[openocd.git] / src / rtos / rtos.c

/***************************************************************************
 *   Copyright (C) 2011 by Broadcom Corporation                            *
 *   Evan Hunter - ehunter@broadcom.com                                    *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
 ***************************************************************************/

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "rtos.h"
#include "target/target.h"
#include "helper/log.h"
#include "helper/binarybuffer.h"
#include "server/gdb_server.h"

/* RTOSs */
extern struct rtos_type FreeRTOS_rtos;
extern struct rtos_type ThreadX_rtos;
extern struct rtos_type eCos_rtos;
extern struct rtos_type Linux_os;
extern struct rtos_type chibios_rtos;
extern struct rtos_type chromium_ec_rtos;
extern struct rtos_type embKernel_rtos;
extern struct rtos_type mqx_rtos;
extern struct rtos_type uCOS_III_rtos;
extern struct rtos_type nuttx_rtos;
extern struct rtos_type hwthread_rtos;
extern struct rtos_type riot_rtos;

static struct rtos_type *rtos_types[] = {
        &ThreadX_rtos,
        &FreeRTOS_rtos,
        &eCos_rtos,
        &Linux_os,
        &chibios_rtos,
        &chromium_ec_rtos,
        &embKernel_rtos,
        &mqx_rtos,
        &uCOS_III_rtos,
        &nuttx_rtos,
        &riot_rtos,
        /* keep this as last, as it always matches with rtos auto */
        &hwthread_rtos,
        NULL
};

int rtos_thread_packet(struct connection *connection, const char *packet, int packet_size);

int rtos_smp_init(struct target *target)
{
        if (target->rtos->type->smp_init)
                return target->rtos->type->smp_init(target);
        return ERROR_TARGET_INIT_FAILED;
}

static int rtos_target_for_threadid(struct connection *connection, int64_t threadid, struct target **t)
{
        struct target *curr = get_target_from_connection(connection);
        if (t)
                *t = curr;

        return ERROR_OK;
}

static int os_alloc(struct target *target, struct rtos_type *ostype)
{
        struct rtos *os = target->rtos = calloc(1, sizeof(struct rtos));

        if (!os)
                return JIM_ERR;

        os->type = ostype;
        os->current_threadid = -1;
        os->current_thread = 0;
        os->symbols = NULL;
        os->target = target;

        /* RTOS drivers can override the packet handler in _create(). */
        os->gdb_thread_packet = rtos_thread_packet;
        os->gdb_target_for_threadid = rtos_target_for_threadid;

        return JIM_OK;
}

static void os_free(struct target *target)
{
        if (!target->rtos)
                return;

        if (target->rtos->symbols)
                free(target->rtos->symbols);

        free(target->rtos);
        target->rtos = NULL;
}

static int os_alloc_create(struct target *target, struct rtos_type *ostype)
{
        int ret = os_alloc(target, ostype);

        if (JIM_OK == ret) {
                ret = target->rtos->type->create(target);
                if (ret != JIM_OK)
                        os_free(target);
        }

        return ret;
}

int rtos_create(Jim_GetOptInfo *goi, struct target *target)
{
        int x;
        const char *cp;
        Jim_Obj *res;
        int e;

        if (!goi->isconfigure && goi->argc != 0) {
                Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "NO PARAMS");
                return JIM_ERR;
        }

        os_free(target);

        e = Jim_GetOpt_String(goi, &cp, NULL);
        if (e != JIM_OK)
                return e;

        if (0 == strcmp(cp, "auto")) {
                /* Auto detect tries to look up all symbols for each RTOS,
                 * and runs the RTOS driver's _detect() function when GDB
                 * finds all symbols for any RTOS. See rtos_qsymbol(). */
                target->rtos_auto_detect = true;

                /* rtos_qsymbol() will iterate over all RTOSes. Allocate
                 * target->rtos here, and set it to the first RTOS type. */
                return os_alloc(target, rtos_types[0]);
        }

        for (x = 0; rtos_types[x]; x++)
                if (0 == strcmp(cp, rtos_types[x]->name))
                        return os_alloc_create(target, rtos_types[x]);

