1 /***************************************************************************
2 * Copyright (C) 2011 by Broadcom Corporation *
3 * Evan Hunter - ehunter@broadcom.com *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
23 #include <helper/time_support.h>
24 #include <jtag/jtag.h>
25 #include "target/target.h"
26 #include "target/target_type.h"
28 #include "helper/log.h"
29 #include "helper/types.h"
30 #include "rtos_standard_stackings.h"
31 #include "target/armv7m.h"
32 #include "target/cortex_m.h"
36 #define FREERTOS_MAX_PRIORITIES 63
38 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
40 struct FreeRTOS_params
{
41 const char *target_name
;
42 const unsigned char thread_count_width
;
43 const unsigned char pointer_width
;
44 const unsigned char list_next_offset
;
45 const unsigned char list_width
;
46 const unsigned char list_elem_next_offset
;
47 const unsigned char list_elem_content_offset
;
48 const unsigned char thread_stack_offset
;
49 const unsigned char thread_name_offset
;
50 const struct rtos_register_stacking
*stacking_info_cm3
;
51 const struct rtos_register_stacking
*stacking_info_cm4f
;
52 const struct rtos_register_stacking
*stacking_info_cm4f_fpu
;
55 static const struct FreeRTOS_params FreeRTOS_params_list
[] = {
57 "cortex_m", /* target_name */
58 4, /* thread_count_width; */
59 4, /* pointer_width; */
60 16, /* list_next_offset; */
62 8, /* list_elem_next_offset; */
63 12, /* list_elem_content_offset */
64 0, /* thread_stack_offset; */
65 52, /* thread_name_offset; */
66 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
67 &rtos_standard_Cortex_M4F_stacking
,
68 &rtos_standard_Cortex_M4F_FPU_stacking
,
71 "hla_target", /* target_name */
72 4, /* thread_count_width; */
73 4, /* pointer_width; */
74 16, /* list_next_offset; */
76 8, /* list_elem_next_offset; */
77 12, /* list_elem_content_offset */
78 0, /* thread_stack_offset; */
79 52, /* thread_name_offset; */
80 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
81 &rtos_standard_Cortex_M4F_stacking
,
82 &rtos_standard_Cortex_M4F_FPU_stacking
,
85 "nds32_v3", /* target_name */
86 4, /* thread_count_width; */
87 4, /* pointer_width; */
88 16, /* list_next_offset; */
90 8, /* list_elem_next_offset; */
91 12, /* list_elem_content_offset */
92 0, /* thread_stack_offset; */
93 52, /* thread_name_offset; */
94 &rtos_standard_NDS32_N1068_stacking
, /* stacking_info */
95 &rtos_standard_Cortex_M4F_stacking
,
96 &rtos_standard_Cortex_M4F_FPU_stacking
,
100 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
102 static bool FreeRTOS_detect_rtos(struct target
*target
);
103 static int FreeRTOS_create(struct target
*target
);
104 static int FreeRTOS_update_threads(struct rtos
*rtos
);
105 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
106 struct rtos_reg
**reg_list
, int *num_regs
);
107 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
109 struct rtos_type FreeRTOS_rtos
= {
112 .detect_rtos
= FreeRTOS_detect_rtos
,
113 .create
= FreeRTOS_create
,
114 .update_threads
= FreeRTOS_update_threads
,
115 .get_thread_reg_list
= FreeRTOS_get_thread_reg_list
,
116 .get_symbol_list_to_lookup
= FreeRTOS_get_symbol_list_to_lookup
,
119 enum FreeRTOS_symbol_values
{
120 FreeRTOS_VAL_pxCurrentTCB
= 0,
121 FreeRTOS_VAL_pxReadyTasksLists
= 1,
122 FreeRTOS_VAL_xDelayedTaskList1
= 2,
123 FreeRTOS_VAL_xDelayedTaskList2
= 3,
124 FreeRTOS_VAL_pxDelayedTaskList
= 4,
125 FreeRTOS_VAL_pxOverflowDelayedTaskList
= 5,
126 FreeRTOS_VAL_xPendingReadyList
= 6,
127 FreeRTOS_VAL_xTasksWaitingTermination
= 7,
128 FreeRTOS_VAL_xSuspendedTaskList
= 8,
129 FreeRTOS_VAL_uxCurrentNumberOfTasks
= 9,
130 FreeRTOS_VAL_uxTopUsedPriority
= 10,
138 static const struct symbols FreeRTOS_symbol_list
[] = {
139 { "pxCurrentTCB", false },
140 { "pxReadyTasksLists", false },
141 { "xDelayedTaskList1", false },
142 { "xDelayedTaskList2", false },
