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[openocd.git] / src / rtos / FreeRTOS.c
1 /***************************************************************************
2 * Copyright (C) 2011 by Broadcom Corporation *
3 * Evan Hunter - ehunter@broadcom.com *
4 * *
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. *
9 * *
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. *
14 * *
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 ***************************************************************************/
20
21 #ifdef HAVE_CONFIG_H
22 #include "config.h"
23 #endif
24
25 #include <helper/time_support.h>
26 #include <jtag/jtag.h>
27 #include "target/target.h"
28 #include "target/target_type.h"
29 #include "rtos.h"
30 #include "helper/log.h"
31 #include "helper/types.h"
32 #include "rtos_standard_stackings.h"
33
34 #define FREERTOS_MAX_PRIORITIES 63
35
36 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
37
38 struct FreeRTOS_params {
39 const char *target_name;
40 const unsigned char thread_count_width;
41 const unsigned char pointer_width;
42 const unsigned char list_next_offset;
43 const unsigned char list_width;
44 const unsigned char list_elem_next_offset;
45 const unsigned char list_elem_content_offset;
46 const unsigned char thread_stack_offset;
47 const unsigned char thread_name_offset;
48 const struct rtos_register_stacking *stacking_info;
49 };
50
51 static const struct FreeRTOS_params FreeRTOS_params_list[] = {
52 {
53 "cortex_m", /* target_name */
54 4, /* thread_count_width; */
55 4, /* pointer_width; */
56 16, /* list_next_offset; */
57 20, /* list_width; */
58 8, /* list_elem_next_offset; */
59 12, /* list_elem_content_offset */
60 0, /* thread_stack_offset; */
61 52, /* thread_name_offset; */
62 &rtos_standard_Cortex_M3_stacking, /* stacking_info */
63 },
64 {
65 "hla_target", /* target_name */
66 4, /* thread_count_width; */
67 4, /* pointer_width; */
68 16, /* list_next_offset; */
69 20, /* list_width; */
70 8, /* list_elem_next_offset; */
71 12, /* list_elem_content_offset */
72 0, /* thread_stack_offset; */
73 52, /* thread_name_offset; */
74 &rtos_standard_Cortex_M3_stacking, /* stacking_info */
75 },
76 {
77 "nds32_v3", /* target_name */
78 4, /* thread_count_width; */
79 4, /* pointer_width; */
80 16, /* list_next_offset; */
81 20, /* list_width; */
82 8, /* list_elem_next_offset; */
83 12, /* list_elem_content_offset */
84 0, /* thread_stack_offset; */
85 52, /* thread_name_offset; */
86 &rtos_standard_NDS32_N1068_stacking, /* stacking_info */
87 },
88 };
89
90 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
91
92 static int FreeRTOS_detect_rtos(struct target *target);
93 static int FreeRTOS_create(struct target *target);
94 static int FreeRTOS_update_threads(struct rtos *rtos);
95 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
96 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
97
98 struct rtos_type FreeRTOS_rtos = {
99 .name = "FreeRTOS",
100
101 .detect_rtos = FreeRTOS_detect_rtos,
102 .create = FreeRTOS_create,
103 .update_threads = FreeRTOS_update_threads,
104 .get_thread_reg_list = FreeRTOS_get_thread_reg_list,
105 .get_symbol_list_to_lookup = FreeRTOS_get_symbol_list_to_lookup,
106 };
107
108 enum FreeRTOS_symbol_values {
109 FreeRTOS_VAL_pxCurrentTCB = 0,
110 FreeRTOS_VAL_pxReadyTasksLists = 1,
111 FreeRTOS_VAL_xDelayedTaskList1 = 2,
112 FreeRTOS_VAL_xDelayedTaskList2 = 3,
113 FreeRTOS_VAL_pxDelayedTaskList = 4,
114 FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
115 FreeRTOS_VAL_xPendingReadyList = 6,
116 FreeRTOS_VAL_xTasksWaitingTermination = 7,
117 FreeRTOS_VAL_xSuspendedTaskList = 8,
118 FreeRTOS_VAL_uxCurrentNumberOfTasks = 9,
119 FreeRTOS_VAL_uxTopUsedPriority = 10,
120 };
121
122 struct symbols {
123 const char *name;
124 bool optional;
125 };
126
127 static const struct symbols FreeRTOS_symbol_list[] = {
128 { "pxCurrentTCB", false },
129 { "pxReadyTasksLists", false },
130 { "xDelayedTaskList1", false },
131 { "xDelayedTaskList2", false },
132 { "pxDelayedTaskList", false },
133 { "pxOverflowDelayedTaskList", false },
134 { "xPendingReadyList", false },
135 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
136 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
137 { "uxCurrentNumberOfTasks", false },
138 { "uxTopUsedPriority", false },
139 { NULL, false }
140 };
141
142 /* TODO: */
143 /* this is not safe for little endian yet */
144 /* may be problems reading if sizes are not 32 bit long integers. */
145 /* test mallocs for failure */
146
147 static int FreeRTOS_update_threads(struct rtos *rtos)
148 {
149 int i = 0;
150 int retval;
151 int tasks_found = 0;
152 const struct FreeRTOS_params *param;
153
154 if (rtos->rtos_specific_params == NULL)
155 return -1;
156
157 param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
158
159 if (rtos->symbols == NULL) {
160 LOG_ERROR("No symbols for FreeRTOS");
161 return -3;
162 }
163
164 if (rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0) {
165 LOG_ERROR("Don't have the number of threads in FreeRTOS");
166 return -2;
167 }
168
169 int thread_list_size = 0;
170 retval = target_read_buffer(rtos->target,
171 rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
172 param->thread_count_width,
