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c838b493c7d5f965bab2a2cfe6ee72de61e241d2
[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 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 "rtos.h"
33 #include "helper/log.h"
34 #include "helper/types.h"
35 #include "rtos_chibios_stackings.h"
36
37
38 /**
39 * @brief ChibiOS/RT memory signature record.
40 *
41 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
42 */
43 struct ChibiOS_chdebug {
44 char ch_identifier[4]; /**< @brief Always set to "main". */
45 uint8_t ch_zero; /**< @brief Must be zero. */
46 uint8_t ch_size; /**< @brief Size of this structure. */
47 uint16_t ch_version; /**< @brief Encoded ChibiOS/RT version. */
48 uint8_t ch_ptrsize; /**< @brief Size of a pointer. */
49 uint8_t ch_timesize; /**< @brief Size of a @p systime_t. */
50 uint8_t ch_threadsize; /**< @brief Size of a @p Thread struct. */
51 uint8_t cf_off_prio; /**< @brief Offset of @p p_prio field. */
52 uint8_t cf_off_ctx; /**< @brief Offset of @p p_ctx field. */
53 uint8_t cf_off_newer; /**< @brief Offset of @p p_newer field. */
54 uint8_t cf_off_older; /**< @brief Offset of @p p_older field. */
55 uint8_t cf_off_name; /**< @brief Offset of @p p_name field. */
56 uint8_t cf_off_stklimit; /**< @brief Offset of @p p_stklimit
57 field. */
58 uint8_t cf_off_state; /**< @brief Offset of @p p_state field. */
59 uint8_t cf_off_flags; /**< @brief Offset of @p p_flags field. */
60 uint8_t cf_off_refs; /**< @brief Offset of @p p_refs field. */
61 uint8_t cf_off_preempt; /**< @brief Offset of @p p_preempt
62 field. */
63 uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
64 };
65
66 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
67 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
68 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
69
70 /**
71 * @brief ChibiOS thread states.
72 */
73 const char *ChibiOS_thread_states[] = {
74 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
75 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
76 "FINAL"
77 };
78
79 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
80
81 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
82 * chars ought to be enough.
83 */
84 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
85
86 struct ChibiOS_params {
87 const char *target_name;
88
89 struct ChibiOS_chdebug *signature;
90 const struct rtos_register_stacking *stacking_info;
91 };
92
93 struct ChibiOS_params ChibiOS_params_list[] = {
94 {
95 "cortex_m3", /* target_name */
96 0,
97 &rtos_chibios_arm_v7m_stacking, /* stacking_info */
98 },
99 {
100 "stm32_stlink", /* target_name */
101 0,
102 &rtos_chibios_arm_v7m_stacking, /* stacking_info */
103 }
104 };
105 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
106
107 static int ChibiOS_detect_rtos(struct target *target);
108 static int ChibiOS_create(struct target *target);
109 static int ChibiOS_update_threads(struct rtos *rtos);
110 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
111 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
112
113 struct rtos_type ChibiOS_rtos = {
114 .name = "ChibiOS",
115
116 .detect_rtos = ChibiOS_detect_rtos,
117 .create = ChibiOS_create,
118 .update_threads = ChibiOS_update_threads,
119 .get_thread_reg_list = ChibiOS_get_thread_reg_list,
120 .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
121 };
122
123 enum ChibiOS_symbol_values {
124 ChibiOS_VAL_rlist = 0,
125 ChibiOS_VAL_ch_debug = 1,
126 ChibiOS_VAL_chSysInit = 2
127 };
128
129 static char *ChibiOS_symbol_list[] = {
130 "rlist", /* Thread ready list*/
131 "ch_debug", /* Memory Signatur containing offsets of fields in rlist*/
132 "chSysInit", /* Necessary part of API, used for ChibiOS detection*/
133 NULL
134 };
135
136 static int ChibiOS_update_memory_signature(struct rtos *rtos)
137 {
138 int retval;
139 struct ChibiOS_params *param;
140 struct ChibiOS_chdebug *signature;
141
142 param = (struct ChibiOS_params *) rtos->rtos_specific_params;
