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