1 /***************************************************************************
2 * Copyright (C) 2012 by Matthias Blaicher *
3 * Matthias Blaicher - matthias@blaicher.com *
5 * Copyright (C) 2011 by Broadcom Corporation *
6 * Evan Hunter - ehunter@broadcom.com *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
22 ***************************************************************************/
28 #include <helper/time_support.h>
29 #include <jtag/jtag.h>
30 #include "target/target.h"
31 #include "target/target_type.h"
32 #include "target/armv7m.h"
33 #include "target/cortex_m.h"
35 #include "helper/log.h"
36 #include "helper/types.h"
37 #include "rtos_chibios_stackings.h"
40 * @brief ChibiOS/RT memory signature record.
42 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
44 struct ChibiOS_chdebug
{
45 char ch_identifier
[4]; /**< @brief Always set to "main". */
46 uint8_t ch_zero
; /**< @brief Must be zero. */
47 uint8_t ch_size
; /**< @brief Size of this structure. */
48 uint16_t ch_version
; /**< @brief Encoded ChibiOS/RT version. */
49 uint8_t ch_ptrsize
; /**< @brief Size of a pointer. */
50 uint8_t ch_timesize
; /**< @brief Size of a @p systime_t. */
51 uint8_t ch_threadsize
; /**< @brief Size of a @p Thread struct. */
52 uint8_t cf_off_prio
; /**< @brief Offset of @p p_prio field. */
53 uint8_t cf_off_ctx
; /**< @brief Offset of @p p_ctx field. */
54 uint8_t cf_off_newer
; /**< @brief Offset of @p p_newer field. */
55 uint8_t cf_off_older
; /**< @brief Offset of @p p_older field. */
56 uint8_t cf_off_name
; /**< @brief Offset of @p p_name field. */
57 uint8_t cf_off_stklimit
; /**< @brief Offset of @p p_stklimit
59 uint8_t cf_off_state
; /**< @brief Offset of @p p_state field. */
60 uint8_t cf_off_flags
; /**< @brief Offset of @p p_flags field. */
61 uint8_t cf_off_refs
; /**< @brief Offset of @p p_refs field. */
62 uint8_t cf_off_preempt
; /**< @brief Offset of @p p_preempt
64 uint8_t cf_off_time
; /**< @brief Offset of @p p_time field. */
67 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
68 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
69 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
72 * @brief ChibiOS thread states.
74 static const char * const ChibiOS_thread_states
[] = {
75 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
76 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
80 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
82 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
83 * chars ought to be enough.
85 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
87 struct ChibiOS_params
{
88 const char *target_name
;
90 struct ChibiOS_chdebug
*signature
;
91 const struct rtos_register_stacking
*stacking_info
;
94 static const struct ChibiOS_params ChibiOS_params_list
[] = {
96 "cortex_m", /* target_name */
98 NULL
, /* stacking_info */
101 "hla_target", /* target_name */
103 NULL
, /* stacking_info */
106 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
108 static int ChibiOS_detect_rtos(struct target
*target
);
109 static int ChibiOS_create(struct target
*target
);
110 static int ChibiOS_update_threads(struct rtos
*rtos
);
111 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
112 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
114 struct rtos_type ChibiOS_rtos
= {
117 .detect_rtos
= ChibiOS_detect_rtos
,
118 .create
= ChibiOS_create
,
119 .update_threads
= ChibiOS_update_threads
,
120 .get_thread_reg_list
= ChibiOS_get_thread_reg_list
,
121 .get_symbol_list_to_lookup
= ChibiOS_get_symbol_list_to_lookup
,
124 enum ChibiOS_symbol_values
{
125 ChibiOS_VAL_rlist
= 0,
126 ChibiOS_VAL_ch_debug
= 1,
127 ChibiOS_VAL_chSysInit
= 2
130 static const char * const ChibiOS_symbol_list
[] = {
131 "rlist", /* Thread ready list*/
132 "ch_debug", /* Memory Signatur containing offsets of fields in rlist*/
133 "chSysInit", /* Necessary part of API, used for ChibiOS detection*/
137 static int ChibiOS_update_memory_signature(struct rtos
*rtos
)
140 struct ChibiOS_params
*param
;
141 struct ChibiOS_chdebug
*signature
;
143 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
145 /* Free existing memory description.*/
146 if (param
->signature
) {
147 free(param
->signature
);
148 param
->signature
= 0;
151 signature
= malloc(sizeof(*signature
));
153 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
157 retval
= target_read_buffer(rtos
->target
,
158 rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
,
160 (uint8_t *) signature
);
161 if (retval
!= ERROR_OK
) {
162 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
166 if (strncmp(signature
->ch_identifier
, "main", 4) != 0) {
167 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
171 if (signature
->ch_size
< sizeof(*signature
)) {
172 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
177 if (signature
->ch_size
> sizeof(*signature
)) {
178 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
179 " expected. Assuming compatibility...");
182 /* Convert endianness of version field */
183 const uint8_t *versionTarget
= (const uint8_t *)
184 &signature
->ch_version
;
185 signature
->ch_version
= rtos
->target
->endianness
== TARGET_LITTLE_ENDIAN
?
