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[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 * @brief ChibiOS/RT memory signature record.
41 *
42 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
43 */
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
58 field. */
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
63 field. */
64 uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
65 };
66
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)
70
71 /**
72 * @brief ChibiOS thread states.
73 */
74 static const char * const ChibiOS_thread_states[] = {
75 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
76 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
77 "FINAL"
78 };
79
80 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
81
82 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
83 * chars ought to be enough.
84 */
85 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
86
87 struct ChibiOS_params {
88 const char *target_name;
89
90 struct ChibiOS_chdebug *signature;
91 const struct rtos_register_stacking *stacking_info;
92 };
93
94 static const struct ChibiOS_params ChibiOS_params_list[] = {
95 {
96 "cortex_m", /* target_name */
97 0,
98 NULL, /* stacking_info */
99 },
100 {
101 "hla_target", /* target_name */
102 0,
103 NULL, /* stacking_info */
104 }
105 };
106 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
107
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[]);
113
114 struct rtos_type ChibiOS_rtos = {
115 .name = "ChibiOS",
116
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,
122 };
123
124
125 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
126 * data structure ch. We declare both symbols as optional and later
127 * use whatever is available.
128 */
129
130 enum ChibiOS_symbol_values {
131 ChibiOS_VAL_rlist = 0,
132 ChibiOS_VAL_ch = 1,
133 ChibiOS_VAL_ch_debug = 2,
134 ChibiOS_VAL_chSysInit = 3
135 };
136
137 static symbol_table_elem_t ChibiOS_symbol_list[] = {
138 { "rlist", 0, true}, /* Thread ready list */
139 { "ch", 0, true}, /* System data structure */
140 { "ch_debug", 0, false}, /* Memory Signature containing offsets of fields in rlist */
141 { "chSysInit", 0, false}, /* Necessary part of API, used for ChibiOS detection */
142 { NULL, 0, false}
143 };
144
145 /* Offset of the rlist structure within the system data structure (ch) */
146 #define CH_RLIST_OFFSET 0x00
147
148 static int ChibiOS_update_memory_signature(struct rtos *rtos)
149 {
150 int retval;
151 struct ChibiOS_params *param;
152 struct ChibiOS_chdebug *signature;
153
154 param = (struct ChibiOS_params *) rtos->rtos_specific_params;
155
156 /* Free existing memory description.*/
157 if (param->signature) {
158 free(param->signature);
159 param->signature = 0;
160 }
161
162 signature = malloc(sizeof(*signature));
163 if (!signature) {
164 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
165 return -1;
166 }
167
168 retval = target_read_buffer(rtos->target,
169 rtos->symbols[ChibiOS_VAL_ch_debug].address,
170 sizeof(*signature),
171 (uint8_t *) signature);
172 if (retval != ERROR_OK) {
173 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
174 goto errfree;
175 }
176
177 if (strncmp(signature->ch_identifier, "main", 4) != 0) {
178 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
179 goto errfree;
180 }
181
182 if (signature->ch_size < sizeof(*signature)) {
183 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
184 "than expected");
185 goto errfree;
186 }
187
188 if (signature->ch_size > sizeof(*signature)) {
189 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
190 " expected. Assuming compatibility...");
191 }
192
193 /* Convert endianness of version field */
194 const uint8_t *versionTarget = (const uint8_t *)
195 &signature->ch_version;
196 signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
197 le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
198
199 const uint16_t ch_version = signature->ch_version;
200 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
201 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
202 GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
203
204 /* Currently, we have the inherent assumption that all address pointers
205 * are 32 bit wide. */
206 if (signature->ch_ptrsize != sizeof(uint32_t)) {
207 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
208 "width unequal to 32 bits!");
209 free(signature);
210 return -1;
211 }
212
213 param->signature = signature;
214 return 0;
215
216 errfree:
217 /* Error reading the ChibiOS memory structure */
218 free(signature);
219 param->signature = 0;
220 return -1;
221 }
222
223
224 static int ChibiOS_update_stacking(struct rtos *rtos)
225 {
226 /* Sometimes the stacking can not be determined only by looking at the
227 * target name but only a runtime.
228 *
229 * For example, this is the case for cortex-m4 targets and ChibiOS which
230 * only stack the FPU registers if it is enabled during ChibiOS build.
231 *
232 * Terminating which stacking is used is target depending.
233 *
234 * Assumptions:
235 * - Once ChibiOS is actually initialized, the stacking is fixed.
236 * - During startup code, the FPU might not be initialized and the
237 * detection might fail.