143
144 /* Free existing memory description.*/
145 if (param->signature) {
146 free(param->signature);
147 param->signature = 0;
148 }
149
150 signature = malloc(sizeof(*signature));
151 if (!signature) {
152 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
153 return -1;
154 }
155
156 retval = target_read_buffer(rtos->target,
157 rtos->symbols[ChibiOS_VAL_ch_debug].address,
158 sizeof(*signature),
159 (uint8_t *) signature);
160 if (retval != ERROR_OK) {
161 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
162 goto errfree;
163 }
164
165 if (strncmp(signature->ch_identifier, "main", 4) != 0) {
166 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
167 goto errfree;
168 }
169
170 if (signature->ch_size < sizeof(*signature)) {
171 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
172 "than expected");
173 goto errfree;
174 }
175
176 if (signature->ch_size > sizeof(*signature)) {
177 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
178 " expected. Assuming compatibility...");
179 }
180
181 /* Convert endianness of version field */
182 const uint8_t *versionTarget = (const uint8_t *)
183 &signature->ch_version;
184 signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
185 le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
186
187 const uint16_t ch_version = signature->ch_version;
188 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
189 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
190 GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
191
192 param->signature = signature;
193 return 0;
194
195 errfree:
196 /* Error reading the ChibiOS memory structure */
197 free(signature);
198 param->signature = 0;
199 return -1;
200 }
201
202
203 static int ChibiOS_update_stacking(struct rtos *rtos)
204 {
205 /* Sometimes the stacking can not be determined only by looking at the
206 * target name but only a runtime.
207 *
208 * For example, this is the case for cortex-m4 targets and ChibiOS which
209 * only stack the FPU registers if it is enabled during ChibiOS build.
210 *
211 * Terminating which stacking is used is target depending.
212 *
213 * Assumptions:
214 * - Once ChibiOS is actually initialized, the stacking is fixed.
215 * - During startup code, the FPU might not be initialized and the
216 * detection might fail.
217 * - Since no threads are running during startup, the problem is solved
218 * by delaying stacking detection until there are more threads
219 * available than the current execution. In which case
220 * ChibiOS_get_thread_reg_list is called.
221 */
222
223 /* TODO: Add actual detection, currently it will not work with FPU enabled.*/
224 return -1;
225 }
226
227 static int ChibiOS_update_threads(struct rtos *rtos)
228 {
229 int retval;
230 const struct ChibiOS_params *param;
231 int tasks_found = 0;
232 int rtos_valid = -1;
233
234 if (!rtos->rtos_specific_params)
235 return -1;
236
237 if (!rtos->symbols) {
238 LOG_ERROR("No symbols for ChibiOS");
239 return -3;
240 }
241
242 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
243 /* Update the memory signature saved in the target memory */
244 if (!param->signature) {
245 retval = ChibiOS_update_memory_signature(rtos);
246 if (retval != ERROR_OK) {
247 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
248 return retval;
249 }
250 }
251
252 /* wipe out previous thread details if any */
253 int j;
254 if (rtos->thread_details) {
255 for (j = 0; j < rtos->thread_count; j++) {
256 struct thread_detail *current_thread = &rtos->thread_details[j];
257 if (current_thread->display_str != NULL)
258 free(current_thread->display_str);
259 if (current_thread->thread_name_str != NULL)
260 free(current_thread->thread_name_str);
261 if (current_thread->extra_info_str != NULL)
262 free(current_thread->extra_info_str);
263 }
264 free(rtos->thread_details);
265 rtos->thread_details = NULL;
266 rtos->thread_count = 0;
267 }