186 le_to_h_u32(versionTarget
) : be_to_h_u32(versionTarget
);
188 const uint16_t ch_version
= signature
->ch_version
;
189 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
190 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version
),
191 GET_CH_KERNEL_MINOR(ch_version
), GET_CH_KERNEL_PATCH(ch_version
));
193 /* Currently, we have the inherent assumption that all address pointers
194 * are 32 bit wide. */
195 if (signature
->ch_ptrsize
!= sizeof(uint32_t)) {
196 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
197 "width unequal to 32 bits!");
202 param
->signature
= signature
;
206 /* Error reading the ChibiOS memory structure */
208 param
->signature
= 0;
213 static int ChibiOS_update_stacking(struct rtos
*rtos
)
215 /* Sometimes the stacking can not be determined only by looking at the
216 * target name but only a runtime.
218 * For example, this is the case for cortex-m4 targets and ChibiOS which
219 * only stack the FPU registers if it is enabled during ChibiOS build.
221 * Terminating which stacking is used is target depending.
224 * - Once ChibiOS is actually initialized, the stacking is fixed.
225 * - During startup code, the FPU might not be initialized and the
226 * detection might fail.
227 * - Since no threads are running during startup, the problem is solved
228 * by delaying stacking detection until there are more threads
229 * available than the current execution. In which case
230 * ChibiOS_get_thread_reg_list is called.
234 if (!rtos
->rtos_specific_params
)
237 struct ChibiOS_params
*param
;
238 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
240 /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */
241 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
242 if (is_armv7m(armv7m_target
)) {
243 if (armv7m_target
->fp_feature
== FPv4_SP
) {
244 /* Found ARM v7m target which includes a FPU */
247 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
248 if (retval
!= ERROR_OK
) {
249 LOG_ERROR("Could not read CPACR register to check FPU state");
253 /* Check if CP10 and CP11 are set to full access.
254 * In ChibiOS this is done in ResetHandler() in crt0.c */
255 if (cpacr
& 0x00F00000) {
256 /* Found target with enabled FPU */
257 /* FIXME: Need to figure out how to specify the FPU registers */
258 LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
259 " are NOT supported");
264 /* Found ARM v7m target with no or disabled FPU */
265 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking
;
272 static int ChibiOS_update_threads(struct rtos
*rtos
)
275 const struct ChibiOS_params
*param
;
279 if (!rtos
->rtos_specific_params
)
282 if (!rtos
->symbols
) {
283 LOG_ERROR("No symbols for ChibiOS");
287 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
288 /* Update the memory signature saved in the target memory */
289 if (!param
->signature
) {
290 retval
= ChibiOS_update_memory_signature(rtos
);
291 if (retval
!= ERROR_OK
) {
292 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
297 /* wipe out previous thread details if any */
298 rtos_free_threadlist(rtos
);
300 /* ChibiOS does not save the current thread count. We have to first
301 * parse the double linked thread list to check for errors and the number of
303 const uint32_t rlist
= rtos
->symbols
[ChibiOS_VAL_rlist
].address
;
304 const struct ChibiOS_chdebug
*signature
= param
->signature
;
312 retval
= target_read_u32(rtos
->target
,
313 current
+ signature
->cf_off_newer
, ¤t
);
314 if (retval
!= ERROR_OK
) {
315 LOG_ERROR("Could not read next ChibiOS thread");
318 /* Could be NULL if the kernel is not initialized yet or if the
319 * registry is corrupted. */
321 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
326 /* Fetch previous thread in the list as a integrity check. */
327 retval
= target_read_u32(rtos
->target
,
328 current
+ signature
->cf_off_older
, &older
);
329 if ((retval
!= ERROR_OK
) || (older
== 0) || (older
!= previous
)) {
330 LOG_ERROR("ChibiOS registry integrity check failed, "
331 "double linked list violation");
335 /* Check for full iteration of the linked list. */
336 if (current
== rlist
)
342 /* No RTOS, there is always at least the current execution, though */
343 LOG_INFO("Only showing current execution because of a broken "
344 "ChibiOS thread registry.");
346 const char tmp_thread_name
[] = "Current Execution";
347 const char tmp_thread_extra_info
[] = "No RTOS thread";
349 rtos
->thread_details
= malloc(
350 sizeof(struct thread_detail
));
351 rtos
->thread_details
->threadid
= 1;
352 rtos
->thread_details
->exists
= true;
353 rtos
->thread_details
->display_str
= NULL
;
355 rtos
->thread_details
->extra_info_str
= malloc(
356 sizeof(tmp_thread_extra_info
));
357 strcpy(rtos
->thread_details
->extra_info_str
, tmp_thread_extra_info
);
359 rtos