        Jim_SetResultFormatted(goi->interp, "Unknown RTOS type %s, try one of: ", cp);
        res = Jim_GetResult(goi->interp);
        for (x = 0; rtos_types[x]; x++)
                Jim_AppendStrings(goi->interp, res, rtos_types[x]->name, ", ", NULL);
        Jim_AppendStrings(goi->interp, res, " or auto", NULL);

        return JIM_ERR;
}

void rtos_destroy(struct target *target)
{
        os_free(target);
}

int gdb_thread_packet(struct connection *connection, char const *packet, int packet_size)
{
        struct target *target = get_target_from_connection(connection);
        if (target->rtos == NULL)
                return rtos_thread_packet(connection, packet, packet_size);     /* thread not
                                                                                 *found*/
        return target->rtos->gdb_thread_packet(connection, packet, packet_size);
}

static symbol_table_elem_t *next_symbol(struct rtos *os, char *cur_symbol, uint64_t cur_addr)
{
        symbol_table_elem_t *s;

        if (!os->symbols)
                os->type->get_symbol_list_to_lookup(&os->symbols);

        if (!cur_symbol[0])
                return &os->symbols[0];

        for (s = os->symbols; s->symbol_name; s++)
                if (!strcmp(s->symbol_name, cur_symbol)) {
                        s->address = cur_addr;
                        s++;
                        return s;
                }

        return NULL;
}

/* searches for 'symbol' in the lookup table for 'os' and returns TRUE,
 * if 'symbol' is not declared optional */
static bool is_symbol_mandatory(const struct rtos *os, const char *symbol)
{
        for (symbol_table_elem_t *s = os->symbols; s->symbol_name; ++s) {
                if (!strcmp(s->symbol_name, symbol))
                        return !s->optional;
        }
        return false;
}

/* rtos_qsymbol() processes and replies to all qSymbol packets from GDB.
 *
 * GDB sends a qSymbol:: packet (empty address, empty name) to notify
 * that it can now answer qSymbol::hexcodedname queries, to look up symbols.
 *
 * If the qSymbol packet has no address that means GDB did not find the
 * symbol, in which case auto-detect will move on to try the next RTOS.
 *
 * rtos_qsymbol() then calls the next_symbol() helper function, which
 * iterates over symbol names for the current RTOS until it finds the
 * symbol in the received GDB packet, and then returns the next entry
 * in the list of symbols.
 *
 * If GDB replied about the last symbol for the RTOS and the RTOS was
 * specified explicitly, then no further symbol lookup is done. When
 * auto-detecting, the RTOS driver _detect() function must return success.
 *
 * rtos_qsymbol() returns 1 if an RTOS has been detected, or 0 otherwise.
 */
int rtos_qsymbol(struct connection *connection, char const *packet, int packet_size)
{
        int rtos_detected = 0;
        uint64_t addr = 0;
        size_t reply_len;
        char reply[GDB_BUFFER_SIZE + 1], cur_sym[GDB_BUFFER_SIZE / 2 + 1] = ""; /* Extra byte for null-termination */
        symbol_table_elem_t *next_sym = NULL;
        struct target *target = get_target_from_connection(connection);
        struct rtos *os = target->rtos;

        reply_len = sprintf(reply, "OK");

        if (!os)
                goto done;

        /* Decode any symbol name in the packet*/
        size_t len = unhexify((uint8_t *)cur_sym, strchr(packet + 8, ':') + 1, strlen(strchr(packet + 8, ':') + 1));
        cur_sym[len] = 0;

        if ((strcmp(packet, "qSymbol::") != 0) &&               /* GDB is not offering symbol lookup for the first time */
            (!sscanf(packet, "qSymbol:%" SCNx64 ":", &addr)) && /* GDB did not find an address for a symbol */
            is_symbol_mandatory(os, cur_sym)) {                                 /* the symbol is mandatory for this RTOS */

                /* GDB could not find an address for the previous symbol */
                if (!target->rtos_auto_detect) {
                        LOG_WARNING("RTOS %s not detected. (GDB could not find symbol \'%s\')", os->type->name, cur_sym);
                        goto done;
                } else {
                        /* Autodetecting RTOS - try next RTOS */
                        if (!rtos_try_next(target)) {
                                LOG_WARNING("No RTOS could be auto-detected!");
                                goto done;
                        }

