Merge branch 'bugfix/gdbstub_threads_and_tests' into 'master'

gdbstub: fix thread list generation, add tests

Closes IDF-2246

See merge request espressif/esp-idf!10709

components/esp_gdbstub/src/gdbstub.c

@@ -19,8 +19,11 @@
 
 
 #ifdef CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
+static inline int gdb_tid_to_task_index(int tid);
+static inline int task_index_to_gdb_tid(int tid);
 static void init_task_info(void);
 static void find_paniced_task_index(void);
+static void set_active_task(size_t index);
 static int handle_task_commands(unsigned char *cmd, int len);
 #endif
 
@@ -44,12 +47,13 @@ void esp_gdbstub_panic_handler(esp_gdbstub_frame_t *frame)
         s_scratch.state = GDBSTUB_STARTED;
         /* Save the paniced frame and get the list of tasks */
         memcpy(&s_scratch.paniced_frame, frame, sizeof(*frame));
-        esp_gdbstub_frame_to_regfile(frame, &s_scratch.regfile);
         init_task_info();
         find_paniced_task_index();
         /* Current task is the paniced task */
         if (s_scratch.paniced_task_index == GDBSTUB_CUR_TASK_INDEX_UNKNOWN) {
-            s_scratch.current_task_index = 0;
+            set_active_task(0);
+        } else {
+            set_active_task(s_scratch.paniced_task_index);
         }
     }
 #endif // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
@@ -162,6 +166,34 @@ int esp_gdbstub_handle_command(unsigned char *cmd, int len)
 
 #ifdef CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
 
+/* Some terminology related to task/thread indices:
+ *
+ * "task index" — Index used here in gdbstub.c to enumberate all the tasks.
+ *                Range is from 0 to <number of tasks> - 1.
+ *                The order is defined by uxTaskGetSnapshotAll.
+ *
+ * "GDB TID" — Thread ID used by GDB internally and in the remote protocol.
+ *             IDs of real threads can be any positive values other than 0.
+ *             For example, OpenOCD uses the TCB pointer (cast to a 32-bit int) as GDB TID.
+ *             Values 0 and -1, when used in place of TID in the remote protocol
+ *             have special meanings:
+ *             -1: indicates all threads, may be used in 'Hc' command
+ *              0: indicates an arbitrary process or thread (GDB client doesn't care, server decides)
+ *
+ * Since GDB TIDs are arbitrary, except that 0 is reserved, we set them using a simple rule:
+ *    GDB TID = task index + 1.
+ * The two functions below perform the conversions between the kinds of IDs.
+ */
+static inline int gdb_tid_to_task_index(int tid)
+{
+    return tid - 1;
+}
+
+static inline int task_index_to_gdb_tid(int tid)
+{
+    return tid + 1;
+}
+
 static void init_task_info(void)
 {
     unsigned tcb_size;
@@ -191,30 +223,47 @@ static void find_paniced_task_index(void)
     s_scratch.paniced_task_index = GDBSTUB_CUR_TASK_INDEX_UNKNOWN;
 }
 
