src/rtos/mqx.c

   1 /***************************************************************************
   2  *   Copyright (C) 2014 by Marian Cingel                                   *
   3  *   cingel.marian@gmail.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, see <http://www.gnu.org/licenses/>. *
  17  ***************************************************************************/
  18
  19 #ifdef HAVE_CONFIG_H
  20 #include "config.h"
  21 #endif
  22
  23 #include <stdint.h>
  24 #include <helper/time_support.h>
  25 #include <jtag/jtag.h>
  26 #include "target/target.h"
  27 #include "target/target_type.h"
  28 #include "rtos.h"
  29 #include "helper/log.h"
  30 #include "helper/types.h"
  31 #include "rtos_mqx_stackings.h"
  32
  33 /* constants */
  34 #define MQX_THREAD_NAME_LENGTH                  (255)
  35 #define MQX_KERNEL_OFFSET_TDLIST                (0x0108)
  36 #define MQX_KERNEL_OFFSET_SYSTEM_TASK   (0x0050)
  37 #define MQX_KERNEL_OFFSET_ACTIVE_TASK   (0x001C)
  38 #define MQX_KERNEL_OFFSET_CAPABILITY    (0x0000)
  39 #define MQX_QUEUE_OFFSET_SIZE                   (0x0008)
  40 #define MQX_TASK_OFFSET_STATE                   (0x0008)
  41 #define MQX_TASK_OFFSET_ID                              (0x000c)
  42 #define MQX_TASK_OFFSET_TEMPLATE                (0x0068)
  43 #define MQX_TASK_OFFSET_STACK                   (0x0014)
  44 #define MQX_TASK_OFFSET_TDLIST                  (0x006C)
  45 #define MQX_TASK_OFFSET_NEXT                    (0x0000)
  46 #define MQX_TASK_TEMPLATE_OFFSET_NAME   (0x0010)
  47 #define MQX_TASK_OFFSET_ERROR_CODE              (0x005C)
  48 #define MQX_TASK_STATE_MASK                             (0xFFF)
  49
  50 /* types */
  51 enum mqx_symbols {
  52         mqx_VAL_mqx_kernel_data,
  53         mqx_VAL_MQX_init_struct,
  54 };
  55
  56 enum mqx_arch {
  57         mqx_arch_cortexm,
  58 };
  59
  60 struct mqx_params {
  61         const char *target_name;
  62         const enum mqx_arch target_arch;
  63         const struct rtos_register_stacking *stacking_info;
  64 };
  65
  66 struct mqx_state {
  67         uint32_t state;
  68         char *name;
  69 };
  70
  71 /* local data */
  72 static const struct mqx_state mqx_states[] = {
  73         { 0x0002, "READY" },
  74         { 0x0003, "BLOCKED" },
  75         { 0x0005, "RCV_SPECIFIC_BLOCKED" },
  76         { 0x0007, "RCV_ANY_BLOCKED" },
  77         { 0x0009, "DYING" },
  78         { 0x000B, "UNHANDLED_INT_BLOCKED" },
  79         { 0x000D, "SEND_BLOCKED" },
  80         { 0x000F, "BREAKPOINT_BLOCKED" },
  81         { 0x0211, "IO_BLOCKED" },
  82         { 0x0021, "SEM_BLOCKED" },
  83         { 0x0223, "MUTEX_BLOCKED" },
  84         { 0x0025, "EVENT_BLOCKED" },
  85         { 0x0229, "TASK_QUEUE_BLOCKED" },
  86         { 0x042B, "LWSEM_BLOCKED" },
  87         { 0x042D, "LWEVENT_BLOCKED" },
  88 };
  89
  90 static const char * const mqx_symbol_list[] = {
  91         "_mqx_kernel_data",
  92         "MQX_init_struct",
  93         NULL
  94 };
  95
  96 static const struct mqx_params mqx_params_list[] = {
  97         { "cortex_m", mqx_arch_cortexm, &rtos_mqx_arm_v7m_stacking },
  98 };
  99
 100 /*
 101  * Perform simple address check to avoid bus fault.
