arm64: add demo for gdbstub

Gdbstub demo::
   The Qemu version must be above 9.2 to support two serial ports.

   One window:
   ./tools/configure.sh qemu-armv8a:gdbstub; make -j25
   qemu-system-aarch64 -cpu cortex-a53 -nographic -machine virt,virtualization=on,gic-version=3 -net none -kernel ./nuttx -serial mon:stdio -serial pty
   char device redirected to /dev/pts/27 (label serial1)
   - Ready to Boot Primary CPU
   - Boot from EL2
   - Boot from EL1
   - Boot to C runtime for OS Initialize

   Another window:
   gdb-multiarch nuttx -ex "target remot /dev/pts/27"
   GNU gdb (Ubuntu 15.0.50.20240403-0ubuntu1) 15.0.50.20240403-git
   Copyright (C) 2024 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 "x86_64-linux-gnu".
   Type "show configuration" for configuration details.
   For bug reporting instructions, please see:
   <https://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 nuttx...
   Remote debugging using /dev/pts/26
   gdb_get_registers (state=0x403e1590) at gdbstub/lib_gdbstub.c:1020
   1020              reg = state->running_regs;
   (gdb) c

Signed-off-by: hujun5 <hujun5@xiaomi.com>

Documentation/platforms/arm64/qemu/boards/qemu-armv8a/index.rst

@@ -865,6 +865,44 @@ SMP Support
    IMX6 use GPT which is a SPI rather than generic timer to handle timer
    interrupt
 
+Gdbstub demo
+============
+The Qemu version must be above 9.2 to support two serial ports.
+
+One window::
+
+  $ ./tools/configure.sh qemu-armv8a:gdbstub; make -j25
+  $ qemu-system-aarch64 -cpu cortex-a53 -nographic -machine virt,virtualization=on,gic-version=3 -net none -kernel ./nuttx -serial mon:stdio -serial pty
+  char device redirected to /dev/pts/27 (label serial1)
+  - Ready to Boot Primary CPU
+  - Boot from EL2
+  - Boot from EL1
+  - Boot to C runtime for OS Initialize
+
+Another window::
+
+  $ gdb-multiarch nuttx -ex "target remote /dev/pts/27"
+  GNU gdb (Ubuntu 15.0.50.20240403-0ubuntu1) 15.0.50.20240403-git
+  Copyright (C) 2024 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 "x86_64-linux-gnu".
+  Type "show configuration" for configuration details.
+  For bug reporting instructions, please see:
+  <https://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 nuttx...
+  Remote debugging using /dev/pts/26
+  gdb_get_registers (state=0x403e1590) at gdbstub/lib_gdbstub.c:1020
+  1020              reg = state->running_regs;
+  (gdb) c
+
 References
 ==========
 
@@ -876,3 +914,4 @@ References
 6. Arm Generic Interrupt Controller v3 and v4 Overview
 7. Arm® Generic Interrupt Controller Architecture Specification GIC architecture version 3 and version 4
 8. (DEN0022D.b) Arm Power State Coordination Interface Platform Design Document
+

arch/arm64/include/irq.h

@@ -466,7 +466,7 @@ static inline_function void up_irq_restore(irqstate_t flags)
  ****************************************************************************/
 
 #define up_getusrpc(regs) \
-    (((uintptr_t *)((regs) ? (regs) : running_regs()))[REG_ELR])
+    (((uintptr_t *)((regs) ? (regs) : (uint64_t *)running_regs()))[REG_ELR])
 
 #ifndef CONFIG_BUILD_KERNEL
 #  define up_getusrsp(regs) \

arch/arm64/src/common/Make.defs

@@ -48,6 +48,7 @@ CMN_CSRCS += arm64_arch_timer.c arm64_cache.c
 CMN_CSRCS += arm64_doirq.c arm64_fatal.c
 CMN_CSRCS += arm64_syscall.c
 CMN_CSRCS += arm64_modifyreg8.c arm64_modifyreg16.c arm64_modifyreg32.c
+CMN_CSRCS += arm64_hwdebug.c
 
 # Use common heap allocation for now (may need to be customized later)
 CMN_CSRCS += arm64_allocateheap.c

boards/arm64/qemu/qemu-armv8a/configs/gdbstub/defconfig

@@ -0,0 +1,84 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm64"
+CONFIG_ARCH_ARM64=y
+CONFIG_ARCH_BOARD="qemu-armv8a"
+CONFIG_ARCH_BOARD_QEMU_ARMV8A=y
+CONFIG_ARCH_CHIP="qemu"
+CONFIG_ARCH_CHIP_QEMU=y
+CONFIG_ARCH_CHIP_QEMU_A53=y
+CONFIG_ARCH_EARLY_PRINT=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARM64_SEMIHOSTING_HOSTFS=y
+CONFIG_ARM64_SEMIHOSTING_HOSTFS_CACHE_COHERENCE=y
+CONFIG_ARM64_STRING_FUNCTION=y
+CONFIG_BOARD_MEMORY_RANGE="{0x40000000,0x48000000,0x7}"
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SCHED=y
+CONFIG_DEBUG_SCHED_ERROR=y
+CONFIG_DEBUG_SCHED_WARN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_TASK_STACKSIZE=8192
+CONFIG_DEVICE_TREE=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FRAME_POINTER=y
+CONFIG_FS_HOSTFS=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_FS_TMPFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=8192
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_LIBC_EXECFUNCS=y
+CONFIG_LIBC_MEMFD_ERROR=y
+CONFIG_LIB_GDBSTUB=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_PROFILE_ALL=y
+CONFIG_PROFILE_MINI=y
+CONFIG_PTHREAD_STACK_MIN=8192
+CONFIG_RAMLOG=y
+CONFIG_RAM_SIZE=134217728
+CONFIG_RAM_START=0x40000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SERIAL_GDBSTUB=y
+CONFIG_SERIAL_GDBSTUB_AUTO_ATTACH=y
+CONFIG_SPINLOCK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_MONTH=3
+CONFIG_START_YEAR=2022
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_GPROF=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_SYSTEM_TIME64=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_UART0_BASE=0x9000000
+CONFIG_UART0_IRQ=33
+CONFIG_UART0_PL011=y
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_UART1_BASE=0x9040000
+CONFIG_UART1_IRQ=40
+CONFIG_UART1_PL011=y
+CONFIG_UART_PL011=y
+CONFIG_USEC_PER_TICK=1000