+/** Select the current task and update the regfile */
+static void set_active_task(size_t index)
+{
+    if (index == s_scratch.paniced_task_index) {
+        /* Have to get the registers from exception frame */
+        esp_gdbstub_frame_to_regfile(&s_scratch.paniced_frame, &s_scratch.regfile);
+    } else {
+        /* Get the registers from TCB.
+         * FIXME: for the task currently running on the other CPU, extracting the registers from TCB
+         * isn't valid. Need to use some IPC mechanism to obtain the registers of the other CPU.
+         */
+        TaskHandle_t handle = NULL;
+        get_task_handle(index, &handle);
+        if (handle != NULL) {
+            esp_gdbstub_tcb_to_regfile(handle, &s_scratch.regfile);
+        }
+    }
+    s_scratch.current_task_index = index;
+}
+
 /** H command sets the "current task" for the purpose of further commands */
 static void handle_H_command(const unsigned char* cmd, int len)
 {
-    if (cmd[1] == 'g' || cmd[1] == 'c') {
-        const char *ret = "OK";
+    const char *ret = "OK";
+    if (cmd[1] == 'g') {
         cmd += 2;
-        int requested_task_index = esp_gdbstub_gethex(&cmd, -1);
-        if (requested_task_index == s_scratch.paniced_task_index ||
-                (requested_task_index == 0 && s_scratch.current_task_index == GDBSTUB_CUR_TASK_INDEX_UNKNOWN)) {
-            /* Get the registers of the paniced task */
-            esp_gdbstub_frame_to_regfile(&s_scratch.paniced_frame, &s_scratch.regfile);
-        } else if (requested_task_index > s_scratch.task_count) {
+        int requested_tid = esp_gdbstub_gethex(&cmd, -1);
+        int requested_task_index = gdb_tid_to_task_index(requested_tid);
+        if (requested_tid == 0) {
+            /* 0 means "arbitrary process or thread", keep the current thread */
+        } else if (requested_task_index >= s_scratch.task_count ||
+                   requested_tid == -1) { /* -1 means "all threads", which doesn't make sense for "Hg" */
             ret = "E00";
         } else {
-            TaskHandle_t handle = NULL;
-            get_task_handle(requested_task_index, &handle);
-            /* FIXME: for the task currently running on the other CPU, extracting the registers from TCB
-             * isn't valid. Need to use some IPC mechanism to obtain the registers of the other CPU
-             */
-            if (handle != NULL) {
-                esp_gdbstub_tcb_to_regfile(handle, &s_scratch.regfile);
-            }
+            set_active_task(requested_task_index);
         }
         esp_gdbstub_send_str_packet(ret);
+    } else if (cmd[1] == 'c') {
+        /* Select the task for "continue" and "step" operations. No-op in post-mortem mode. */
+        /* Note that the argument may be -1 to indicate "all threads" or 0 to indicate "any thread" */
+        esp_gdbstub_send_str_packet(ret);
     } else {
         esp_gdbstub_send_str_packet(NULL);
     }
@@ -225,7 +274,7 @@ static void handle_qC_command(const unsigned char* cmd, int len)
 {
     esp_gdbstub_send_start();
     esp_gdbstub_send_str("QC");
-    esp_gdbstub_send_hex(s_scratch.current_task_index, 32);
+    esp_gdbstub_send_hex(task_index_to_gdb_tid(s_scratch.current_task_index), 32);
     esp_gdbstub_send_end();
 }
 
@@ -238,50 +287,42 @@ static void handle_T_command(const unsigned char* cmd, int len)
     esp_gdbstub_send_str_packet("OK");
 }
 
+/** Called by qfThreadInfo and qsThreadInfo handlers */
+static void send_single_thread_info(int task_index)
+{
+    esp_gdbstub_send_start();
+    esp_gdbstub_send_str("m");
+    esp_gdbstub_send_hex(task_index_to_gdb_tid(task_index), 32);
+    esp_gdbstub_send_end();
+}
+
 /** qfThreadInfo requests the start of the thread list, qsThreadInfo (below) is repeated to
  *  get the subsequent threads.
  */
 static void handle_qfThreadInfo_command(const unsigned char* cmd, int len)
 {
-    /* The first task in qfThreadInfo reply is going to be the one which GDB will request to stop.
-     * Therefore it has to be the paniced task.
-     * Reply with the paniced task index, and later skip over this index while handling qsThreadInfo
-     */
-    esp_gdbstub_send_start();
-    esp_gdbstub_send_str("m");
-    esp_gdbstub_send_hex(s_scratch.paniced_task_index, 32);
-    esp_gdbstub_send_end();
-
-    s_scratch.thread_info_index = 0;
+    assert(s_scratch.task_count > 0);  /* There should be at least one task */
+    send_single_thread_info(0);
+    s_scratch.thread_info_index = 1;
 }
 
 static void handle_qsThreadInfo_command(const unsigned char* cmd, int len)
 {
-    int next_task_index = ++s_scratch.thread_info_index;
-
-    if (next_task_index == s_scratch.task_count) {
+    int task_index = s_scratch.thread_info_index;
+    if (task_index == s_scratch.task_count) {
         /* No more tasks */
         esp_gdbstub_send_str_packet("l");
         return;
     }
-
-    if (next_task_index == s_scratch.paniced_task_index) {
-        /* Have already sent this one in the reply to qfThreadInfo, skip over it */
-        handle_qsThreadInfo_command(cmd, len);
-        return;
-    }
-
-    esp_gdbstub_send_start();
-    esp_gdbstub_send_str("m");
-    esp_gdbstub_send_hex(next_task_index, 32);
-    esp_gdbstub_send_end();
+    send_single_thread_info(s_scratch.thread_info_index);
+    s_scratch.thread_info_index++;
 }
 
