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, write to the *
17 * Free Software Foundation, Inc., *
18 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
25 #include <helper/time_support.h>
26 #include <jtag/jtag.h>
27 #include "target/target.h"
28 #include "target/target_type.h"
30 #include "helper/log.h"
31 #include "helper/types.h"
32 #include "rtos_standard_stackings.h"
33 #include "target/armv7m.h"
34 #include "target/cortex_m.h"
38 #define FREERTOS_MAX_PRIORITIES 63
40 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
42 struct FreeRTOS_params
{
43 const char *target_name
;
44 const unsigned char thread_count_width
;
45 const unsigned char pointer_width
;
46 const unsigned char list_next_offset
;
47 const unsigned char list_width
;
48 const unsigned char list_elem_next_offset
;
49 const unsigned char list_elem_content_offset
;
50 const unsigned char thread_stack_offset
;
51 const unsigned char thread_name_offset
;
52 const struct rtos_register_stacking
*stacking_info_cm3
;
53 const struct rtos_register_stacking
*stacking_info_cm4f
;
54 const struct rtos_register_stacking
*stacking_info_cm4f_fpu
;
57 static const struct FreeRTOS_params FreeRTOS_params_list
[] = {
59 "cortex_m", /* target_name */
60 4, /* thread_count_width; */
61 4, /* pointer_width; */
62 16, /* list_next_offset; */
64 8, /* list_elem_next_offset; */
65 12, /* list_elem_content_offset */
66 0, /* thread_stack_offset; */
67 52, /* thread_name_offset; */
68 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
69 &rtos_standard_Cortex_M4F_stacking
,
70 &rtos_standard_Cortex_M4F_FPU_stacking
,
73 "hla_target", /* target_name */
74 4, /* thread_count_width; */
75 4, /* pointer_width; */
76 16, /* list_next_offset; */
78 8, /* list_elem_next_offset; */
79 12, /* list_elem_content_offset */
80 0, /* thread_stack_offset; */
81 52, /* thread_name_offset; */
82 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
83 &rtos_standard_Cortex_M4F_stacking
,
84 &rtos_standard_Cortex_M4F_FPU_stacking
,
87 "nds32_v3", /* target_name */
88 4, /* thread_count_width; */
89 4, /* pointer_width; */
90 16, /* list_next_offset; */
92 8, /* list_elem_next_offset; */
93 12, /* list_elem_content_offset */
94 0, /* thread_stack_offset; */
95 52, /* thread_name_offset; */
96 &rtos_standard_NDS32_N1068_stacking
, /* stacking_info */
97 &rtos_standard_Cortex_M4F_stacking
,
98 &rtos_standard_Cortex_M4F_FPU_stacking
,
102 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
104 static int FreeRTOS_detect_rtos(struct target
*target
);
105 static int FreeRTOS_create(struct target
*target
);
106 static int FreeRTOS_update_threads(struct rtos
*rtos
);
107 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
108 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
110 struct rtos_type FreeRTOS_rtos
= {
113 .detect_rtos
= FreeRTOS_detect_rtos
,
114 .create
= FreeRTOS_create
,
115 .update_threads
= FreeRTOS_update_threads
,
116 .get_thread_reg_list
= FreeRTOS_get_thread_reg_list
,
117 .get_symbol_list_to_lookup
= FreeRTOS_get_symbol_list_to_lookup
,
120 enum FreeRTOS_symbol_values
{
121 FreeRTOS_VAL_pxCurrentTCB
= 0,
122 FreeRTOS_VAL_pxReadyTasksLists
= 1,
123 FreeRTOS_VAL_xDelayedTaskList1
= 2,
124 FreeRTOS_VAL_xDelayedTaskList2
= 3,
125 FreeRTOS_VAL_pxDelayedTaskList
= 4,
126 FreeRTOS_VAL_pxOverflowDelayedTaskList
= 5,
127 FreeRTOS_VAL_xPendingReadyList
= 6,
128 FreeRTOS_VAL_xTasksWaitingTermination
= 7,
129 FreeRTOS_VAL_xSuspendedTaskList
= 8,
130 FreeRTOS_VAL_uxCurrentNumberOfTasks
= 9,
131 FreeRTOS_VAL_uxTopUsedPriority
= 10,
139 static const struct symbols FreeRTOS_symbol_list
[] = {
140 { "pxCurrentTCB", false },
141 { "pxReadyTasksLists", false },
142 { "xDelayedTaskList1", false },
143 { "xDelayedTaskList2", false },
144 { "pxDelayedTaskList", false },
145 { "pxOverflowDelayedTaskList", false },
146 { "xPendingReadyList", false },