 102  */
 103 static int mqx_valid_address_check(
 104         struct rtos *rtos,
 105         uint32_t address
 106 )
 107 {
 108         enum mqx_arch arch_type = ((struct mqx_params *)rtos->rtos_specific_params)->target_arch;
 109         const char *targetname = ((struct mqx_params *)rtos->rtos_specific_params)->target_name;
 110
 111         /* Cortex-M address range */
 112         if (arch_type == mqx_arch_cortexm) {
 113                 if (
 114                         /* code and sram area */
 115                         (address && address <= 0x3FFFFFFFu) ||
 116                         /* external ram area*/
 117                         (address >= 0x6000000u && address <= 0x9FFFFFFFu)
 118                 ) {
 119                         return ERROR_OK;
 120                 }
 121                 return ERROR_FAIL;
 122         }
 123         LOG_ERROR("MQX RTOS - unknown architecture %s", targetname);
 124         return ERROR_FAIL;
 125 }
 126
 127 /*
 128  * Wrapper of 'target_read_buffer' fn.
 129  * Include address check.
 130  */
 131 static int mqx_target_read_buffer(
 132         struct target *target,
 133         uint32_t address,
 134         uint32_t size,
 135         uint8_t *buffer
 136 )
 137 {
 138         int status = mqx_valid_address_check(target->rtos, address);
 139         if (status != ERROR_OK) {
 140                 LOG_WARNING("MQX RTOS - target address 0x%" PRIx32 " is not allowed to read", address);
 141                 return status;
 142         }
 143         status = target_read_buffer(target, address, size, buffer);
 144         if (status != ERROR_OK) {
 145                 LOG_ERROR("MQX RTOS - reading target address 0x%" PRIx32" failed", address);
 146                 return status;
 147         }
 148         return ERROR_OK;
 149 }
 150
 151 /*
 152  * Get symbol address if present
 153  */
 154 static int mqx_get_symbol(
 155         struct rtos *rtos,
 156         enum mqx_symbols symbol,
 157         void *result
 158 )
 159 {
 160         /* TODO: additional check ?? */
 161         (*(int *)result) = (uint32_t)rtos->symbols[symbol].address;
 162         return ERROR_OK;
 163 }
 164
 165 /*
 166  * Get value of struct member by passing
 167  * member offset, width and name (debug purpose)
 168  */
 169 static int mqx_get_member(
 170         struct rtos *rtos,
 171         const uint32_t base_address,
 172         int32_t member_offset,
 173         int32_t member_width,
 174         const char *member_name,
 175         void *result
 176 )
 177 {
 178         int status = ERROR_FAIL;
 179         status = mqx_target_read_buffer(
 180                 rtos->target, base_address + member_offset, member_width, result
 181         );
 182         if (status != ERROR_OK)
 183                 LOG_WARNING("MQX RTOS - cannot read \"%s\" at address 0x%" PRIx32,
 184                             member_name, (uint32_t)(base_address + member_offset));
 185         return status;
 186 }
 187
 188 /*
 189  * Check whether scheduler started
 190  */
 191 static int mqx_is_scheduler_running(
 192         struct rtos *rtos
 193 )
 194 {
 195         uint32_t kernel_data_symbol = 0;
 196         uint32_t kernel_data_addr = 0;
 197         uint32_t system_td_addr = 0;
 198         uint32_t active_td_addr = 0;
 199         uint32_t capability_value = 0;
 200
 201         /* get '_mqx_kernel_data' symbol */
 202         if (ERROR_OK != mqx_get_symbol(
 203                 rtos, mqx_VAL_mqx_kernel_data, &kernel_data_symbol
 204         )) {
 205                 return ERROR_FAIL;
 206         }
 207         /* get '_mqx_kernel_data' */
 208         if (ERROR_OK != mqx_get_member(
 209                 rtos, kernel_data_symbol, 0, 4,
 210                 "_mqx_kernel_data", &kernel_data_addr
 211         )) {
 212                 return ERROR_FAIL;
 213         }
 214         /* return if '_mqx_kernel_data' is NULL or default 0xFFFFFFFF */
 215         if (0 == kernel_data_addr || (uint32_t)(-1) == kernel_data_addr)
 216                 return ERROR_FAIL;
 217         /* get kernel_data->ADDRESSING_CAPABILITY */
 218         if (ERROR_OK != mqx_get_member(
 219                 rtos, kernel_data_addr, MQX_KERNEL_OFFSET_CAPABILITY, 4,
 220                 "kernel_data->ADDRESSING_CAPABILITY", (void *)&capability_value
 221         )) {
 222                 return ERROR_FAIL;
 223         }
 224         /* check first member, the '_mqx_kernel_data->ADDRESSING_CAPABILITY'.
