target/riscv: Fix SMP group is in inconsistent state

If the harts are just in the process of halting due to
being members of the halt group, we should wait until
they finish halting, so that the true halt reason can
be discovered  (e.g. semihosting request, and then
handled correctly).

src/target/riscv/riscv.c

@@ -37,6 +37,8 @@
 
 #define RISCV_TRIGGER_HIT_NOT_FOUND ((int64_t)-1)
 
+#define RISCV_HALT_GROUP_REPOLL_LIMIT 5
+
 static uint8_t ir_dtmcontrol[4] = {DTMCONTROL};
 struct scan_field select_dtmcontrol = {
 	.in_value = NULL,
@@ -3722,6 +3724,8 @@ int riscv_openocd_poll(struct target *target)
 {
 	LOG_TARGET_DEBUG(target, "Polling all harts.");
 
+	struct riscv_info *i = riscv_info(target);
+
 	struct list_head *targets;
 
 	LIST_HEAD(single_target_list);
@@ -3743,6 +3747,7 @@ int riscv_openocd_poll(struct target *target)
 	unsigned int should_resume = 0;
 	unsigned int halted = 0;
 	unsigned int running = 0;
+	unsigned int cause_groups = 0;
 	struct target_list *entry;
 	foreach_smp_target(entry, targets) {
 		struct target *t = entry->target;
@@ -3790,6 +3795,59 @@ int riscv_openocd_poll(struct target *target)
 		LOG_TARGET_DEBUG(target, "resume all");
 		riscv_resume(target, true, 0, 0, 0, false);
 	} else if (halted && running) {
+		LOG_TARGET_DEBUG(target, "SMP group is in inconsistent state: %u halted, %u running",
+					halted, running);
+
+		/* The SMP group is in an inconsistent state - some harts in the group have halted
+		 * whereas others are running. The reasons for that (and corresponding
+		 * OpenOCD actions) could be:
+		 * 1) The targets are in the process of halting due to halt groups
+		 *    but not all of them halted --> poll again so that the halt reason of every
+		 *    hart can be accurately determined (e.g. semihosting).
+		 * 2) The targets do not support halt groups --> OpenOCD must halt
+		 *    the remaining harts by a standard halt request.
+		 * 3) The hart states got out of sync for some other unknown reason (problem?). -->
+		 *    Same as previous - try to halt the harts by a standard halt request
+		 *    to get them back in sync. */
+
+		/* Detect if the harts are just in the process of halting due to a halt group */
+		foreach_smp_target(entry, targets)
+		{
+			struct target *t = entry->target;
+			if (t->state == TARGET_HALTED) {
+				riscv_reg_t dcsr;
+				if (riscv_reg_get(t, &dcsr, GDB_REGNO_DCSR) != ERROR_OK)
+					return ERROR_FAIL;
+				if (get_field(dcsr, CSR_DCSR_CAUSE) == CSR_DCSR_CAUSE_GROUP)
+					cause_groups++;
+				else
+					/* This hart has halted due to something else than a halt group.
+					 * Don't continue checking the rest - exit early. */
+					break;
+			}
+		}
+		/* Condition: halted == cause_groups
+		 *
+		 * This condition indicates a paradox where:
+		 * - All currently halted harts show CSR_DCSR_CAUSE_GROUP
+		 * - However, no individual hart can be identified as the actual initiator of the halt condition
+		 *
+		 * Poll again so that the true halt reason can be discovered (e.g. CSR_DCSR_CAUSE_EBREAK) */
+		if (halted == cause_groups) {
+			LOG_TARGET_DEBUG(target, "The harts appear to just be in the process of halting due to a halt group.");
+			if (i->halt_group_repoll_count < RISCV_HALT_GROUP_REPOLL_LIMIT) {
+				/* Wait a little, then re-poll. */
+				i->halt_group_repoll_count++;
+				alive_sleep(10);
+				LOG_TARGET_DEBUG(target, "Re-polling the state of the SMP group.");
+				return riscv_openocd_poll(target);
+			}
+			/* We have already re-polled multiple times but the halt group is still inconsistent. */
+			LOG_TARGET_DEBUG(target, "Re-polled the SMP group %d times it is still not in a consistent state.",
+					RISCV_HALT_GROUP_REPOLL_LIMIT);
+		}
+
+		/* Halting the whole SMP group to bring it in sync. */
 		LOG_TARGET_DEBUG(target, "halt all; halted=%d",
 			halted);
 		riscv_halt(target);
@@ -3807,6 +3865,8 @@ int riscv_openocd_poll(struct target *target)
 		}
 	}
 
+	i->halt_group_repoll_count = 0;
+
 	/* Call tick() for every hart. What happens in tick() is opaque to this
 	 * layer. The reason it's outside the previous loop is that at this point
 	 * the state of every hart has settled, so any side effects happening in

src/target/riscv/riscv.h

@@ -193,6 +193,7 @@ struct riscv_info {
 	/* Used by riscv_openocd_poll(). */
 	bool halted_needs_event_callback;
 	enum target_event halted_callback_event;
+	unsigned int halt_group_repoll_count;
 
 	enum riscv_isrmasking_mode isrmask_mode;