Code Review / openocd.git / blob
? search:
summary | shortlog | log | commit | commitdiff | review | tree
history | raw | HEAD
Don't cast return value of [cm]alloc
[openocd.git] / src / rtos / ChibiOS.c
1 /***************************************************************************
2 * Copyright (C) 2012 by Matthias Blaicher *
3 * Matthias Blaicher - matthias@blaicher.com *
4 * *
5 * Copyright (C) 2011 by Broadcom Corporation *
6 * Evan Hunter - ehunter@broadcom.com *
7 * *
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. *
12 * *
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. *
17 * *
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 ***************************************************************************/
23
24 #ifdef HAVE_CONFIG_H
25 #include "config.h"
26 #endif
27
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"
34 #include "rtos.h"
35 #include "helper/log.h"
36 #include "helper/types.h"
37 #include "rtos_chibios_stackings.h"
38
39
40 /**
41 * @brief ChibiOS/RT memory signature record.
42 *
43 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
44 */
45 struct ChibiOS_chdebug {
46 char ch_identifier[4]; /**< @brief Always set to "main". */
47 uint8_t ch_zero; /**< @brief Must be zero. */
48 uint8_t ch_size; /**< @brief Size of this structure. */
49 uint16_t ch_version; /**< @brief Encoded ChibiOS/RT version. */
50 uint8_t ch_ptrsize; /**< @brief Size of a pointer. */
51 uint8_t ch_timesize; /**< @brief Size of a @p systime_t. */
52 uint8_t ch_threadsize; /**< @brief Size of a @p Thread struct. */
53 uint8_t cf_off_prio; /**< @brief Offset of @p p_prio field. */
54 uint8_t cf_off_ctx; /**< @brief Offset of @p p_ctx field. */
55 uint8_t cf_off_newer; /**< @brief Offset of @p p_newer field. */
56 uint8_t cf_off_older; /**< @brief Offset of @p p_older field. */
57 uint8_t cf_off_name; /**< @brief Offset of @p p_name field. */
58 uint8_t cf_off_stklimit; /**< @brief Offset of @p p_stklimit
59 field. */
60 uint8_t cf_off_state; /**< @brief Offset of @p p_state field. */
61 uint8_t cf_off_flags; /**< @brief Offset of @p p_flags field. */
62 uint8_t cf_off_refs; /**< @brief Offset of @p p_refs field. */
63 uint8_t cf_off_preempt; /**< @brief Offset of @p p_preempt
64 field. */
65 uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
66 };
67
68 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
69 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
70 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
71
72 /**
73 * @brief ChibiOS thread states.
74 */
75 const char *ChibiOS_thread_states[] = {
76 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
77 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
78 "FINAL"
79 };
80
81 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
82
83 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
84 * chars ought to be enough.
85 */
86 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
87
88 struct ChibiOS_params {
89 const char *target_name;
90
91 struct ChibiOS_chdebug *signature;
92 const struct rtos_register_stacking *stacking_info;
93 };
94
95 struct ChibiOS_params ChibiOS_params_list[] = {
96 {
97 "cortex_m", /* target_name */
98 0,
99 NULL, /* stacking_info */
100 },
101 {
102 "hla_target", /* target_name */
103 0,
104 NULL, /* stacking_info */
105 }
106 };
107 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
108
109 static int ChibiOS_detect_rtos(struct target *target);
110 static int ChibiOS_create(struct target *target);
111 static int ChibiOS_update_threads(struct rtos *rtos);
112 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
113 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
114
115 struct rtos_type ChibiOS_rtos = {
116 .name = "ChibiOS",
117
118 .detect_rtos = ChibiOS_detect_rtos,
119 .create = ChibiOS_create,
120 .update_threads = ChibiOS_update_threads,
121 .get_thread_reg_list = ChibiOS_get_thread_reg_list,
122 .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
123 };
124
125 enum ChibiOS_symbol_values {
126 ChibiOS_VAL_rlist = 0,
127 ChibiOS_VAL_ch_debug = 1,
