extend([
            "-c", "program {$SOURCE} ${hex(FS_START)} verify reset; shutdown;"
        ])
    else:
        # normal firmware upload. flash starts at 0x10000000
        openocd_args.extend([
            "-c", "program {$SOURCE} %s verify reset; shutdown;" %
            board.get("upload.offset_address", "0x10000000")
        ])
    openocd_args = [
        f.replace("$PACKAGE_DIR", platform.get_package_dir(
            "tool-openocd-raspberrypi") or "")
        for f in openocd_args
    ]
    # use ELF file for upload, not bin (target_firm). otherwise needs
    # offset 0x10000000
    #upload_source = target_elf
    env.Replace(
        UPLOADER="openocd",
        UPLOADERFLAGS=openocd_args,
        UPLOADCMD="$UPLOADER $UPLOADERFLAGS")
    if not board.get("upload").get("offset_address"):
        upload_source = target_elf
    upload_actions = [env.VerboseAction("$UPLOADCMD", "Uploading $SOURCE")]

Why is that? It runs just fine when uploading to the default offset.

[tkanarsky]

ahh, maybe the offset is necessary only if uploading a raw binary? looks like the comment says the offset is not necessary when flashing an ELF

[tkanarsky]

Root cause not in this repo, closing

[dlbogdan]

Glad I could help.

[tkanarsky]

For future reference: here is a minimal working platformio project with Picoprobe upload and debug: https://github.com/tkanarsky/pico-arduino-platformio-debug-template