173 (uint8_t *)&thread_list_size);
174 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %d\r\n",
175 rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
176 thread_list_size);
177
178 if (retval != ERROR_OK) {
179 LOG_ERROR("Could not read FreeRTOS thread count from target");
180 return retval;
181 }
182
183 /* wipe out previous thread details if any */
184 rtos_free_threadlist(rtos);
185
186 /* read the current thread */
187 retval = target_read_buffer(rtos->target,
188 rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
189 param->pointer_width,
190 (uint8_t *)&rtos->current_thread);
191 if (retval != ERROR_OK) {
192 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
193 return retval;
194 }
195 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
196 rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
197 rtos->current_thread);
198
199 if ((thread_list_size == 0) || (rtos->current_thread == 0)) {
200 /* Either : No RTOS threads - there is always at least the current execution though */
201 /* OR : No current thread - all threads suspended - show the current execution
202 * of idling */
203 char tmp_str[] = "Current Execution";
204 thread_list_size++;
205 tasks_found++;
206 rtos->thread_details = malloc(
207 sizeof(struct thread_detail) * thread_list_size);
208 if (!rtos->thread_details) {
209 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
210 return ERROR_FAIL;
211 }
212 rtos->thread_details->threadid = 1;
213 rtos->thread_details->exists = true;
214 rtos->thread_details->display_str = NULL;
215 rtos->thread_details->extra_info_str = NULL;
216 rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
217 strcpy(rtos->thread_details->thread_name_str, tmp_str);
218
219 if (thread_list_size == 1) {
220 rtos->thread_count = 1;
221 return ERROR_OK;
222 }
223 } else {
224 /* create space for new thread details */
225 rtos->thread_details = malloc(
226 sizeof(struct thread_detail) * thread_list_size);
227 if (!rtos->thread_details) {
228 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
229 return ERROR_FAIL;
230 }
231 }
232
233 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
234 int64_t max_used_priority = 0;
235 retval = target_read_buffer(rtos->target,
236 rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
237 param->pointer_width,
238 (uint8_t *)&max_used_priority);
239 if (retval != ERROR_OK)
240 return retval;
241 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRId64 "\r\n",
242 rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
243 max_used_priority);
244 if (max_used_priority > FREERTOS_MAX_PRIORITIES) {
245 LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "",
246 max_used_priority);
247 return ERROR_FAIL;
248 }
249
250 symbol_address_t *list_of_lists =
251 malloc(sizeof(symbol_address_t) *
252 (max_used_priority+1 + 5));
253 if (!list_of_lists) {
254 LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
255 return ERROR_FAIL;
256 }
257
258 int num_lists;
259 for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
260 list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
261 num_lists * param->list_width;
262
263 list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
264 list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
265 list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
266 list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
267 list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
268
269 for (i = 0; i < num_lists; i++) {
270 if (list_of_lists[i] == 0)
271 continue;
272
273 /* Read the number of threads in this list */
274 int64_t list_thread_count = 0;
275 retval = target_read_buffer(rtos->target,
276 list_of_lists[i],
277 param->thread_count_width,
278 (uint8_t *)&list_thread_count);
279 if (retval != ERROR_OK) {
280 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
281 free(list_of_lists);
282 return retval;
283 }
284 LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64 ", value %" PRId64 "\r\n",
285 i, list_of_lists[i], list_thread_count);
286
287 if (list_thread_count == 0)
288 continue;
289
290 /* Read the location of first list item */
291 uint64_t prev_list_elem_ptr = -1;
292 uint64_t list_elem_ptr = 0;
293 retval = target_read_buffer(rtos->target,
294 list_of_lists[i] + param->list_next_offset,
295 param->pointer_width,
296 (uint8_t *)&list_elem_ptr);
297 if (retval != ERROR_OK) {
298 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
299 free(list_of_lists);
300 return retval;
301 }
302 LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
303 i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
304
305 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
306 (list_elem_ptr != prev_list_elem_ptr) &&
307 (tasks_found < thread_list_size)) {
308 /* Get the location of the thread structure. */
309 rtos->thread_details[tasks_found].threadid = 0;
310 retval = target_read_buffer(rtos->target,
311 list_elem_ptr + param->list_elem_content_offset,
312 param->pointer_width,
313 (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
314 if (retval != ERROR_OK) {
315 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
316 free(list_of_lists);
317 return retval;
318 }
319 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