128 ChibiOS_VAL_chSysInit = 2
129 };
130
131 static char *ChibiOS_symbol_list[] = {
132 "rlist", /* Thread ready list*/
133 "ch_debug", /* Memory Signatur containing offsets of fields in rlist*/
134 "chSysInit", /* Necessary part of API, used for ChibiOS detection*/
135 NULL
136 };
137
138 static int ChibiOS_update_memory_signature(struct rtos *rtos)
139 {
140 int retval;
141 struct ChibiOS_params *param;
142 struct ChibiOS_chdebug *signature;
143
144 param = (struct ChibiOS_params *) rtos->rtos_specific_params;
145
146 /* Free existing memory description.*/
147 if (param->signature) {
148 free(param->signature);
149 param->signature = 0;
150 }
151
152 signature = malloc(sizeof(*signature));
153 if (!signature) {
154 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
155 return -1;
156 }
157
158 retval = target_read_buffer(rtos->target,
159 rtos->symbols[ChibiOS_VAL_ch_debug].address,
160 sizeof(*signature),
161 (uint8_t *) signature);
162 if (retval != ERROR_OK) {
163 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
164 goto errfree;
165 }
166
167 if (strncmp(signature->ch_identifier, "main", 4) != 0) {
168 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
169 goto errfree;
170 }
171
172 if (signature->ch_size < sizeof(*signature)) {
173 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
174 "than expected");
175 goto errfree;
176 }
177
178 if (signature->ch_size > sizeof(*signature)) {
179 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
180 " expected. Assuming compatibility...");
181 }
182
183 /* Convert endianness of version field */
184 const uint8_t *versionTarget = (const uint8_t *)
185 &signature->ch_version;
186 signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
187 le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
188
189 const uint16_t ch_version = signature->ch_version;
190 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
191 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
192 GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
193
194 /* Currently, we have the inherent assumption that all address pointers
195 * are 32 bit wide. */
196 if (signature->ch_ptrsize != sizeof(uint32_t)) {
197 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
198 "width unequal to 32 bits!");
199 free(signature);
200 return -1;
201 }
202
203 param->signature = signature;
204 return 0;
205
206 errfree:
207 /* Error reading the ChibiOS memory structure */
208 free(signature);
209 param->signature = 0;
210 return -1;
211 }
212
213
214 static int ChibiOS_update_stacking(struct rtos *rtos)
215 {
216 /* Sometimes the stacking can not be determined only by looking at the
217 * target name but only a runtime.
218 *
219 * For example, this is the case for cortex-m4 targets and ChibiOS which
220 * only stack the FPU registers if it is enabled during ChibiOS build.
221 *
222 * Terminating which stacking is used is target depending.
223 *
224 * Assumptions:
225 * - Once ChibiOS is actually initialized, the stacking is fixed.
226 * - During startup code, the FPU might not be initialized and the
227 * detection might fail.
228 * - Since no threads are running during startup, the problem is solved
229 * by delaying stacking detection until there are more threads
230 * available than the current execution. In which case
231 * ChibiOS_get_thread_reg_list is called.
232 */
233 int retval;
234
235 if (!rtos->rtos_specific_params)
236 return -1;
237
238 struct ChibiOS_params *param;
239 param = (struct ChibiOS_params *) rtos->rtos_specific_params;
240
241 /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */
242 struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
243 if (is_armv7m(armv7m_target)) {
244 if (armv7m_target->fp_feature == FPv4_SP) {
245 /* Found ARM v7m target which includes a FPU */
246 uint32_t cpacr;
247
248 retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
249 if (retval != ERROR_OK) {
250 LOG_ERROR("Could not read CPACR register to check FPU state");
251 return -1;
252 }
253
254 /* Check if CP10 and CP11 are set to full access.