238 * - Since no threads are running during startup, the problem is solved
239 * by delaying stacking detection until there are more threads
240 * available than the current execution. In which case
241 * ChibiOS_get_thread_reg_list is called.
242 */
243 int retval;
244
245 if (!rtos->rtos_specific_params)
246 return -1;
247
248 struct ChibiOS_params *param;
249 param = (struct ChibiOS_params *) rtos->rtos_specific_params;
250
251 /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */
252 struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
253 if (is_armv7m(armv7m_target)) {
254 if (armv7m_target->fp_feature == FPv4_SP) {
255 /* Found ARM v7m target which includes a FPU */
256 uint32_t cpacr;
257
258 retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
259 if (retval != ERROR_OK) {
260 LOG_ERROR("Could not read CPACR register to check FPU state");
261 return -1;
262 }
263
264 /* Check if CP10 and CP11 are set to full access.
265 * In ChibiOS this is done in ResetHandler() in crt0.c */
266 if (cpacr & 0x00F00000) {
267 /* Found target with enabled FPU */
268 /* FIXME: Need to figure out how to specify the FPU registers */
269 LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
270 " are NOT supported");
271 return -1;
272 }
273 }
274
275 /* Found ARM v7m target with no or disabled FPU */
276 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
277 return 0;
278 }
279
280 return -1;
281 }
282
283 static int ChibiOS_update_threads(struct rtos *rtos)
284 {
285 int retval;
286 const struct ChibiOS_params *param;
287 int tasks_found = 0;
288 int rtos_valid = -1;
289
290 if (!rtos->rtos_specific_params)
291 return -1;
292
293 if (!rtos->symbols) {
294 LOG_ERROR("No symbols for ChibiOS");
295 return -3;
296 }
297
298 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
299 /* Update the memory signature saved in the target memory */
300 if (!param->signature) {
301 retval = ChibiOS_update_memory_signature(rtos);
302 if (retval != ERROR_OK) {
303 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
304 return retval;
305 }
306 }
307
308 /* wipe out previous thread details if any */
309 rtos_free_threadlist(rtos);
310
311 /* ChibiOS does not save the current thread count. We have to first
312 * parse the double linked thread list to check for errors and the number of
313 * threads. */
314 const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
315 rtos->symbols[ChibiOS_VAL_rlist].address :
316 rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
317 const struct ChibiOS_chdebug *signature = param->signature;
318 uint32_t current;
319 uint32_t previous;
320 uint32_t older;
321
322 current = rlist;
323 previous = rlist;
324 while (1) {
325 retval = target_read_u32(rtos->target,
326 current + signature->cf_off_newer, &current);
327 if (retval != ERROR_OK) {
328 LOG_ERROR("Could not read next ChibiOS thread");
329 return retval;
330 }
331 /* Could be NULL if the kernel is not initialized yet or if the
332 * registry is corrupted. */
333 if (current == 0) {
334 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
335
336 rtos_valid = 0;
337 break;
338 }
339 /* Fetch previous thread in the list as a integrity check. */
340 retval = target_read_u32(rtos->target,
341 current + signature->cf_off_older, &older);
342 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
343 LOG_ERROR("ChibiOS registry integrity check failed, "
344 "double linked list violation");
345 rtos_valid = 0;
346 break;
347 }
348 /* Check for full iteration of the linked list. */
349 if (current == rlist)
350 break;
351 tasks_found++;
352 previous = current;
353 }
354 if (!rtos_valid) {
355 /* No RTOS, there is always at least the current execution, though */
356 LOG_INFO("Only showing current execution because of a broken "
357 "ChibiOS thread registry.");
358
359 const char tmp_thread_name[] = "Current Execution";
360 const char tmp_thread_extra_info[] = "No RTOS thread";
361
362 rtos->thread_details = malloc(
363 sizeof(struct thread_detail));
364 rtos->thread_details->threadid = 1;
365 rtos->thread_details->exists = true;
366 rtos->thread_details->display_str = NULL;
367
368 rtos->thread_details->extra_info_str = malloc(
369 sizeof(tmp_thread_extra_info));
370 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
371
372 rtos->thread_details->thread_name_str = malloc(
373 sizeof(tmp_thread_name));
374 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
375
376 rtos->current_thread = 1;
377 rtos->thread_count = 1;
378 return ERROR_OK;
379 }
380
381 /* create space for new thread details */
382 rtos->thread_details = malloc(
383 sizeof(struct thread_detail) * tasks_found);
384 if (!rtos->thread_details) {
385 LOG_ERROR("Could not allocate space for thread details");