 /** qThreadExtraInfo requests the thread name */
 static void handle_qThreadExtraInfo_command(const unsigned char* cmd, int len)
 {
     cmd += sizeof("qThreadExtraInfo,") - 1;
-    int task_index = esp_gdbstub_gethex(&cmd, -1);
+    int task_index = gdb_tid_to_task_index(esp_gdbstub_gethex(&cmd, -1));
     TaskHandle_t handle;
     if (!get_task_handle(task_index, &handle)) {
         esp_gdbstub_send_str_packet("E01");

tools/ci/python_packages/ttfw_idf/IDFAssignTest.py

@@ -17,7 +17,11 @@ except ImportError:
 import gitlab_api
 from tiny_test_fw.Utility import CIAssignTest
 
-from idf_py_actions.constants import SUPPORTED_TARGETS, PREVIEW_TARGETS
+try:
+    from idf_py_actions.constants import SUPPORTED_TARGETS, PREVIEW_TARGETS
+except ImportError:
+    SUPPORTED_TARGETS = []
+    PREVIEW_TARGETS = []
 
 IDF_PATH_FROM_ENV = os.getenv('IDF_PATH')
 

tools/test_apps/system/panic/app_test.py

@@ -7,245 +7,290 @@ from test_panic_util.test_panic_util import panic_test, run_all
 # test_task_wdt
 
 @panic_test()
-def test_panic_task_wdt(env, extra_data):
+def test_panic_task_wdt(env, _extra_data):
     test.task_wdt_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_task_wdt_uart_elf_crc(env, extra_data):
+def test_coredump_task_wdt_uart_elf_crc(env, _extra_data):
     test.task_wdt_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_task_wdt_uart_bin_crc(env, extra_data):
+def test_coredump_task_wdt_uart_bin_crc(env, _extra_data):
     test.task_wdt_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_task_wdt_flash_elf_sha(env, extra_data):
+def test_coredump_task_wdt_flash_elf_sha(env, _extra_data):
     test.task_wdt_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_task_wdt_flash_bin_crc(env, extra_data):
+def test_coredump_task_wdt_flash_bin_crc(env, _extra_data):
     test.task_wdt_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_task_wdt(env, _extra_data):
+    test.task_wdt_inner(env, "gdbstub")
+
+
 # test_int_wdt
 
 @panic_test()
-def test_panic_int_wdt(env, extra_data):
+def test_panic_int_wdt(env, _extra_data):
     test.int_wdt_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_int_wdt_uart_elf_crc(env, extra_data):
+def test_coredump_int_wdt_uart_elf_crc(env, _extra_data):
     test.int_wdt_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_int_wdt_uart_bin_crc(env, extra_data):
+def test_coredump_int_wdt_uart_bin_crc(env, _extra_data):
     test.int_wdt_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_int_wdt_flash_elf_sha(env, extra_data):
+def test_coredump_int_wdt_flash_elf_sha(env, _extra_data):
     test.int_wdt_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_int_wdt_flash_bin_crc(env, extra_data):
+def test_coredump_int_wdt_flash_bin_crc(env, _extra_data):
     test.int_wdt_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_int_wdt(env, _extra_data):
+    test.int_wdt_inner(env, "gdbstub")
+
+
 # test_int_wdt_cache_disabled
 