268 /* ChibiOS does not save the current thread count. We have to first
269 * parse the double linked thread list to check for errors and the number of
270 * threads. */
271 uint32_t rlist;
272 uint32_t current;
273 uint32_t previous;
274 uint32_t older;
275
276 retval = target_read_buffer(rtos->target,
277 rtos->symbols[ChibiOS_VAL_rlist].address,
278 param->signature->ch_ptrsize,
279 (uint8_t *)&rlist);
280 if (retval != ERROR_OK) {
281 LOG_ERROR("Could not read ChibiOS ReadyList from target");
282 return retval;
283 }
284 current = rlist;
285 previous = rlist;
286 while (1) {
287 retval = target_read_buffer(rtos->target,
288 current + param->signature->cf_off_newer,
289 param->signature->ch_ptrsize,
290 (uint8_t *)&current);
291 if (retval != ERROR_OK) {
292 LOG_ERROR("Could not read next ChibiOS thread");
293 return retval;
294 }
295 /* Could be NULL if the kernel is not initialized yet or if the
296 * registry is corrupted. */
297 if (current == 0) {
298 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
299
300 rtos_valid = 0;
301 break;
302 }
303 /* Fetch previous thread in the list as a integrity check. */
304 retval = target_read_buffer(rtos->target,
305 current + param->signature->cf_off_older,
306 param->signature->ch_ptrsize,
307 (uint8_t *)&older);
308 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
309 LOG_ERROR("ChibiOS registry integrity check failed, "
310 "double linked list violation");
311 rtos_valid = 0;
312 break;
313 }
314 /* Check for full iteration of the linked list. */
315 if (current == rlist)
316 break;
317 tasks_found++;
318 previous = current;
319 }
320 if (!rtos_valid) {
321 /* No RTOS, there is always at least the current execution, though */
322 LOG_INFO("Only showing current execution because of a broken "
323 "ChibiOS thread registry.");
324
325 const char tmp_thread_name[] = "Current Execution";
326 const char tmp_thread_extra_info[] = "No RTOS thread";
327
328 rtos->thread_details = (struct thread_detail *) malloc(
329 sizeof(struct thread_detail));
330 rtos->thread_details->threadid = 1;
331 rtos->thread_details->exists = true;
332 rtos->thread_details->display_str = NULL;
333
334 rtos->thread_details->extra_info_str = (char *) malloc(
335 sizeof(tmp_thread_extra_info));
336 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
337
338 rtos->thread_details->thread_name_str = (char *) malloc(
339 sizeof(tmp_thread_name));
340 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
341
342 rtos->current_thread = 1;
343 rtos->thread_count = 1;
344 return ERROR_OK;
345 }
346
347 /* create space for new thread details */
348 rtos->thread_details = (struct thread_detail *) malloc(
349 sizeof(struct thread_detail) * tasks_found);
350 if (!rtos->thread_details) {
351 LOG_ERROR("Could not allocate space for thread details");
352 return -1;
353 }
354
355 rtos->thread_count = tasks_found;
356 /* Loop through linked list. */
357 struct thread_detail *curr_thrd_details = rtos->thread_details;
358 while (curr_thrd_details < rtos->thread_details + tasks_found) {
359 uint32_t name_ptr = 0;
360 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
361
362 retval = target_read_buffer(rtos->target,
363 current + param->signature->cf_off_newer,
364 param->signature->ch_ptrsize,
365 (uint8_t *)&current);
366 if (retval != ERROR_OK) {
367 LOG_ERROR("Could not read next ChibiOS thread");
368 return -6;
369 }
370
371 /* Check for full iteration of the linked list. */
372 if (current == rlist)
373 break;
374
375 /* Save the thread pointer */
376 curr_thrd_details->threadid = current;
377
378 /* read the name pointer */
379 retval = target_read_buffer(rtos->target,
380 current + param->signature->cf_off_name,
381 param->signature->ch_ptrsize,
382 (uint8_t *)&name_ptr);
383 if (retval != ERROR_OK) {
384 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
385 return retval;
386 }
387
388 /* Read the thread name */
389 retval = target_read_buffer(rtos->target, name_ptr,