 225            it suppose to be set to value 8 */
 226         if (capability_value != 8) {
 227                 LOG_WARNING("MQX RTOS - value of '_mqx_kernel_data->ADDRESSING_CAPABILITY' contains invalid value");
 228                 return ERROR_FAIL;
 229         }
 230         /* get active ptr */
 231         if (ERROR_OK != mqx_get_member(
 232                 rtos, kernel_data_addr, MQX_KERNEL_OFFSET_ACTIVE_TASK, 4,
 233                 "kernel_data->ACTIVE_PTR", (void *)&active_td_addr
 234         )) {
 235                 return ERROR_FAIL;
 236         }
 237         /* active task is system task, scheduler has not not run yet */
 238         system_td_addr = kernel_data_addr + MQX_KERNEL_OFFSET_SYSTEM_TASK;
 239         if (active_td_addr == system_td_addr) {
 240                 LOG_WARNING("MQX RTOS - scheduler does not run");
 241                 return ERROR_FAIL;
 242         }
 243         return ERROR_OK;
 244 }
 245
 246 /*
 247  * API function, return true if MQX is present
 248  */
 249 static bool mqx_detect_rtos(
 250         struct target *target
 251 )
 252 {
 253         if (
 254                 (target->rtos->symbols != NULL) &&
 255                 (target->rtos->symbols[mqx_VAL_mqx_kernel_data].address != 0)
 256         ) {
 257                 return true;
 258         }
 259         return false;
 260 }
 261
 262 /*
 263  * API function, pass MQX extra info to context data
 264  */
 265 static int mqx_create(
 266         struct target *target
 267 )
 268 {
 269         /* check target name against supported architectures */
 270         for (unsigned int i = 0; i < ARRAY_SIZE(mqx_params_list); i++) {
 271                 if (0 == strcmp(mqx_params_list[i].target_name, target->type->name)) {
 272                         target->rtos->rtos_specific_params = (void *)&mqx_params_list[i];
 273                         /* LOG_DEBUG("MQX RTOS - valid architecture: %s", target->type->name); */
 274                         return 0;
 275                 }
 276         }
 277         LOG_ERROR("MQX RTOS - could not find target \"%s\" in MQX compatibility list", target->type->name);
 278         return -1;
 279 }
 280
 281 /*
 282  * API function, update list of threads
 283  */
 284 static int mqx_update_threads(
 285         struct rtos *rtos
 286 )
 287 {
 288         uint32_t task_queue_addr = 0;
 289         uint32_t kernel_data_addr = 0;
 290         uint16_t task_queue_size = 0;
 291         uint32_t active_td_addr = 0;
 292
 293         if (!rtos->rtos_specific_params)
 294                 return -3;
 295
 296         if (!rtos->symbols)
 297                 return -4;
 298
 299         /* clear old data */
 300         rtos_free_threadlist(rtos);
 301         /* check scheduler */
 302         if (ERROR_OK != mqx_is_scheduler_running(rtos))
 303                 return ERROR_FAIL;
 304         /* get kernel_data symbol */
 305         if (ERROR_OK != mqx_get_symbol(
 306                 rtos, mqx_VAL_mqx_kernel_data, &kernel_data_addr
 307         )) {
 308                 return ERROR_FAIL;
 309         }
 310         /* read kernel_data */
 311         if (ERROR_OK != mqx_get_member(
 312                 rtos, kernel_data_addr, 0, 4, "_mqx_kernel_data", &kernel_data_addr
 313         )) {
 314                 return ERROR_FAIL;
 315         }
 316         /* get task queue address */
 317         task_queue_addr = kernel_data_addr + MQX_KERNEL_OFFSET_TDLIST;
 318         /* get task queue size */
 319         if (ERROR_OK != mqx_get_member(
 320                 rtos, task_queue_addr, MQX_QUEUE_OFFSET_SIZE, 2,
 321                 "kernel_data->TD_LIST.SIZE", &task_queue_size
 322         )) {