                        /* Next RTOS selected - invalidate current symbol */
                        cur_sym[0] = '\x00';
                }
        }
        next_sym = next_symbol(os, cur_sym, addr);

        if (!next_sym->symbol_name) {
                /* No more symbols need looking up */

                if (!target->rtos_auto_detect) {
                        rtos_detected = 1;
                        goto done;
                }

                if (os->type->detect_rtos(target)) {
                        LOG_INFO("Auto-detected RTOS: %s", os->type->name);
                        rtos_detected = 1;
                        goto done;
                } else {
                        LOG_WARNING("No RTOS could be auto-detected!");
                        goto done;
                }
        }

        if (8 + (strlen(next_sym->symbol_name) * 2) + 1 > sizeof(reply)) {
                LOG_ERROR("ERROR: RTOS symbol '%s' name is too long for GDB!", next_sym->symbol_name);
                goto done;
        }

        reply_len = snprintf(reply, sizeof(reply), "qSymbol:");
        reply_len += hexify(reply + reply_len,
                (const uint8_t *)next_sym->symbol_name, strlen(next_sym->symbol_name),
                sizeof(reply) - reply_len);

done:
        gdb_put_packet(connection, reply, reply_len);
        return rtos_detected;
}

int rtos_thread_packet(struct connection *connection, char const *packet, int packet_size)
{
        struct target *target = get_target_from_connection(connection);

        if (strncmp(packet, "qThreadExtraInfo,", 17) == 0) {
                if ((target->rtos != NULL) && (target->rtos->thread_details != NULL) &&
                                (target->rtos->thread_count != 0)) {
                        threadid_t threadid = 0;
                        int found = -1;
                        sscanf(packet, "qThreadExtraInfo,%" SCNx64, &threadid);

                        if ((target->rtos != NULL) && (target->rtos->thread_details != NULL)) {
                                int thread_num;
                                for (thread_num = 0; thread_num < target->rtos->thread_count; thread_num++) {
                                        if (target->rtos->thread_details[thread_num].threadid == threadid) {
                                                if (target->rtos->thread_details[thread_num].exists)
                                                        found = thread_num;
                                        }
                                }
                        }
                        if (found == -1) {
                                gdb_put_packet(connection, "E01", 3);   /* thread not found */
                                return ERROR_OK;
                        }

                        struct thread_detail *detail = &target->rtos->thread_details[found];

                        int str_size = 0;
                        if (detail->thread_name_str != NULL)
                                str_size += strlen(detail->thread_name_str);
                        if (detail->extra_info_str != NULL)
                                str_size += strlen(detail->extra_info_str);

                        char *tmp_str = calloc(str_size + 9, sizeof(char));
                        char *tmp_str_ptr = tmp_str;

                        if (detail->thread_name_str != NULL)
                                tmp_str_ptr += sprintf(tmp_str_ptr, "Name: %s", detail->thread_name_str);
                        if (detail->extra_info_str != NULL) {
                                if (tmp_str_ptr != tmp_str)
                                        tmp_str_ptr += sprintf(tmp_str_ptr, ", ");
                                tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->extra_info_str);
                        }

                        assert(strlen(tmp_str) ==
                                (size_t) (tmp_str_ptr - tmp_str));

                        char *hex_str = malloc(strlen(tmp_str) * 2 + 1);
                        size_t pkt_len = hexify(hex_str, (const uint8_t *)tmp_str,
                                strlen(tmp_str), strlen(tmp_str) * 2 + 1);

                        gdb_put_packet(connection, hex_str, pkt_len);
                        free(hex_str);
                        free(tmp_str);
                        return ERROR_OK;

                }
                gdb_put_packet(connection, "", 0);
                return ERROR_OK;
        } else if (strncmp(packet, "qSymbol", 7) == 0) {
                if (rtos_qsymbol(connection, packet, packet_size) == 1) {
                        if (target->rtos_auto_detect == true) {
                                target->rtos_auto_detect = false;
                                target->rtos->type->create(target);
                        }
                        target->rtos->type->update_threads(target->rtos);
                }
                return ERROR_OK;
        } else if (strncmp(packet, "qfThreadInfo", 12) == 0) {
                int i;
                if (target->rtos != NULL) {
                        if (target->rtos->thread_count == 0) {
                                gdb_put_packet(connection, "l", 1);
                        } else {
                                /*thread id are 16 char +1 for ',' */
                                char *out_str = malloc(17 * target->rtos->thread_count + 1);
                                char *tmp_str = out_str;
                                for (i = 0; i < target->rtos->thread_count; i++) {
                                        tmp_str += sprintf(tmp_str, "%c%016" PRIx64, i == 0 ? 'm' : ',',
                                                                                target->rtos->thread_details[i].threadid);
                                }
                                gdb_put_packet(connection, out_str, strlen(out_str));
                                free(out_str);
                        }
                } else
                        gdb_put_packet(connection, "l", 1);