390 CHIBIOS_THREAD_NAME_STR_SIZE,
391 (uint8_t *)&tmp_str);
392 if (retval != ERROR_OK) {
393 LOG_ERROR("Error reading thread name from ChibiOS target");
394 return retval;
395 }
396 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
397
398 if (tmp_str[0] == '\x00')
399 strcpy(tmp_str, "No Name");
400
401 curr_thrd_details->thread_name_str = (char *)malloc(
402 strlen(tmp_str) + 1);
403 strcpy(curr_thrd_details->thread_name_str, tmp_str);
404
405 /* State info */
406 uint8_t threadState;
407 const char *state_desc;
408
409 retval = target_read_buffer(rtos->target,
410 current + param->signature->cf_off_state,
411 1, &threadState);
412 if (retval != ERROR_OK) {
413 LOG_ERROR("Error reading thread state from ChibiOS target");
414 return retval;
415 }
416
417
418 if (threadState < CHIBIOS_NUM_STATES)
419 state_desc = ChibiOS_thread_states[threadState];
420 else
421 state_desc = "Unknown state";
422
423 curr_thrd_details->extra_info_str = (char *)malloc(strlen(
424 state_desc)+1);
425 strcpy(curr_thrd_details->extra_info_str, state_desc);
426
427 curr_thrd_details->exists = true;
428 curr_thrd_details->display_str = NULL;
429
430 curr_thrd_details++;
431 }
432 /* NOTE: By design, cf_off_name equals readylist_current_offset */
433 retval = target_read_buffer(rtos->target,
434 rlist + param->signature->cf_off_name,
435 param->signature->ch_ptrsize,
436 (uint8_t *)&rtos->current_thread);
437 if (retval != ERROR_OK) {
438 LOG_ERROR("Could not read current Thread from ChibiOS target");
439 return retval;
440 }
441
442 return 0;
443 }
444
445 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
446 {
447 int retval;
448 const struct ChibiOS_params *param;
449 int64_t stack_ptr = 0;
450
451 *hex_reg_list = NULL;
452 if ((rtos == NULL) || (thread_id == 0) ||
453 (rtos->rtos_specific_params == NULL))
454 return -1;
455
456 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
457
458 if (!param->signature)
459 return -1;
460
461 /* Update stacking if it can only be determined from runtime information */
462 if ((param->stacking_info == 0) &&
463 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
464 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
465 return -1;
466 }
467
468 /* Read the stack pointer */
469 retval = target_read_buffer(rtos->target,
470 thread_id + param->signature->cf_off_ctx,
471 param->signature->ch_ptrsize,
472 (uint8_t *)&stack_ptr);
473 if (retval != ERROR_OK) {
474 LOG_ERROR("Error reading stack frame from ChibiOS thread");
475 return retval;
476 }
477
478 return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
479 }
480
481 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
482 {
483 unsigned int i;
484 *symbol_list = (symbol_table_elem_t *) malloc(
485 sizeof(symbol_table_elem_t) * ARRAY_SIZE(ChibiOS_symbol_list));
486
487 for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
488 (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
489
490 return 0;
491 }
492
493 static int ChibiOS_detect_rtos(struct target *target)
494 {
495 if ((target->rtos->symbols != NULL) &&
496 (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
497 (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
498
499 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
500 LOG_INFO("It looks like the target is running ChibiOS without "
501 "ch_debug.");
502 return 0;
503 }
504
505 /* looks like ChibiOS with memory map enabled.*/
506 return 1;
507 }
508
509 return 0;
510 }
511
512 static int ChibiOS_create(struct target *target)
513 {
514 int i = 0;
515 while ((i < CHIBIOS_NUM_PARAMS) &&
516 (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
517 i++;
518 }
519 if (i >= CHIBIOS_NUM_PARAMS) {
520 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
521 "list", target->type->name);
522 return -1;
523 }
524
525 target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
526 return 0;
527 }
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