 323                 return ERROR_FAIL;
 324         }
 325         /* get active ptr */
 326         if (ERROR_OK != mqx_get_member(
 327                 rtos, kernel_data_addr, MQX_KERNEL_OFFSET_ACTIVE_TASK, 4,
 328                 "kernel_data->ACTIVE_PTR", (void *)&active_td_addr
 329         )) {
 330                 return ERROR_FAIL;
 331         }
 332
 333         /* setup threads info */
 334         rtos->thread_count = task_queue_size;
 335         rtos->current_thread = 0;
 336         rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
 337         if (NULL == rtos->thread_details)
 338                 return ERROR_FAIL;
 339
 340         /*      loop over each task and setup thread details,
 341                 the current_taskpool_addr is set to queue head
 342                 NOTE: debugging functions task create/destroy
 343                 might cause to show invalid data.
 344         */
 345         for (
 346                 uint32_t i = 0, taskpool_addr = task_queue_addr;
 347                 i < (uint32_t)rtos->thread_count;
 348                 i++
 349         ) {
 350                 uint8_t task_name[MQX_THREAD_NAME_LENGTH + 1];
 351                 uint32_t task_addr = 0, task_template = 0, task_state = 0;
 352                 uint32_t task_name_addr = 0, task_id = 0, task_errno = 0;
 353                 uint32_t state_index = 0;
 354                 uint32_t extra_info_length = 0;
 355                 char *state_name = "Unknown";
 356
 357                 /* set current taskpool address */
 358                 if (ERROR_OK != mqx_get_member(
 359                         rtos, taskpool_addr, MQX_TASK_OFFSET_NEXT, 4,
 360                         "td_struct_ptr->NEXT", &taskpool_addr
 361                 )) {
 362                         return ERROR_FAIL;
 363                 }
 364                 /* get task address from taskpool */
 365                 task_addr = taskpool_addr - MQX_TASK_OFFSET_TDLIST;
 366                 /* get address of 'td_struct_ptr->TEMPLATE_LIST_PTR' */
 367                 if (ERROR_OK != mqx_get_member(
 368                         rtos, task_addr, MQX_TASK_OFFSET_TEMPLATE, 4,
 369                         "td_struct_ptr->TEMPLATE_LIST_PTR", &task_template
 370                 )) {
 371                         return ERROR_FAIL;
 372                 }
 373                 /* get address of 'td_struct_ptr->TEMPLATE_LIST_PTR->NAME' */
 374                 if (ERROR_OK != mqx_get_member(
 375                         rtos, task_template, MQX_TASK_TEMPLATE_OFFSET_NAME, 4,
 376                         "td_struct_ptr->TEMPLATE_LIST_PTR->NAME", &task_name_addr
 377                 )) {
 378                         return ERROR_FAIL;
 379                 }
 380                 /* get value of 'td_struct->TEMPLATE_LIST_PTR->NAME' */
 381                 if (ERROR_OK != mqx_get_member(
 382                         rtos, task_name_addr, 0, MQX_THREAD_NAME_LENGTH,
 383                         "*td_struct_ptr->TEMPLATE_LIST_PTR->NAME", task_name
 384                 )) {
 385                         return ERROR_FAIL;
 386                 }
 387                 /* always terminate last character by force,
 388                    otherwise openocd might fail if task_name
 389                    has corrupted data */
 390                 task_name[MQX_THREAD_NAME_LENGTH] = '\0';
 391                 /* get value of 'td_struct_ptr->TASK_ID' */
 392                 if (ERROR_OK != mqx_get_member(
 393                         rtos, task_addr, MQX_TASK_OFFSET_ID, 4,
 394                         "td_struct_ptr->TASK_ID", &task_id
 395                 )) {
 396                         return ERROR_FAIL;