255 * In ChibiOS this is done in ResetHandler() in crt0.c */
256 if (cpacr & 0x00F00000) {
257 /* Found target with enabled FPU */
258 /* FIXME: Need to figure out how to specify the FPU registers */
259 LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
260 " are NOT supported");
261 return -1;
262 }
263 }
264
265 /* Found ARM v7m target with no or disabled FPU */
266 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
267 return 0;
268 }
269
270 return -1;
271 }
272
273 static int ChibiOS_update_threads(struct rtos *rtos)
274 {
275 int retval;
276 const struct ChibiOS_params *param;
277 int tasks_found = 0;
278 int rtos_valid = -1;
279
280 if (!rtos->rtos_specific_params)
281 return -1;
282
283 if (!rtos->symbols) {
284 LOG_ERROR("No symbols for ChibiOS");
285 return -3;
286 }
287
288 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
289 /* Update the memory signature saved in the target memory */
290 if (!param->signature) {
291 retval = ChibiOS_update_memory_signature(rtos);
292 if (retval != ERROR_OK) {
293 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
294 return retval;
295 }
296 }
297
298 /* wipe out previous thread details if any */
299 rtos_free_threadlist(rtos);
300
301 /* ChibiOS does not save the current thread count. We have to first
302 * parse the double linked thread list to check for errors and the number of
303 * threads. */
304 const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address;
305 const struct ChibiOS_chdebug *signature = param->signature;
306 uint32_t current;
307 uint32_t previous;
308 uint32_t older;
309
310 current = rlist;
311 previous = rlist;
312 while (1) {
313 retval = target_read_u32(rtos->target,
314 current + signature->cf_off_newer, &current);
315 if (retval != ERROR_OK) {
316 LOG_ERROR("Could not read next ChibiOS thread");
317 return retval;
318 }
319 /* Could be NULL if the kernel is not initialized yet or if the
320 * registry is corrupted. */
321 if (current == 0) {
322 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
323
324 rtos_valid = 0;
325 break;
326 }
327 /* Fetch previous thread in the list as a integrity check. */
328 retval = target_read_u32(rtos->target,
329 current + signature->cf_off_older, &older);
330 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
331 LOG_ERROR("ChibiOS registry integrity check failed, "
332 "double linked list violation");
333 rtos_valid = 0;
334 break;
335 }
336 /* Check for full iteration of the linked list. */
337 if (current == rlist)
338 break;
339 tasks_found++;
340 previous = current;
341 }
342 if (!rtos_valid) {
343 /* No RTOS, there is always at least the current execution, though */
344 LOG_INFO("Only showing current execution because of a broken "
345 "ChibiOS thread registry.");
346
347 const char tmp_thread_name[] = "Current Execution";
348 const char tmp_thread_extra_info[] = "No RTOS thread";
349
350 rtos->thread_details = malloc(
351 sizeof(struct thread_detail));
352 rtos->thread_details->threadid = 1;
353 rtos->thread_details->exists = true;
354 rtos->thread_details->display_str = NULL;
355
356 rtos->thread_details->extra_info_str = malloc(
357 sizeof(tmp_thread_extra_info));
358 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
359
360 rtos->thread_details->thread_name_str = malloc(
361 sizeof(tmp_thread_name));
362 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
363
364 rtos->current_thread = 1;
365 rtos->thread_count = 1;
366 return ERROR_OK;
367 }
368
369 /* create space for new thread details */
370 rtos->thread_details = malloc(
371 sizeof(struct thread_detail) * tasks_found);
372 if (!rtos->thread_details) {
373 LOG_ERROR("Could not allocate space for thread details");
374 return -1;
375 }
376
377 rtos->thread_count = tasks_found;
378 /* Loop through linked list. */
379 struct thread_detail *curr_thrd_details = rtos->thread_details;
380 while (curr_thrd_details < rtos->thread_details + tasks_found) {
381 uint32_t name_ptr = 0;
382 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
383
384 retval = target_read_u32(rtos->target,
385 current + signature->cf_off_newer, &current);
386 if (retval != ERROR_OK) {
387 LOG_ERROR("Could not read next ChibiOS thread");
388 return -6;
389 }
390
391 /* Check for full iteration of the linked list. */
392 if (current == rlist)
393 break;
394
395 /* Save the thread pointer */
396 curr_thrd_details->threadid = current;
397
398 /* read the name pointer */
399 retval = target_read_u32(rtos->target,
400 current + signature->cf_off_name, &name_ptr);
401 if (retval != ERROR_OK) {
402 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
403 return retval;
404 }
405
406 /* Read the thread name */
407 retval = target_read_buffer(rtos->target, name_ptr,
408 CHIBIOS_THREAD_NAME_STR_SIZE,
409 (uint8_t *)&tmp_str);
410 if (retval != ERROR_OK) {