 @panic_test()
-def test_panic_int_wdt_cache_disabled(env, extra_data):
+def test_panic_int_wdt_cache_disabled(env, _extra_data):
     test.int_wdt_cache_disabled_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_int_wdt_cache_disabled_uart_elf_crc(env, extra_data):
+def test_coredump_int_wdt_cache_disabled_uart_elf_crc(env, _extra_data):
     test.int_wdt_cache_disabled_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_int_wdt_cache_disabled_uart_bin_crc(env, extra_data):
+def test_coredump_int_wdt_cache_disabled_uart_bin_crc(env, _extra_data):
     test.int_wdt_cache_disabled_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_int_wdt_cache_disabled_flash_elf_sha(env, extra_data):
+def test_coredump_int_wdt_cache_disabled_flash_elf_sha(env, _extra_data):
     test.int_wdt_cache_disabled_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_int_wdt_cache_disabled_flash_bin_crc(env, extra_data):
+def test_coredump_int_wdt_cache_disabled_flash_bin_crc(env, _extra_data):
     test.int_wdt_cache_disabled_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_int_wdt_cache_disabled(env, _extra_data):
+    test.int_wdt_cache_disabled_inner(env, "gdbstub")
+
+
 # test_cache_error
 
 @panic_test()
-def test_panic_cache_error(env, extra_data):
+def test_panic_cache_error(env, _extra_data):
     test.cache_error_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_cache_error_uart_elf_crc(env, extra_data):
+def test_coredump_cache_error_uart_elf_crc(env, _extra_data):
     test.cache_error_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_cache_error_uart_bin_crc(env, extra_data):
+def test_coredump_cache_error_uart_bin_crc(env, _extra_data):
     test.cache_error_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_cache_error_flash_elf_sha(env, extra_data):
+def test_coredump_cache_error_flash_elf_sha(env, _extra_data):
     test.cache_error_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_cache_error_flash_bin_crc(env, extra_data):
+def test_coredump_cache_error_flash_bin_crc(env, _extra_data):
     test.cache_error_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_cache_error(env, _extra_data):
+    test.cache_error_inner(env, "gdbstub")
+
+
 # test_stack_overflow
 
 @panic_test()
-def test_panic_stack_overflow(env, extra_data):
+def test_panic_stack_overflow(env, _extra_data):
     test.stack_overflow_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_stack_overflow_uart_elf_crc(env, extra_data):
+def test_coredump_stack_overflow_uart_elf_crc(env, _extra_data):
     test.stack_overflow_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_stack_overflow_uart_bin_crc(env, extra_data):
+def test_coredump_stack_overflow_uart_bin_crc(env, _extra_data):
     test.stack_overflow_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_stack_overflow_flash_elf_sha(env, extra_data):
+def test_coredump_stack_overflow_flash_elf_sha(env, _extra_data):
     test.stack_overflow_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_stack_overflow_flash_bin_crc(env, extra_data):
+def test_coredump_stack_overflow_flash_bin_crc(env, _extra_data):
     test.stack_overflow_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_stack_overflow(env, _extra_data):
+    test.stack_overflow_inner(env, "gdbstub")
+
+
 # test_instr_fetch_prohibited
 
 @panic_test()
-def test_panic_instr_fetch_prohibited(env, extra_data):
+def test_panic_instr_fetch_prohibited(env, _extra_data):
     test.instr_fetch_prohibited_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_instr_fetch_prohibited_uart_elf_crc(env, extra_data):
+def test_coredump_instr_fetch_prohibited_uart_elf_crc(env, _extra_data):
     test.instr_fetch_prohibited_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_instr_fetch_prohibited_uart_bin_crc(env, extra_data):
+def test_coredump_instr_fetch_prohibited_uart_bin_crc(env, _extra_data):
     test.instr_fetch_prohibited_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_instr_fetch_prohibited_flash_elf_sha(env, extra_data):
+def test_coredump_instr_fetch_prohibited_flash_elf_sha(env, _extra_data):
     test.instr_fetch_prohibited_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_instr_fetch_prohibited_flash_bin_crc(env, extra_data):
+def test_coredump_instr_fetch_prohibited_flash_bin_crc(env, _extra_data):
     test.instr_fetch_prohibited_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_instr_fetch_prohibited(env, _extra_data):
+    test.instr_fetch_prohibited_inner(env, "gdbstub")
+
+
 # test_illegal_instruction
 