143 { "pxDelayedTaskList", false },
144 { "pxOverflowDelayedTaskList", false },
145 { "xPendingReadyList", false },
146 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
147 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
148 { "uxCurrentNumberOfTasks", false },
149 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
154 /* this is not safe for little endian yet */
155 /* may be problems reading if sizes are not 32 bit long integers. */
156 /* test mallocs for failure */
158 static int FreeRTOS_update_threads(struct rtos
*rtos
)
162 const struct FreeRTOS_params
*param
;
164 if (rtos
->rtos_specific_params
== NULL
)
167 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
169 if (rtos
->symbols
== NULL
) {
170 LOG_ERROR("No symbols for FreeRTOS");
174 if (rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
== 0) {
175 LOG_ERROR("Don't have the number of threads in FreeRTOS");
179 int thread_list_size
= 0;
180 retval
= target_read_buffer(rtos
->target
,
181 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
182 param
->thread_count_width
,
183 (uint8_t *)&thread_list_size
);
184 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64
", value %d\r\n",
185 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
188 if (retval
!= ERROR_OK
) {
189 LOG_ERROR("Could not read FreeRTOS thread count from target");
193 /* wipe out previous thread details if any */
194 rtos_free_threadlist(rtos
);
196 /* read the current thread */
197 retval
= target_read_buffer(rtos
->target
,
198 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
199 param
->pointer_width
,
200 (uint8_t *)&rtos
->current_thread
);
201 if (retval
!= ERROR_OK
) {
202 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
205 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
206 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
207 rtos
->current_thread
);
209 if ((thread_list_size
== 0) || (rtos
->current_thread
== 0)) {
210 /* Either : No RTOS threads - there is always at least the current execution though */
211 /* OR : No current thread - all threads suspended - show the current execution
213 char tmp_str
[] = "Current Execution";
216 rtos
->thread_details
= malloc(
217 sizeof(struct thread_detail
) * thread_list_size
);
218 if (!rtos
->thread_details
) {
219 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
222 rtos
->thread_details
->threadid
= 1;
223 rtos
->thread_details
->exists
= true;
224 rtos
->thread_details
->extra_info_str
= NULL
;
225 rtos
->thread_details
->thread_name_str
= malloc(sizeof(tmp_str
));
226 strcpy(rtos
->thread_details
->thread_name_str
, tmp_str
);
228 if (thread_list_size
== 1) {
229 rtos
->thread_count
= 1;
233 /* create space for new thread details */
234 rtos
->thread_details
= malloc(
235 sizeof(struct thread_detail
) * thread_list_size
);
236 if (!rtos
->thread_details
) {
237 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
242 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
243 if (rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
== 0) {
244 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
247 uint64_t top_used_priority
= 0;
248 /* FIXME: endianess error on almost all target_read_buffer(), see also
250 retval
= target_read_buffer(rtos
->target
,
251 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
252 param
->pointer_width
,
253 (uint8_t *)&top_used_priority
);
254 if (retval
!= ERROR_OK
)
256 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64
", value %" PRIu64
"\r\n",
257 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
259 if (top_used_priority
> FREERTOS_MAX_PRIORITIES
) {
260 LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu64
,
265 /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
266 * in old FreeRTOS versions (before V7.5.3)
267 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
268 * in newer FreeRTOS versions.