->thread_details
->thread_name_str
= malloc(
360 sizeof(tmp_thread_name
));
361 strcpy(rtos
->thread_details
->thread_name_str
, tmp_thread_name
);
363 rtos
->current_thread
= 1;
364 rtos
->thread_count
= 1;
368 /* create space for new thread details */
369 rtos
->thread_details
= malloc(
370 sizeof(struct thread_detail
) * tasks_found
);
371 if (!rtos
->thread_details
) {
372 LOG_ERROR("Could not allocate space for thread details");
376 rtos
->thread_count
= tasks_found
;
377 /* Loop through linked list. */
378 struct thread_detail
*curr_thrd_details
= rtos
->thread_details
;
379 while (curr_thrd_details
< rtos
->thread_details
+ tasks_found
) {
380 uint32_t name_ptr
= 0;
381 char tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
];
383 retval
= target_read_u32(rtos
->target
,
384 current
+ signature
->cf_off_newer
, ¤t
);
385 if (retval
!= ERROR_OK
) {
386 LOG_ERROR("Could not read next ChibiOS thread");
390 /* Check for full iteration of the linked list. */
391 if (current
== rlist
)
394 /* Save the thread pointer */
395 curr_thrd_details
->threadid
= current
;
397 /* read the name pointer */
398 retval
= target_read_u32(rtos
->target
,
399 current
+ signature
->cf_off_name
, &name_ptr
);
400 if (retval
!= ERROR_OK
) {
401 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
405 /* Read the thread name */
406 retval
= target_read_buffer(rtos
->target
, name_ptr
,
407 CHIBIOS_THREAD_NAME_STR_SIZE
,
408 (uint8_t *)&tmp_str
);
409 if (retval
!= ERROR_OK
) {
410 LOG_ERROR("Error reading thread name from ChibiOS target");
413 tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
- 1] = '\x00';
415 if (tmp_str
[0] == '\x00')
416 strcpy(tmp_str
, "No Name");
418 curr_thrd_details
->thread_name_str
= malloc(
419 strlen(tmp_str
) + 1);
420 strcpy(curr_thrd_details
->thread_name_str
, tmp_str
);
424 const char *state_desc
;
426 retval
= target_read_u8(rtos
->target
,
427 current
+ signature
->cf_off_state
, &threadState
);
428 if (retval
!= ERROR_OK
) {
429 LOG_ERROR("Error reading thread state from ChibiOS target");
434 if (threadState
< CHIBIOS_NUM_STATES
)
435 state_desc
= ChibiOS_thread_states
[threadState
];
437 state_desc
= "Unknown state";
439 curr_thrd_details
->extra_info_str
= malloc(strlen(
441 strcpy(curr_thrd_details
->extra_info_str
, state_desc
);
443 curr_thrd_details
->exists
= true;
444 curr_thrd_details
->display_str
= NULL
;
449 uint32_t current_thrd
;
450 /* NOTE: By design, cf_off_name equals readylist_current_offset */
451 retval
= target_read_u32(rtos
->target
,
452 rlist
+ signature
->cf_off_name
,
454 if (retval
!= ERROR_OK
) {
455 LOG_ERROR("Could not read current Thread from ChibiOS target");
458 rtos
->current_thread
= current_thrd
;
463 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
466 const struct ChibiOS_params
*param
;
467 uint32_t stack_ptr
= 0;
469 *hex_reg_list
= NULL
;
470 if ((rtos
== NULL
) || (thread_id
== 0) ||
471 (rtos
->rtos_specific_params
== NULL
))
474 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
476 if (!param
->signature
)
479 /* Update stacking if it can only be determined from runtime information */
480 if ((param
->stacking_info
== 0) &&
481 (ChibiOS_update_stacking(rtos
) != ERROR_OK
)) {
482 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos
->target
->type
->name
);
486 /* Read the stack pointer */
487 retval
= target_read_u32(rtos
->target
,
488 thread_id
+ param
->signature
->cf_off_ctx
, &stack_ptr
);
489 if (retval
!= ERROR_OK
) {
490 LOG_ERROR("Error reading stack frame from ChibiOS thread");
494 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info
, stack_ptr
, hex_reg_list
);
497 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
500 *symbol_list
= malloc(
501 sizeof(symbol_table_elem_t
) * ARRAY_SIZE(ChibiOS_symbol_list
));
503 for (i
= 0; i
< ARRAY_SIZE(ChibiOS_symbol_list
); i
++)
504 (*symbol_list
)[i
].symbol_name
= ChibiOS_symbol_list
[i
];
509 static int ChibiOS_detect_rtos(struct target
*target
)
511 if ((target
->rtos
->symbols
!= NULL
) &&
512 (target
->rtos
->symbols
[ChibiOS_VAL_rlist
].address
!= 0) &&
513 (target
->rtos
->symbols
[ChibiOS_VAL_chSysInit
].address
!= 0)) {
515 if (target
->rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
== 0) {
516 LOG_INFO("It looks like the target is running ChibiOS without "
521 /* looks like ChibiOS with memory map enabled.*/
528 static int ChibiOS_create(struct target
*target
)
531 while ((i
< CHIBIOS_NUM_PARAMS
) &&
532 (0 != strcmp(ChibiOS_params_list
[i
].target_name
, target
->type
->name
))) {
535 if (i
>= CHIBIOS_NUM_PARAMS
) {
536 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
537 "list", target
->type
->name
);
541 target
->rtos
->rtos_specific_params
= (void *) &ChibiOS_params_list
[i
];
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