 397                 }
 398                 /* get task errno */
 399                 if (ERROR_OK != mqx_get_member(
 400                         rtos, task_addr, MQX_TASK_OFFSET_ERROR_CODE, 4,
 401                         "td_struct_ptr->TASK_ERROR_CODE", &task_errno
 402                 )) {
 403                         return ERROR_FAIL;
 404                 }
 405                 /* get value of 'td_struct_ptr->STATE' */
 406                 if (ERROR_OK != mqx_get_member(
 407                         rtos, task_addr, MQX_TASK_OFFSET_STATE, 4,
 408                         "td_struct_ptr->STATE", &task_state
 409                 )) {
 410                         return ERROR_FAIL;
 411                 }
 412                 task_state &= MQX_TASK_STATE_MASK;
 413                 /* and search for defined state */
 414                 for (state_index = 0; state_index < ARRAY_SIZE(mqx_states); state_index++) {
 415                         if (mqx_states[state_index].state == task_state) {
 416                                 state_name = mqx_states[state_index].name;
 417                                 break;
 418                         }
 419                 }
 420
 421                 /* setup thread details struct */
 422                 rtos->thread_details[i].threadid = task_id;
 423                 rtos->thread_details[i].exists = true;
 424                 /* set thread name */
 425                 rtos->thread_details[i].thread_name_str = malloc(strlen((void *)task_name) + 1);
 426                 if (NULL == rtos->thread_details[i].thread_name_str)
 427                         return ERROR_FAIL;
 428                 strcpy(rtos->thread_details[i].thread_name_str, (void *)task_name);
 429                 /* set thread extra info
 430                  * - task state
 431                  * - task address
 432                  * - task errno
 433                  * calculate length as:
 434                  * state length + address length + errno length + formatter length
 435                  */
 436                 extra_info_length += strlen((void *)state_name) + 7 + 13 + 8 + 15 + 8;
 437                 rtos->thread_details[i].extra_info_str = malloc(extra_info_length + 1);
 438                 if (NULL == rtos->thread_details[i].extra_info_str)
 439                         return ERROR_FAIL;
 440                 snprintf(rtos->thread_details[i].extra_info_str, extra_info_length,
 441                          "State: %s, Address: 0x%" PRIx32 ",  Error Code: %" PRIu32,
 442                          state_name, task_addr, task_errno
 443                 );
 444                 /* set active thread */
 445                 if (active_td_addr == task_addr)
 446                         rtos->current_thread = task_id;
 447         }
 448         return ERROR_OK;
 449 }
 450
 451 /*
 452  * API function, get info of selected thread
 453  */
 454 static int mqx_get_thread_reg_list(
 455         struct rtos *rtos,
 456         int64_t thread_id,
 457         struct rtos_reg **reg_list,
 458         int *num_regs
 459 )
 460 {
 461         int64_t stack_ptr = 0;
 462         uint32_t my_task_addr = 0;
 463         uint32_t task_queue_addr = 0;
 464         uint32_t task_queue_size = 0;
 465         uint32_t kernel_data_addr = 0;
 466
 467         if (thread_id == 0) {
 468                 LOG_ERROR("MQX RTOS - invalid threadid: 0x%X", (int)thread_id);
 469                 return ERROR_FAIL;
 470         }
 471         if (ERROR_OK != mqx_is_scheduler_running(rtos))
 472                 return ERROR_FAIL;
 473         /* get kernel_data symbol */
 474         if (ERROR_OK != mqx_get_symbol(
 475                 rtos, mqx_VAL_mqx_kernel_data, &kernel_data_addr