 @panic_test()
-def test_panic_illegal_instruction(env, extra_data):
+def test_panic_illegal_instruction(env, _extra_data):
     test.illegal_instruction_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_illegal_instruction_uart_elf_crc(env, extra_data):
+def test_coredump_illegal_instruction_uart_elf_crc(env, _extra_data):
     test.illegal_instruction_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_illegal_instruction_uart_bin_crc(env, extra_data):
+def test_coredump_illegal_instruction_uart_bin_crc(env, _extra_data):
     test.illegal_instruction_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_illegal_instruction_flash_elf_sha(env, extra_data):
+def test_coredump_illegal_instruction_flash_elf_sha(env, _extra_data):
     test.illegal_instruction_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_illegal_instruction_flash_bin_crc(env, extra_data):
+def test_coredump_illegal_instruction_flash_bin_crc(env, _extra_data):
     test.illegal_instruction_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_illegal_instruction(env, _extra_data):
+    test.illegal_instruction_inner(env, "gdbstub")
+
+
 # test_storeprohibited
 
 @panic_test()
-def test_panic_storeprohibited(env, extra_data):
+def test_panic_storeprohibited(env, _extra_data):
     test.storeprohibited_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_storeprohibited_uart_elf_crc(env, extra_data):
+def test_coredump_storeprohibited_uart_elf_crc(env, _extra_data):
     test.storeprohibited_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_storeprohibited_uart_bin_crc(env, extra_data):
+def test_coredump_storeprohibited_uart_bin_crc(env, _extra_data):
     test.storeprohibited_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_storeprohibited_flash_elf_sha(env, extra_data):
+def test_coredump_storeprohibited_flash_elf_sha(env, _extra_data):
     test.storeprohibited_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_storeprohibited_flash_bin_crc(env, extra_data):
+def test_coredump_storeprohibited_flash_bin_crc(env, _extra_data):
     test.storeprohibited_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_storeprohibited(env, _extra_data):
+    test.storeprohibited_inner(env, "gdbstub")
+
+
 # test_abort
 
 @panic_test()
-def test_panic_abort(env, extra_data):
+def test_panic_abort(env, _extra_data):
     test.abort_inner(env, "panic")
 
 
 @panic_test()
-def test_coredump_abort_uart_elf_crc(env, extra_data):
+def test_coredump_abort_uart_elf_crc(env, _extra_data):
     test.abort_inner(env, "coredump_uart_elf_crc")
 
 
 @panic_test()
-def test_coredump_abort_uart_bin_crc(env, extra_data):
+def test_coredump_abort_uart_bin_crc(env, _extra_data):
     test.abort_inner(env, "coredump_uart_bin_crc")
 
 
 @panic_test()
-def test_coredump_abort_flash_elf_sha(env, extra_data):
+def test_coredump_abort_flash_elf_sha(env, _extra_data):
     test.abort_inner(env, "coredump_flash_elf_sha")
 
 
 @panic_test()
-def test_coredump_abort_flash_bin_crc(env, extra_data):
+def test_coredump_abort_flash_bin_crc(env, _extra_data):
     test.abort_inner(env, "coredump_flash_bin_crc")
 
 
+@panic_test()
+def test_gdbstub_abort(env, _extra_data):
+    test.abort_inner(env, "gdbstub")
+
+
 if __name__ == '__main__':
     run_all(__file__, sys.argv[1:])

tools/test_apps/system/panic/panic_tests.py

@@ -1,16 +1,43 @@
 #!/usr/bin/env python
+from pprint import pformat
 import re
 from test_panic_util.test_panic_util import get_dut
 
 
-def test_common(dut, test_name):
+def get_default_backtrace(test_name):
+    return [
+        test_name,
+        "app_main",
+        "main_task",
+        "vPortTaskWrapper"
+    ]
+
+
+def test_common(dut, test_name, expected_backtrace=None):
+    if expected_backtrace is None:
+        expected_backtrace = get_default_backtrace(dut.test_name)
+
+    if "gdbstub" in test_name:
+        dut.start_gdb()
+        frames = dut.gdb_backtrace()
+        if not dut.match_backtrace(frames, expected_backtrace):
+            raise AssertionError("Unexpected backtrace in test {}:\n{}".format(test_name, pformat(frames)))
+        return
+
     if "uart" in test_name:
         dut.expect(dut.COREDUMP_UART_END)
+
     dut.expect("Rebooting...")
+
     if "uart" in test_name:
-        dut.process_coredump_uart
+        dut.process_coredump_uart()
+        # TODO: check backtrace
     elif "flash" in test_name:
-        dut.process_coredump_flash
+        dut.process_coredump_flash()
+        # TODO: check backtrace
+    elif "panic" in test_name:
+        # TODO: check backtrace
+        pass
 