411 LOG_ERROR("Error reading thread name from ChibiOS target");
412 return retval;
413 }
414 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
415
416 if (tmp_str[0] == '\x00')
417 strcpy(tmp_str, "No Name");
418
419 curr_thrd_details->thread_name_str = malloc(
420 strlen(tmp_str) + 1);
421 strcpy(curr_thrd_details->thread_name_str, tmp_str);
422
423 /* State info */
424 uint8_t threadState;
425 const char *state_desc;
426
427 retval = target_read_u8(rtos->target,
428 current + signature->cf_off_state, &threadState);
429 if (retval != ERROR_OK) {
430 LOG_ERROR("Error reading thread state from ChibiOS target");
431 return retval;
432 }
433
434
435 if (threadState < CHIBIOS_NUM_STATES)
436 state_desc = ChibiOS_thread_states[threadState];
437 else
438 state_desc = "Unknown state";
439
440 curr_thrd_details->extra_info_str = malloc(strlen(
441 state_desc)+1);
442 strcpy(curr_thrd_details->extra_info_str, state_desc);
443
444 curr_thrd_details->exists = true;
445 curr_thrd_details->display_str = NULL;
446
447 curr_thrd_details++;
448 }
449
450 uint32_t current_thrd;
451 /* NOTE: By design, cf_off_name equals readylist_current_offset */
452 retval = target_read_u32(rtos->target,
453 rlist + signature->cf_off_name,
454 &current_thrd);
455 if (retval != ERROR_OK) {
456 LOG_ERROR("Could not read current Thread from ChibiOS target");
457 return retval;
458 }
459 rtos->current_thread = current_thrd;
460
461 return 0;
462 }
463
464 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
465 {
466 int retval;
467 const struct ChibiOS_params *param;
468 uint32_t stack_ptr = 0;
469
470 *hex_reg_list = NULL;
471 if ((rtos == NULL) || (thread_id == 0) ||
472 (rtos->rtos_specific_params == NULL))
473 return -1;
474
475 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
476
477 if (!param->signature)
478 return -1;
479
480 /* Update stacking if it can only be determined from runtime information */
481 if ((param->stacking_info == 0) &&
482 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
483 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
484 return -1;
485 }
486
487 /* Read the stack pointer */
488 retval = target_read_u32(rtos->target,
489 thread_id + param->signature->cf_off_ctx, &stack_ptr);
490 if (retval != ERROR_OK) {
491 LOG_ERROR("Error reading stack frame from ChibiOS thread");
492 return retval;
493 }
494
495 return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
496 }
497
498 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
499 {
500 unsigned int i;
501 *symbol_list = malloc(
502 sizeof(symbol_table_elem_t) * ARRAY_SIZE(ChibiOS_symbol_list));
503
504 for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
505 (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
506
507 return 0;
508 }
509
510 static int ChibiOS_detect_rtos(struct target *target)
511 {
512 if ((target->rtos->symbols != NULL) &&
513 (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
514 (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
515
516 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
517 LOG_INFO("It looks like the target is running ChibiOS without "
518 "ch_debug.");
519 return 0;
520 }
521
522 /* looks like ChibiOS with memory map enabled.*/
523 return 1;
524 }
525
526 return 0;
527 }
528
529 static int ChibiOS_create(struct target *target)
530 {
531 int i = 0;
532 while ((i < CHIBIOS_NUM_PARAMS) &&
533 (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
534 i++;
535 }
536 if (i >= CHIBIOS_NUM_PARAMS) {
537 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
538 "list", target->type->name);
539 return -1;
540 }
541
542 target->rtos->rtos_specific_params = &ChibiOS_params_list[i];
543 return 0;
544 }
Open On-Chip Debugger

Linking to existing account procedure

If you already have an account and want to add another login method you MUST first sign in with your existing account and then change URL to read https://review.openocd.org/login/?link to get to this page again but this time it'll work for linking. Thank you.

SSH host keys fingerprints

1024 SHA256:YKx8b7u5ZWdcbp7/4AeXNaqElP49m6QrwfXaqQGJAOk gerrit-code-review@openocd.zylin.com (DSA)
384 SHA256:jHIbSQa4REvwCFG4cq5LBlBLxmxSqelQPem/EXIrxjk gerrit-code-review@openocd.org (ECDSA)
521 SHA256:UAOPYkU9Fjtcao0Ul/Rrlnj/OsQvt+pgdYSZ4jOYdgs gerrit-code-review@openocd.org (ECDSA)
256 SHA256:A13M5QlnozFOvTllybRZH6vm7iSt0XLxbA48yfc2yfY gerrit-code-review@openocd.org (ECDSA)
256 SHA256:spYMBqEYoAOtK7yZBrcwE8ZpYt6b68Cfh9yEVetvbXg gerrit-code-review@openocd.org (ED25519)
+--[ED25519 256]--+
|=..              |
|+o..   .         |
|*.o   . .        |
|+B . . .         |
|Bo. = o S        |
|Oo.+ + =         |
|oB=.* = . o      |
| =+=.+   + E     |
|. .=o   . o      |
+----[SHA256]-----+
2048 SHA256:0Onrb7/PHjpo6iVZ7xQX2riKN83FJ3KGU0TvI0TaFG4 gerrit-code-review@openocd.zylin.com (RSA)