386 return -1;
387 }
388
389 rtos->thread_count = tasks_found;
390 /* Loop through linked list. */
391 struct thread_detail *curr_thrd_details = rtos->thread_details;
392 while (curr_thrd_details < rtos->thread_details + tasks_found) {
393 uint32_t name_ptr = 0;
394 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
395
396 retval = target_read_u32(rtos->target,
397 current + signature->cf_off_newer, &current);
398 if (retval != ERROR_OK) {
399 LOG_ERROR("Could not read next ChibiOS thread");
400 return -6;
401 }
402
403 /* Check for full iteration of the linked list. */
404 if (current == rlist)
405 break;
406
407 /* Save the thread pointer */
408 curr_thrd_details->threadid = current;
409
410 /* read the name pointer */
411 retval = target_read_u32(rtos->target,
412 current + signature->cf_off_name, &name_ptr);
413 if (retval != ERROR_OK) {
414 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
415 return retval;
416 }
417
418 /* Read the thread name */
419 retval = target_read_buffer(rtos->target, name_ptr,
420 CHIBIOS_THREAD_NAME_STR_SIZE,
421 (uint8_t *)&tmp_str);
422 if (retval != ERROR_OK) {
423 LOG_ERROR("Error reading thread name from ChibiOS target");
424 return retval;
425 }
426 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
427
428 if (tmp_str[0] == '\x00')
429 strcpy(tmp_str, "No Name");
430
431 curr_thrd_details->thread_name_str = malloc(
432 strlen(tmp_str) + 1);
433 strcpy(curr_thrd_details->thread_name_str, tmp_str);
434
435 /* State info */
436 uint8_t threadState;
437 const char *state_desc;
438
439 retval = target_read_u8(rtos->target,
440 current + signature->cf_off_state, &threadState);
441 if (retval != ERROR_OK) {
442 LOG_ERROR("Error reading thread state from ChibiOS target");
443 return retval;
444 }
445
446
447 if (threadState < CHIBIOS_NUM_STATES)
448 state_desc = ChibiOS_thread_states[threadState];
449 else
450 state_desc = "Unknown state";
451
452 curr_thrd_details->extra_info_str = malloc(strlen(
453 state_desc)+1);
454 strcpy(curr_thrd_details->extra_info_str, state_desc);
455
456 curr_thrd_details->exists = true;
457 curr_thrd_details->display_str = NULL;
458
459 curr_thrd_details++;
460 }
461
462 uint32_t current_thrd;
463 /* NOTE: By design, cf_off_name equals readylist_current_offset */
464 retval = target_read_u32(rtos->target,
465 rlist + signature->cf_off_name,
466 &current_thrd);
467 if (retval != ERROR_OK) {
468 LOG_ERROR("Could not read current Thread from ChibiOS target");
469 return retval;
470 }
471 rtos->current_thread = current_thrd;
472
473 return 0;
474 }
475
476 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
477 {
478 int retval;
479 const struct ChibiOS_params *param;
480 uint32_t stack_ptr = 0;
481
482 *hex_reg_list = NULL;
483 if ((rtos == NULL) || (thread_id == 0) ||
484 (rtos->rtos_specific_params == NULL))
485 return -1;
486
487 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
488
489 if (!param->signature)
490 return -1;
491
492 /* Update stacking if it can only be determined from runtime information */
493 if ((param->stacking_info == 0) &&
494 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
495 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
496 return -1;
497 }
498
499 /* Read the stack pointer */
500 retval = target_read_u32(rtos->target,
501 thread_id + param->signature->cf_off_ctx, &stack_ptr);
502 if (retval != ERROR_OK) {
503 LOG_ERROR("Error reading stack frame from ChibiOS thread");
504 return retval;
505 }
506
507 return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
508 }
509
510 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
511 {
512 *symbol_list = ChibiOS_symbol_list;
513 return 0;
514 }
515
516 static int ChibiOS_detect_rtos(struct target *target)
517 {
518 if ((target->rtos->symbols != NULL) &&
519 ((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
520 (target->rtos->symbols[ChibiOS_VAL_ch].address != 0)) &&
521 (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
522
523 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
524 LOG_INFO("It looks like the target is running ChibiOS without "
525 "ch_debug.");
526 return 0;
527 }
528
529 /* looks like ChibiOS with memory map enabled.*/
530 return 1;
531 }
532
533 return 0;
534 }
535
536 static int ChibiOS_create(struct target *target)
537 {
538 int i = 0;
539 while ((i < CHIBIOS_NUM_PARAMS) &&
540 (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
541 i++;
542 }
543 if (i >= CHIBIOS_NUM_PARAMS) {
544 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
545 "list", target->type->name);
546 return -1;
547 }
548
549 target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
550 return 0;
551 }
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