147 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
148 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
149 { "uxCurrentNumberOfTasks", false },
150 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
155 /* this is not safe for little endian yet */
156 /* may be problems reading if sizes are not 32 bit long integers. */
157 /* test mallocs for failure */
159 static int FreeRTOS_update_threads(struct rtos
*rtos
)
164 const struct FreeRTOS_params
*param
;
166 if (rtos
->rtos_specific_params
== NULL
)
169 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
171 if (rtos
->symbols
== NULL
) {
172 LOG_ERROR("No symbols for FreeRTOS");
176 if (rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
== 0) {
177 LOG_ERROR("Don't have the number of threads in FreeRTOS");
181 int thread_list_size
= 0;
182 retval
= target_read_buffer(rtos
->target
,
183 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
184 param
->thread_count_width
,
185 (uint8_t *)&thread_list_size
);
186 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64
", value %d\r\n",
187 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
190 if (retval
!= ERROR_OK
) {
191 LOG_ERROR("Could not read FreeRTOS thread count from target");
195 /* wipe out previous thread details if any */
196 rtos_free_threadlist(rtos
);
198 /* read the current thread */
199 retval
= target_read_buffer(rtos
->target
,
200 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
201 param
->pointer_width
,
202 (uint8_t *)&rtos
->current_thread
);
203 if (retval
!= ERROR_OK
) {
204 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
207 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
208 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
209 rtos
->current_thread
);
211 if ((thread_list_size
== 0) || (rtos
->current_thread
== 0)) {
212 /* Either : No RTOS threads - there is always at least the current execution though */
213 /* OR : No current thread - all threads suspended - show the current execution
215 char tmp_str
[] = "Current Execution";
218 rtos
->thread_details
= malloc(
219 sizeof(struct thread_detail
) * thread_list_size
);
220 if (!rtos
->thread_details
) {
221 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
224 rtos
->thread_details
->threadid
= 1;
225 rtos
->thread_details
->exists
= true;
226 rtos
->thread_details
->display_str
= NULL
;
227 rtos
->thread_details
->extra_info_str
= NULL
;
228 rtos
->thread_details
->thread_name_str
= malloc(sizeof(tmp_str
));
229 strcpy(rtos
->thread_details
->thread_name_str
, tmp_str
);
231 if (thread_list_size
== 1) {
232 rtos
->thread_count
= 1;
236 /* create space for new thread details */
237 rtos
->thread_details
= malloc(
238 sizeof(struct thread_detail
) * thread_list_size
);
239 if (!rtos
->thread_details
) {
240 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
245 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
246 if (rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
== 0) {
247 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
250 int64_t max_used_priority
= 0;
251 retval
= target_read_buffer(rtos
->target
,
252 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
253 param
->pointer_width
,
254 (uint8_t *)&max_used_priority
);
255 if (retval
!= ERROR_OK
)
257 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64
", value %" PRId64
"\r\n",
258 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
260 if (max_used_priority
> FREERTOS_MAX_PRIORITIES
) {
261 LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64
"",
266 symbol_address_t
*list_of_lists
=
267 malloc(sizeof(symbol_address_t
) *
268 (max_used_priority
+1 + 5));
269 if (!list_of_lists
) {
270 LOG_ERROR("Error allocating memory for %" PRId64
" priorities", max_used_priority
);
275 for (num_lists
= 0; num_lists
<= max_used_priority
; num_lists
++)
276 list_of_lists
[num_lists
] = rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
+
277 num_lists
* param
->list_width
;
279 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList1
].address
;
280 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList2
].address
;
281 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xPendingReadyList
].address
;
282 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xSuspendedTaskList
].address
;
283 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xTasksWaitingTermination
].address
;
285 for (i
= 0; i
< num_lists
; i
++) {
286 if (list_of_lists
[i
] == 0)
289 /* Read the number of threads in this list */
290 int64_t list_thread_count
= 0;
291 retval
= target_read_buffer(rtos
->target
,
293 param
->thread_count_width
,
294 (uint8_t *)&list_thread_count
);
295 if (retval
!= ERROR_OK
) {
296 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
300 LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64
", value %" PRId64
"\r\n",
301 i
, list_of_lists
[i
], list_thread_count
);
303 if (list_thread_count
== 0)
306 /* Read the location of first list item */
307 uint64_t prev_list_elem_ptr
= -1;
308 uint64_t list_elem_ptr
= 0;
309 retval
= target_read_buffer(rtos
->target
,
310 list_of_lists
[i
] + param
->list_next_offset
,
311 param
->pointer_width
,
312 (uint8_t *)&list_elem_ptr
);
313 if (retval
!= ERROR_OK
) {
314 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
318 LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
319 i
, list_of_lists
[i
] + param
->list_next_offset
, list_elem_ptr
);
321 while ((list_thread_count
> 0) && (list_elem_ptr
!= 0) &&
322 (list_elem_ptr
!= prev_list_elem_ptr
) &&
323 (tasks_found
< thread_list_size
)) {
324 /* Get the location of the thread structure. */
325 rtos
->thread_details
[tasks_found
].threadid
= 0;
326 retval
= target_read_buffer(rtos
->target
,
327 list_elem_ptr
+ param
->list_elem_content_offset
,
328 param
->pointer_width
,
329 (uint8_t *)&(rtos
->thread_details
[tasks_found
].threadid
));
330 if (retval
!= ERROR_OK
) {
331 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
335 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
336 list_elem_ptr
+ param
->list_elem_content_offset
,
337 rtos
->thread_details
[tasks_found
].threadid
);
339 /* get thread name */
341 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
342 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
344 /* Read the thread name */
345 retval
= target_read_buffer(rtos
->target
,
346 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
347 FREERTOS_THREAD_NAME_STR_SIZE
,
348 (uint8_t *)&tmp_str
);
349 if (retval
!= ERROR_OK
) {
350 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
354 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
355 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64
", value \"%s\"\r\n",
356 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
359 if (tmp_str
[0] == '\x00')
360 strcpy(tmp_str
, "No Name");
362 rtos
->thread_details
[tasks_found
].thread_name_str
=
363 malloc(strlen(tmp_str
)+1);
364 strcpy(rtos
->thread_details
[tasks_found
].thread_name_str
, tmp_str
);
365 rtos
->thread_details
[tasks_found
].display_str
= NULL
;
366 rtos
->thread_details
[tasks_found
].exists
= true;
368 if (rtos
->thread_details
[tasks_found
].threadid
== rtos
->current_thread
) {
369 char running_str
[] = "Running";
370 rtos
->thread_details
[tasks_found
].extra_info_str
= malloc(
371 sizeof(running_str
));
372 strcpy(rtos
->thread_details
[tasks_found
].extra_info_str
,
375 rtos
->thread_details
[tasks_found
].extra_info_str
= NULL
;
380 prev_list_elem_ptr
= list_elem_ptr
;
382 retval
= target_read_buffer(rtos
->target
,
383 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
384 param
->pointer_width
,
385 (uint8_t *)&list_elem_ptr
);
386 if (retval
!= ERROR_OK
) {
387 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