269 * Here we restore the original configMAX_PRIORITIES value */
270 unsigned int config_max_priorities
= top_used_priority
+ 1;
272 symbol_address_t
*list_of_lists
=
273 malloc(sizeof(symbol_address_t
) * (config_max_priorities
+ 5));
274 if (!list_of_lists
) {
275 LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities
);
279 unsigned int num_lists
;
280 for (num_lists
= 0; num_lists
< config_max_priorities
; num_lists
++)
281 list_of_lists
[num_lists
] = rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
+
282 num_lists
* param
->list_width
;
284 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList1
].address
;
285 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList2
].address
;
286 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xPendingReadyList
].address
;
287 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xSuspendedTaskList
].address
;
288 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xTasksWaitingTermination
].address
;
290 for (unsigned int i
= 0; i
< num_lists
; i
++) {
291 if (list_of_lists
[i
] == 0)
294 /* Read the number of threads in this list */
295 int64_t list_thread_count
= 0;
296 retval
= target_read_buffer(rtos
->target
,
298 param
->thread_count_width
,
299 (uint8_t *)&list_thread_count
);
300 if (retval
!= ERROR_OK
) {
301 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
305 LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64
", value %" PRId64
"\r\n",
306 i
, list_of_lists
[i
], list_thread_count
);
308 if (list_thread_count
== 0)
311 /* Read the location of first list item */
312 uint64_t prev_list_elem_ptr
= -1;
313 uint64_t list_elem_ptr
= 0;
314 retval
= target_read_buffer(rtos
->target
,
315 list_of_lists
[i
] + param
->list_next_offset
,
316 param
->pointer_width
,
317 (uint8_t *)&list_elem_ptr
);
318 if (retval
!= ERROR_OK
) {
319 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
323 LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
324 i
, list_of_lists
[i
] + param
->list_next_offset
, list_elem_ptr
);
326 while ((list_thread_count
> 0) && (list_elem_ptr
!= 0) &&
327 (list_elem_ptr
!= prev_list_elem_ptr
) &&
328 (tasks_found
< thread_list_size
)) {
329 /* Get the location of the thread structure. */
330 rtos
->thread_details
[tasks_found
].threadid
= 0;
331 retval
= target_read_buffer(rtos
->target
,
332 list_elem_ptr
+ param
->list_elem_content_offset
,
333 param
->pointer_width
,
334 (uint8_t *)&(rtos
->thread_details
[tasks_found
].threadid
));
335 if (retval
!= ERROR_OK
) {
336 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
340 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
341 list_elem_ptr
+ param
->list_elem_content_offset
,
342 rtos
->thread_details
[tasks_found
].threadid
);
344 /* get thread name */
346 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
347 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
349 /* Read the thread name */
350 retval
= target_read_buffer(rtos
->target
,
351 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
352 FREERTOS_THREAD_NAME_STR_SIZE
,
353 (uint8_t *)&tmp_str
);
354 if (retval
!= ERROR_OK
) {
355 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
359 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
360 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64
", value \"%s\"\r\n",
361 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
364 if (tmp_str
[0] == '\x00')
365 strcpy(tmp_str
, "No Name");
367 rtos
->thread_details
[tasks_found
].thread_name_str
=
368 malloc(strlen(tmp_str
)+1);
369 strcpy(rtos
->thread_details
[tasks_found
].thread_name_str
, tmp_str
);
370 rtos
->thread_details
[tasks_found
].exists
= true;
372 if (rtos
->thread_details
[tasks_found
].threadid
== rtos
->current_thread
) {
373 char running_str
[] = "State: Running";
374 rtos
->thread_details
[tasks_found
].extra_info_str
= malloc(
375 sizeof(running_str
));
376 strcpy(rtos
->thread_details
[tasks_found
].extra_info_str
,
379 rtos
->thread_details
[tasks_found
].extra_info_str
= NULL
;
384 prev_list_elem_ptr
= list_elem_ptr
;
386 retval
= target_read_buffer(rtos
->target
