stm32duino-semihosting

Note: This is a fork of STM32duino-Semihosting by @koendv. Summary of minor improvements (virtually identical to the STM32 version):

Larger output buffer (256 bytes)
SemihostingStreams now need to be explicitly opened. This allows better control of when we talk to the debugger (or not)
It should work on any cortex ARM.

With semihosting an arduino arm system can do keyboard input, screen output, and file I/O on the pc where the debugger is running. To run a semihosting program, you need a debugger probe to connect the program on your arduino to the debugger on your pc. Semihosting only runs on systems with arm processors, sorry.

Installation

connect a debugger probe with semihosting support, e.g. a segger or a black magic probe.
run examples from File→Examples→STM32duino-Semihosting

Arduino Use

Use SemihostingStream where you would use Serial:

#include <SemihostingStream.h>
SemihostingStream sh;
void setup() {
  sh.open();
  sh.println("hello world!");
}
void loop() {
}

In the Arduino IDE, choose Tools→Upload Method→BMP (Black Magic Probe) and Tools→Optimize→Debug (-g).

Every debugger probe is a bit different. When using e.g. Black Magic Probe you typically would use commands like:

koen@raspberrypi:~ $ gdb -q
(gdb) target extended-remote /dev/ttyBmpGdb
(gdb) monitor swdp_scan
Available Targets:
No. Att Driver
 1      STM32F1 medium density M3/M4
(gdb) attach 1
(gdb) file /tmp/arduino_build_195867/HelloWorld.ino.elf
(gdb) load
(gdb) run
hello world!
^C
(gdb) where
(gdb) quit

Remember a semihosting program needs a debugger probe to run. If no debugger probe is present, the program will hang.

Source

SemihostingStream

The SemihostingStream Arduino class allows you to write to and read from the semihosting console. This class provides buffered output to stdout and buffered input from stdin.

SemihostingPrint

The SemihostingPrint Arduino class allows you to write to the semihosting debug output. This class provides unbuffered output to stderr.

semihosting_syscalls

The semihosting_syscalls C++ source gives you access to the raw semihosting calls.

semihosting_bmp

The semihosting_bmp C++ header file contains the error numbers for Black Magic Probe debuggers.

Semihosting calls

Not every debugger probe implements every semihosting call, and even if it's implemented you may get some surprises.

function	JLink	BMP
sys_clock		*	Returns the number of centiseconds (hundredths of a second) since execution started.
sys_close	*	*	Closes a file on the host system.
sys_elapsed			Returns the number of elapsed target ticks since execution started.
sys_errno		*	Returns the value of the C library errno variable.
sys_exit	*	*	Report to the debugger that execution has completed.
sys_exit		*	Report to the debugger that execution has completed. (64-bit version)
sys_flen	*	*	Returns the length of a specified file.
sys_getcmdline	*	*	Returns the command line that is used for the call to the executable (= argc and argv).
sys_heapinfo		*	Returns the system stack and heap parameters. Used in crt0.S.
sys_iserror		*	Determines whether the return code from another semihosting call is an error status or not.
sys_istty	*	*	Checks whether a file is connected to an interactive device.
sys_open	*	*	Opens a file on the host system.
sys_read	*	*	Reads the contents of a file into a buffer.
sys_readc	*	*	Reads a byte from the console.
sys_remove	*	*	Deletes a specified file on the host filing system.
sys_rename	*	*	Renames a specified file.
sys_seek	*	*	Seeks to a specified position in a file using an offset specified from the start of the file.
sys_system		*	Passes a command to the host command-line interpreter.
sys_tickfreq			Returns the number of target ticks per second.
sys_time		*	Returns the number of seconds since 00:00 January 1, 1970.
sys_tmpnam		*	Returns a temporary name for a file identified by a system file identifier.
sys_write	*	*	Writes the contents of a buffer to a specified file at the current file position.
sys_writec	*	*	Writes a character byte to the debug channel.
sys_write0	*	*	Writes a null-terminated string to the debug channel.

J-Link data from document UM08001, software version 6.70, March 27, 2020. Black Magic Probe data from the source file src/target/cortexm.c.

Notes

The semihosting specification is Arm document Semihosting for AArch32 and AArch64

SYS_GET_CMDLINE returns the command line arguments, separated by spaces. bmp: If a command line argument contains spaces, the spaces are escaped using backslashes. gdb: Set command line arguments using set args or as parameters to the run command.

Error numbers reported by SYS_ERRNO are system and debugger dependent. bmp: Error numbers used are from gdb filei/o. See gdb source file gdb/include/gdb/fileio.h

SYS_SYSTEM is used to execute a command on the host. bmp: Allow command execution using gdb command set remote system-call-allowed 1

SYS_HEAPINFO is used to set heap and stack during target boot. See newlib source file newlib/libc/sys/arm/crt0.S. bmp: Set heapinfo using gdb command monitor heapinfo

bmp: If the target wants to read the special filename ":semihosting-features" to know what semihosting features are supported, it's easiest to create that file on the host in the directory where gdb runs:

$ echo -e 'SHFB\x03' > ":semihosting-features"
$ chmod 0444 ":semihosting-features"

The Qemu emulator and the openocd debugger are open source projects that also support semihosting and gdb.

If you find errors, omissions, or have additional data, feel free to open an issue.

geeksville / Armduino-Semihosting