                return ERROR_OK;
        } else if (strncmp(packet, "qsThreadInfo", 12) == 0) {
                gdb_put_packet(connection, "l", 1);
                return ERROR_OK;
        } else if (strncmp(packet, "qAttached", 9) == 0) {
                gdb_put_packet(connection, "1", 1);
                return ERROR_OK;
        } else if (strncmp(packet, "qOffsets", 8) == 0) {
                char offsets[] = "Text=0;Data=0;Bss=0";
                gdb_put_packet(connection, offsets, sizeof(offsets)-1);
                return ERROR_OK;
        } else if (strncmp(packet, "qCRC:", 5) == 0) {
                /* make sure we check this before "qC" packet below
                 * otherwise it gets incorrectly handled */
                return GDB_THREAD_PACKET_NOT_CONSUMED;
        } else if (strncmp(packet, "qC", 2) == 0) {
                if (target->rtos != NULL) {
                        char buffer[19];
                        int size;
                        size = snprintf(buffer, 19, "QC%016" PRIx64, target->rtos->current_thread);
                        gdb_put_packet(connection, buffer, size);
                } else
                        gdb_put_packet(connection, "QC0", 3);
                return ERROR_OK;
        } else if (packet[0] == 'T') {  /* Is thread alive? */
                threadid_t threadid;
                int found = -1;
                sscanf(packet, "T%" SCNx64, &threadid);
                if ((target->rtos != NULL) && (target->rtos->thread_details != NULL)) {
                        int thread_num;
                        for (thread_num = 0; thread_num < target->rtos->thread_count; thread_num++) {
                                if (target->rtos->thread_details[thread_num].threadid == threadid) {
                                        if (target->rtos->thread_details[thread_num].exists)
                                                found = thread_num;
                                }
                        }
                }
                if (found != -1)
                        gdb_put_packet(connection, "OK", 2);    /* thread alive */
                else
                        gdb_put_packet(connection, "E01", 3);   /* thread not found */
                return ERROR_OK;
        } else if (packet[0] == 'H') {  /* Set current thread ( 'c' for step and continue, 'g' for
                                         * all other operations ) */
                if ((packet[1] == 'g') && (target->rtos != NULL)) {
                        threadid_t threadid;
                        sscanf(packet, "Hg%16" SCNx64, &threadid);
                        LOG_DEBUG("RTOS: GDB requested to set current thread to 0x%" PRIx64, threadid);
                        /* threadid of 0 indicates target should choose */
                        if (threadid == 0)
                                target->rtos->current_threadid = target->rtos->current_thread;
                        else
                                target->rtos->current_threadid = threadid;
                }
                gdb_put_packet(connection, "OK", 2);
                return ERROR_OK;
        }

        return GDB_THREAD_PACKET_NOT_CONSUMED;
}

static int rtos_put_gdb_reg_list(struct connection *connection,
                struct rtos_reg *reg_list, int num_regs)
{
        size_t num_bytes = 1; /* NUL */
        for (int i = 0; i < num_regs; ++i)
                num_bytes += DIV_ROUND_UP(reg_list[i].size, 8) * 2;

        char *hex = malloc(num_bytes);
        char *hex_p = hex;

        for (int i = 0; i < num_regs; ++i) {
                size_t count = DIV_ROUND_UP(reg_list[i].size, 8);
                size_t n = hexify(hex_p, reg_list[i].value, count, num_bytes);
                hex_p += n;
                num_bytes -= n;
        }

        gdb_put_packet(connection, hex, strlen(hex));
        free(hex);

        return ERROR_OK;
}

/** Look through all registers to find this register. */
int rtos_get_gdb_reg(struct connection *connection, int reg_num)
{
        struct target *target = get_target_from_connection(connection);
        int64_t current_threadid = target->rtos->current_threadid;
        if ((target->rtos != NULL) && (current_threadid != -1) &&
                        (current_threadid != 0) &&
                        ((current_threadid != target->rtos->current_thread) ||
                        (target->smp))) {       /* in smp several current thread are possible */
                struct rtos_reg *reg_list;
                int num_regs;