 
 def task_wdt_inner(env, test_name):
@@ -22,7 +49,11 @@ def task_wdt_inner(env, test_name):
         dut.expect_backtrace()
         dut.expect_elf_sha256()
         dut.expect_none("Guru Meditation")
-        test_common(dut, test_name)
+        test_common(dut, test_name, expected_backtrace=[
+            # Backtrace interrupted when abort is called, IDF-842.
+            # Task WDT calls abort internally.
+            "panic_abort", "esp_system_abort"
+        ])
 
 
 def int_wdt_inner(env, test_name):
@@ -60,7 +91,8 @@ def cache_error_inner(env, test_name):
         dut.expect_backtrace()
         dut.expect_elf_sha256()
         dut.expect_none("Guru Meditation")
-        test_common(dut, test_name)
+        test_common(dut, test_name,
+                    expected_backtrace=["die"] + get_default_backtrace(dut.test_name))
 
 
 def abort_inner(env, test_name):
@@ -69,7 +101,10 @@ def abort_inner(env, test_name):
         dut.expect_backtrace()
         dut.expect_elf_sha256()
         dut.expect_none("Guru Meditation", "Re-entered core dump")
-        test_common(dut, test_name)
+        test_common(dut, test_name, expected_backtrace=[
+            # Backtrace interrupted when abort is called, IDF-842
+            "panic_abort", "esp_system_abort"
+        ])
 
 
 def storeprohibited_inner(env, test_name):
@@ -110,4 +145,5 @@ def instr_fetch_prohibited_inner(env, test_name):
         dut.expect_backtrace()
         dut.expect_elf_sha256()
         dut.expect_none("Guru Meditation")
-        test_common(dut, test_name)
+        test_common(dut, test_name,
+                    expected_backtrace=["_init"] + get_default_backtrace(dut.test_name))

tools/test_apps/system/panic/sdkconfig.ci.gdbstub

@@ -0,0 +1 @@
+CONFIG_ESP_SYSTEM_PANIC_GDBSTUB=y

tools/test_apps/system/panic/test_panic_util/test_panic_util.py

@@ -1,7 +1,9 @@
+import logging
 import os
-import sys
+from pygdbmi.gdbcontroller import GdbController
 import re
 import subprocess
+import sys
 import ttfw_idf
 from tiny_test_fw import Utility, TinyFW, DUT
 from tiny_test_fw.Utility import SearchCases, CaseConfig
@@ -82,6 +84,7 @@ class PanicTestMixin(object):
 
     def __enter__(self):
         self._raw_data = None
+        self.gdb = None
         return self
 
     def __exit__(self, type, value, traceback):
@@ -89,7 +92,8 @@ class PanicTestMixin(object):
         with open(os.path.join(log_folder, "log_" + self.test_name + ".txt"), "w") as log_file:
             Utility.console_log("Writing output of {} to {}".format(self.test_name, log_file.name))
             log_file.write(self.get_raw_data())
-
+        if self.gdb:
+            self.gdb.exit()
         self.close()
 
     def get_raw_data(self):
@@ -140,6 +144,90 @@ class PanicTestMixin(object):
         output_file_name = os.path.join(log_folder, "coredump_flash_result_" + self.test_name + ".txt")
         self._call_espcoredump(["--core-format", "raw"], coredump_file_name, output_file_name)
 