320 list_elem_ptr + param->list_elem_content_offset,
321 rtos->thread_details[tasks_found].threadid);
322
323 /* get thread name */
324
325 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
326 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
327
328 /* Read the thread name */
329 retval = target_read_buffer(rtos->target,
330 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
331 FREERTOS_THREAD_NAME_STR_SIZE,
332 (uint8_t *)&tmp_str);
333 if (retval != ERROR_OK) {
334 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
335 free(list_of_lists);
336 return retval;
337 }
338 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
339 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value \"%s\"\r\n",
340 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
341 tmp_str);
342
343 if (tmp_str[0] == '\x00')
344 strcpy(tmp_str, "No Name");
345
346 rtos->thread_details[tasks_found].thread_name_str =
347 malloc(strlen(tmp_str)+1);
348 strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
349 rtos->thread_details[tasks_found].display_str = NULL;
350 rtos->thread_details[tasks_found].exists = true;
351
352 if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
353 char running_str[] = "Running";
354 rtos->thread_details[tasks_found].extra_info_str = malloc(
355 sizeof(running_str));
356 strcpy(rtos->thread_details[tasks_found].extra_info_str,
357 running_str);
358 } else
359 rtos->thread_details[tasks_found].extra_info_str = NULL;
360
361 tasks_found++;
362 list_thread_count--;
363
364 prev_list_elem_ptr = list_elem_ptr;
365 list_elem_ptr = 0;
366 retval = target_read_buffer(rtos->target,
367 prev_list_elem_ptr + param->list_elem_next_offset,
368 param->pointer_width,
369 (uint8_t *)&list_elem_ptr);
370 if (retval != ERROR_OK) {
371 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
372 free(list_of_lists);
373 return retval;
374 }
375 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
376 prev_list_elem_ptr + param->list_elem_next_offset,
377 list_elem_ptr);
378 }
379 }
380
381 free(list_of_lists);
382 rtos->thread_count = tasks_found;
383 return 0;
384 }
385
386 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
387 {
388 int retval;
389 const struct FreeRTOS_params *param;
390 int64_t stack_ptr = 0;
391
392 *hex_reg_list = NULL;
393 if (rtos == NULL)
394 return -1;
395
396 if (thread_id == 0)
397 return -2;
398
399 if (rtos->rtos_specific_params == NULL)
400 return -1;
401
402 param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
403
404 /* Read the stack pointer */
405 retval = target_read_buffer(rtos->target,
406 thread_id + param->thread_stack_offset,
407 param->pointer_width,
408 (uint8_t *)&stack_ptr);
409 if (retval != ERROR_OK) {
410 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
411 return retval;
412 }
413 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
414 thread_id + param->thread_stack_offset,
415 stack_ptr);
416
417 return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
418 }
419
420 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
421 {
422 unsigned int i;
423 *symbol_list = calloc(
424 ARRAY_SIZE(FreeRTOS_symbol_list), sizeof(symbol_table_elem_t));
425
426 for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++) {
427 (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i].name;
428 (*symbol_list)[i].optional = FreeRTOS_symbol_list[i].optional;
429 }
430
431 return 0;
432 }
433
434 #if 0
435
436 static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
437 {
438 return 0;
439 }
440
441 static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
442 {
443 int retval;
444 const struct FreeRTOS_params *param;
445
446 if (rtos == NULL)
447 return -1;
448
449 if (thread_id == 0)
450 return -2;
451
452 if (rtos->rtos_specific_params == NULL)
453 return -3;
454
455 param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
456
457 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
458 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
459
460 /* Read the thread name */
461 retval = target_read_buffer(rtos->target,
462 thread_id + param->thread_name_offset,
463 FREERTOS_THREAD_NAME_STR_SIZE,
464 (uint8_t *)&tmp_str);
465 if (retval != ERROR_OK) {
466 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
467 return retval;
468 }
469 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
470
471 if (tmp_str[0] == '\x00')
472 strcpy(tmp_str, "No Name");
473
474 *info = malloc(strlen(tmp_str)+1);
475 strcpy(*info, tmp_str);
476 return 0;
477 }
478
479 #endif
480
481 static int FreeRTOS_detect_rtos(struct target *target)
482 {
483 if ((target->rtos->symbols != NULL) &&
484 (target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
485 /* looks like FreeRTOS */
486 return 1;
487 }
488 return 0;
489 }
490
491 static int FreeRTOS_create(struct target *target)
492 {
493 int i = 0;
494 while ((i < FREERTOS_NUM_PARAMS) &&
495 (0 != strcmp(FreeRTOS_params_list[i].target_name, target->type->name))) {
496 i++;
497 }
498 if (i >= FREERTOS_NUM_PARAMS) {
499 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
500 return -1;
501 }
502
503 target->rtos->rtos_specific_params = (void *) &FreeRTOS_params_list[i];
504 return 0;
505 }
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