391 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
392 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
398 rtos
->thread_count
= tasks_found
;
402 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
405 const struct FreeRTOS_params
*param
;
406 int64_t stack_ptr
= 0;
408 *hex_reg_list
= NULL
;
415 if (rtos
->rtos_specific_params
== NULL
)
418 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
420 /* Read the stack pointer */
421 retval
= target_read_buffer(rtos
->target
,
422 thread_id
+ param
->thread_stack_offset
,
423 param
->pointer_width
,
424 (uint8_t *)&stack_ptr
);
425 if (retval
!= ERROR_OK
) {
426 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
429 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
430 thread_id
+ param
->thread_stack_offset
,
433 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
434 int cm4_fpu_enabled
= 0;
435 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
436 if (is_armv7m(armv7m_target
)) {
437 if (armv7m_target
->fp_feature
== FPv4_SP
) {
438 /* Found ARM v7m target which includes a FPU */
441 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
442 if (retval
!= ERROR_OK
) {
443 LOG_ERROR("Could not read CPACR register to check FPU state");
447 /* Check if CP10 and CP11 are set to full access. */
448 if (cpacr
& 0x00F00000) {
449 /* Found target with enabled FPU */
455 if (cm4_fpu_enabled
== 1) {
456 /* Read the LR to decide between stacking with or without FPU */
458 retval
= target_read_buffer(rtos
->target
,
460 param
->pointer_width
,
462 if (retval
!= ERROR_OK
) {
463 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
466 if ((LR_svc
& 0x10) == 0)
467 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f_fpu
, stack_ptr
, hex_reg_list
);
469 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f
, stack_ptr
, hex_reg_list
);
471 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm3
, stack_ptr
, hex_reg_list
);
474 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
477 *symbol_list
= calloc(
478 ARRAY_SIZE(FreeRTOS_symbol_list
), sizeof(symbol_table_elem_t
));
480 for (i
= 0; i
< ARRAY_SIZE(FreeRTOS_symbol_list
); i
++) {
481 (*symbol_list
)[i
].symbol_name
= FreeRTOS_symbol_list
[i
].name
;
482 (*symbol_list
)[i
].optional
= FreeRTOS_symbol_list
[i
].optional
;
490 static int FreeRTOS_set_current_thread(struct rtos
*rtos
, threadid_t thread_id
)
495 static int FreeRTOS_get_thread_ascii_info(struct rtos
*rtos
, threadid_t thread_id
, char **info
)
498 const struct FreeRTOS_params
*param
;
506 if (rtos
->rtos_specific_params
== NULL
)
509 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
511 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
512 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
514 /* Read the thread name */
515 retval
= target_read_buffer(rtos
->target
,
516 thread_id
+ param
->thread_name_offset
,
517 FREERTOS_THREAD_NAME_STR_SIZE
,
518 (uint8_t *)&tmp_str
);
519 if (retval
!= ERROR_OK
) {
520 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
523 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
525 if (tmp_str
[0] == '\x00')
526 strcpy(tmp_str
, "No Name");
528 *info
= malloc(strlen(tmp_str
)+1);
529 strcpy(*info
, tmp_str
);
535 static int FreeRTOS_detect_rtos(struct target
*target
)
537 if ((target
->rtos
->symbols
!= NULL
) &&
538 (target
->rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
!= 0)) {
539 /* looks like FreeRTOS */
545 static int FreeRTOS_create(struct target
*target
)
548 while ((i
< FREERTOS_NUM_PARAMS
) &&
549 (0 != strcmp(FreeRTOS_params_list
[i
].target_name
, target
->type
->name
))) {
552 if (i
>= FREERTOS_NUM_PARAMS
) {
553 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
557 target
->rtos
->rtos_specific_params
= (void *) &FreeRTOS_params_list
[i
];
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