,
387 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
388 param
->pointer_width
,
389 (uint8_t *)&list_elem_ptr
);
390 if (retval
!= ERROR_OK
) {
391 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
395 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
396 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
402 rtos
->thread_count
= tasks_found
;
406 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
407 struct rtos_reg
**reg_list
, int *num_regs
)
410 const struct FreeRTOS_params
*param
;
411 int64_t stack_ptr
= 0;
419 if (rtos
->rtos_specific_params
== NULL
)
422 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
424 /* Read the stack pointer */
425 retval
= target_read_buffer(rtos
->target
,
426 thread_id
+ param
->thread_stack_offset
,
427 param
->pointer_width
,
428 (uint8_t *)&stack_ptr
);
429 if (retval
!= ERROR_OK
) {
430 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
433 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
434 thread_id
+ param
->thread_stack_offset
,
437 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
438 int cm4_fpu_enabled
= 0;
439 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
440 if (is_armv7m(armv7m_target
)) {
441 if (armv7m_target
->fp_feature
== FPv4_SP
) {
442 /* Found ARM v7m target which includes a FPU */
445 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
446 if (retval
!= ERROR_OK
) {
447 LOG_ERROR("Could not read CPACR register to check FPU state");
451 /* Check if CP10 and CP11 are set to full access. */
452 if (cpacr
& 0x00F00000) {
453 /* Found target with enabled FPU */
459 if (cm4_fpu_enabled
== 1) {
460 /* Read the LR to decide between stacking with or without FPU */
462 retval
= target_read_buffer(rtos
->target
,
464 param
->pointer_width
,
466 if (retval
!= ERROR_OK
) {
467 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
470 if ((LR_svc
& 0x10) == 0)
471 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f_fpu
, stack_ptr
, reg_list
, num_regs
);
473 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f
, stack_ptr
, reg_list
, num_regs
);
475 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm3
, stack_ptr
, reg_list
, num_regs
);
478 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
481 *symbol_list
= calloc(
482 ARRAY_SIZE(FreeRTOS_symbol_list
), sizeof(symbol_table_elem_t
));
484 for (i
= 0; i
< ARRAY_SIZE(FreeRTOS_symbol_list
); i
++) {
485 (*symbol_list
)[i
].symbol_name
= FreeRTOS_symbol_list
[i
].name
;
486 (*symbol_list
)[i
].optional
= FreeRTOS_symbol_list
[i
].optional
;
494 static int FreeRTOS_set_current_thread(struct rtos
*rtos
, threadid_t thread_id
)
499 static int FreeRTOS_get_thread_ascii_info(struct rtos
*rtos
, threadid_t thread_id
, char **info
)
502 const struct FreeRTOS_params
*param
;
510 if (rtos
->rtos_specific_params
== NULL
)
513 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
515 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
516 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
518 /* Read the thread name */
519 retval
= target_read_buffer(rtos
->target
,
520 thread_id
+ param
->thread_name_offset
,
521 FREERTOS_THREAD_NAME_STR_SIZE
,
522 (uint8_t *)&tmp_str
);
523 if (retval
!= ERROR_OK
) {
524 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
527 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
529 if (tmp_str
[0] == '\x00')
530 strcpy(tmp_str
, "No Name");
532 *info
= malloc(strlen(tmp_str
)+1);
533 strcpy(*info
, tmp_str
);
539 static bool FreeRTOS_detect_rtos(struct target
*target
)
541 if ((target
->rtos
->symbols
!= NULL
) &&
542 (target
->rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
!= 0)) {
543 /* looks like FreeRTOS */
549 static int FreeRTOS_create(struct target
*target
)
552 while ((i
< FREERTOS_NUM_PARAMS
) &&
553 (0 != strcmp(FreeRTOS_params_list
[i
].target_name
, target
->type
->name
))) {
556 if (i
>= FREERTOS_NUM_PARAMS
) {
557 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
561 target
->rtos
->rtos_specific_params
= (void *) &FreeRTOS_params_list
[i
];
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