+    def start_gdb(self):
+        """
+        Runs GDB and connects it to the "serial" port of the DUT.
+        After this, the DUT expect methods can no longer be used to capture output.
+        """
+        self.stop_receive()
+        self._port_close()
+
+        Utility.console_log("Starting GDB...", "orange")
+        self.gdb = GdbController(gdb_path=self.TOOLCHAIN_PREFIX + "gdb")
+
+        # pygdbmi logs to console by default, make it log to a file instead
+        log_folder = self.app.get_log_folder(TEST_SUITE)
+        pygdbmi_log_file_name = os.path.join(log_folder, "pygdbmi_log_" + self.test_name + ".txt")
+        pygdbmi_logger = self.gdb.logger
+        pygdbmi_logger.setLevel(logging.DEBUG)
+        while pygdbmi_logger.hasHandlers():
+            pygdbmi_logger.removeHandler(pygdbmi_logger.handlers[0])
+        log_handler = logging.FileHandler(pygdbmi_log_file_name)
+        log_handler.setFormatter(logging.Formatter("%(asctime)s %(levelname)s: %(message)s"))
+        pygdbmi_logger.addHandler(log_handler)
+
+        # Set up logging for GDB remote protocol
+        gdb_remotelog_file_name = os.path.join(log_folder, "gdb_remote_log_" + self.test_name + ".txt")
+        self.gdb.write("-gdb-set remotelogfile " + gdb_remotelog_file_name)
+
+        # Load the ELF file
+        self.gdb.write("-file-exec-and-symbols {}".format(self.app.elf_file))
+
+        # Connect GDB to UART
+        Utility.console_log("Connecting to GDB Stub...", "orange")
+        self.gdb.write("-gdb-set serial baud 115200")
+        responses = self.gdb.write("-target-select remote " + self.get_gdb_remote(), timeout_sec=3)
+
+        # Make sure we get the 'stopped' notification
+        stop_response = self.find_gdb_response('stopped', 'notify', responses)
+        if not stop_response:
+            responses = self.gdb.write("-exec-interrupt", timeout_sec=3)
+            stop_response = self.find_gdb_response('stopped', 'notify', responses)
+            assert stop_response
+        frame = stop_response["payload"]["frame"]
+        if "file" not in frame:
+            frame["file"] = "?"
+        if "line" not in frame:
+            frame["line"] = "?"
+        Utility.console_log("Stopped in {func} at {addr} ({file}:{line})".format(**frame), "orange")
+
+        # Drain remaining responses
+        self.gdb.get_gdb_response(raise_error_on_timeout=False)
+
+    def gdb_backtrace(self):
+        """
+        Returns the list of stack frames for the current thread.
+        Each frame is a dictionary, refer to pygdbmi docs for the format.
+        """
+        assert self.gdb
+
+        responses = self.gdb.write("-stack-list-frames", timeout_sec=3)
+        return self.find_gdb_response("done", "result", responses)["payload"]["stack"]
+
+    @staticmethod
+    def match_backtrace(gdb_backtrace, expected_functions_list):
+        """
+        Returns True if the function names listed in expected_functions_list match the backtrace
+        given by gdb_backtrace argument. The latter is in the same format as returned by gdb_backtrace()
+        function.
+        """
+        return all([frame["func"] == expected_functions_list[i] for i, frame in enumerate(gdb_backtrace)])
+
+    @staticmethod
+    def find_gdb_response(message, response_type, responses):
+        """
+        Helper function which extracts one response from an array of GDB responses, filtering
+        by message and type. Returned message is a dictionary, refer to pygdbmi docs for the format.
+        """
+        def match_response(response):
+            return (response["message"] == message and
+                    response["type"] == response_type)
+
+        filtered_responses = [r for r in responses if match_response(r)]
+        if not filtered_responses:
+            return None
+        return filtered_responses[0]
+
 
 class ESP32PanicTestDUT(ttfw_idf.ESP32DUT, PanicTestMixin):
     def get_gdb_remote(self):
@@ -170,8 +258,14 @@ def run_all(filename, case_filter=[]):
     test_cases = CaseConfig.Parser.apply_config(test_methods, None)
     tests_failed = []
     for case in test_cases:
-        if case_filter and case.test_method.__name__ not in case_filter:
-            continue
+        test_name = case.test_method.__name__
+        if case_filter:
+            if case_filter[0].endswith("*"):
+                if not test_name.startswith(case_filter[0][:-1]):
+                    continue
+            else:
+                if test_name not in case_filter:
+                    continue
         result = case.run()
         if not result:
             tests_failed.append(case)