 476         )) {
 477                 return ERROR_FAIL;
 478         }
 479         /* read kernel_data */
 480         if (ERROR_OK != mqx_get_member(
 481                 rtos, kernel_data_addr, 0, 4, "_mqx_kernel_data", &kernel_data_addr
 482         )) {
 483                 return ERROR_FAIL;
 484         }
 485         /* get task queue address */
 486         task_queue_addr = kernel_data_addr + MQX_KERNEL_OFFSET_TDLIST;
 487         /* get task queue size */
 488         if (ERROR_OK != mqx_get_member(
 489                 rtos, task_queue_addr, MQX_QUEUE_OFFSET_SIZE, 2,
 490                 "kernel_data->TD_LIST.SIZE", &task_queue_size
 491         )) {
 492                 return ERROR_FAIL;
 493         }
 494         /* search for taskid */
 495         for (
 496                 uint32_t i = 0, taskpool_addr = task_queue_addr;
 497                 i < (uint32_t)rtos->thread_count;
 498                 i++
 499         ) {
 500                 uint32_t tmp_address = 0, task_addr = 0;
 501                 uint32_t task_id = 0;
 502                 /* set current taskpool address */
 503                 tmp_address = taskpool_addr;
 504                 if (ERROR_OK != mqx_get_member(
 505                         rtos, tmp_address, MQX_TASK_OFFSET_NEXT, 4,
 506                         "td_struct_ptr->NEXT", &taskpool_addr
 507                 )) {
 508                         return ERROR_FAIL;
 509                 }
 510                 /* get task address from taskpool */
 511                 task_addr = taskpool_addr - MQX_TASK_OFFSET_TDLIST;
 512                 /* get value of td_struct->TASK_ID */
 513                 if (ERROR_OK != mqx_get_member(
 514                         rtos, task_addr, MQX_TASK_OFFSET_ID, 4,
 515                         "td_struct_ptr->TASK_ID", &task_id
 516                 )) {
 517                         return ERROR_FAIL;
 518                 }
 519                 /* found taskid, break */
 520                 if (task_id == thread_id) {
 521                         my_task_addr = task_addr;
 522                         break;
 523                 }
 524         }
 525         if (!my_task_addr) {
 526                 LOG_ERROR("MQX_RTOS - threadid %" PRId64 " does not match any task", thread_id);
 527                 return ERROR_FAIL;
 528         }
 529         /* get task stack head address */
 530         if (ERROR_OK != mqx_get_member(
 531                 rtos, my_task_addr, MQX_TASK_OFFSET_STACK, 4, "task->STACK_PTR", &stack_ptr
 532         )) {
 533                 return ERROR_FAIL;
 534         }
 535         return rtos_generic_stack_read(
 536                 rtos->target, ((struct mqx_params *)rtos->rtos_specific_params)->stacking_info, stack_ptr, reg_list, num_regs
 537         );
 538 }
 539
 540 /* API function, export list of required symbols */
 541 static int mqx_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
 542 {
 543         *symbol_list = calloc(ARRAY_SIZE(mqx_symbol_list), sizeof(struct symbol_table_elem));
 544         if (NULL == *symbol_list)
 545                 return ERROR_FAIL;
 546         /* export required symbols */
 547         for (int i = 0; i < (int)(ARRAY_SIZE(mqx_symbol_list)); i++)
 548                 (*symbol_list)[i].symbol_name = mqx_symbol_list[i];
 549         return ERROR_OK;
 550 }
 551
 552 struct rtos_type mqx_rtos = {
 553         .name = "mqx",
 554         .detect_rtos = mqx_detect_rtos,
 555         .create = mqx_create,
 556         .update_threads = mqx_update_threads,
 557         .get_thread_reg_list = mqx_get_thread_reg_list,
 558         .get_symbol_list_to_lookup = mqx_get_symbol_list_to_lookup,
 559 };