                LOG_DEBUG("getting register %d for thread 0x%" PRIx64
                                  ", target->rtos->current_thread=0x%" PRIx64,
                                                                                reg_num,
                                                                                current_threadid,
                                                                                target->rtos->current_thread);

                int retval;
                if (target->rtos->type->get_thread_reg) {
                        reg_list = calloc(1, sizeof(*reg_list));
                        num_regs = 1;
                        retval = target->rtos->type->get_thread_reg(target->rtos,
                                        current_threadid, reg_num, &reg_list[0]);
                        if (retval != ERROR_OK) {
                                LOG_ERROR("RTOS: failed to get register %d", reg_num);
                                return retval;
                        }
                } else {
                        retval = target->rtos->type->get_thread_reg_list(target->rtos,
                                        current_threadid,
                                        &reg_list,
                                        &num_regs);
                        if (retval != ERROR_OK) {
                                LOG_ERROR("RTOS: failed to get register list");
                                return retval;
                        }
                }

                for (int i = 0; i < num_regs; ++i) {
                        if (reg_list[i].number == (uint32_t)reg_num) {
                                rtos_put_gdb_reg_list(connection, reg_list + i, 1);
                                free(reg_list);
                                return ERROR_OK;
                        }
                }

                free(reg_list);
        }
        return ERROR_FAIL;
}

/** Return a list of general registers. */
int rtos_get_gdb_reg_list(struct connection *connection)
{
        struct target *target = get_target_from_connection(connection);
        int64_t current_threadid = target->rtos->current_threadid;
        if ((target->rtos != NULL) && (current_threadid != -1) &&
                        (current_threadid != 0) &&
                        ((current_threadid != target->rtos->current_thread) ||
                        (target->smp))) {       /* in smp several current thread are possible */
                struct rtos_reg *reg_list;
                int num_regs;

                LOG_DEBUG("RTOS: getting register list for thread 0x%" PRIx64
                                  ", target->rtos->current_thread=0x%" PRIx64 "\r\n",
                                                                                current_threadid,
                                                                                target->rtos->current_thread);

                int retval = target->rtos->type->get_thread_reg_list(target->rtos,
                                current_threadid,
                                &reg_list,
                                &num_regs);
                if (retval != ERROR_OK) {
                        LOG_ERROR("RTOS: failed to get register list");
                        return retval;
                }

                rtos_put_gdb_reg_list(connection, reg_list, num_regs);
                free(reg_list);

                return ERROR_OK;
        }
        return ERROR_FAIL;
}

int rtos_set_reg(struct connection *connection, int reg_num,
                uint8_t *reg_value)
{
        struct target *target = get_target_from_connection(connection);
        int64_t current_threadid = target->rtos->current_threadid;
        if ((target->rtos != NULL) &&
                        (target->rtos->type->set_reg != NULL) &&
                        (current_threadid != -1) &&
                        (current_threadid != 0)) {
                return target->rtos->type->set_reg(target->rtos, reg_num, reg_value);
        }
        return ERROR_FAIL;
}

int rtos_generic_stack_read(struct target *target,
        const struct rtos_register_stacking *stacking,
        int64_t stack_ptr,
        struct rtos_reg **reg_list,
        int *num_regs)
{
        int retval;

        if (stack_ptr == 0) {
                LOG_ERROR("Error: null stack pointer in thread");
                return -5;
        }
        /* Read the stack */
        uint8_t *stack_data = malloc(stacking->stack_registers_size);
        uint32_t address = stack_ptr;

        if (stacking->stack_growth_direction == 1)
                address -= stacking->stack_registers_size;
        retval = target_read_buffer(target, address, stacking->stack_registers_size, stack_data);
        if (retval != ERROR_OK) {
                free(stack_data);
                LOG_ERROR("Error reading stack frame from thread");
                return retval;
        }
        LOG_DEBUG("RTOS: Read stack frame at 0x%" PRIx32, address);

#if 0
                LOG_OUTPUT("Stack Data :");
                for (i = 0; i < stacking->stack_registers_size; i++)
                        LOG_OUTPUT("%02X", stack_data[i]);
                LOG_OUTPUT("\r\n");
#endif

        int64_t new_stack_ptr;
        if (stacking->calculate_process_stack != NULL) {
                new_stack_ptr = stacking->calculate_process_stack(target,
                                stack_data, stacking, stack_ptr);
        } else {
                new_stack_ptr = stack_ptr - stacking->stack_growth_direction *
                        stacking->stack_registers_size;
        }

        *reg_list = calloc(stacking->num_output_registers, sizeof(struct rtos_reg));
        *num_regs = stacking->num_output_registers;

        for (int i = 0; i < stacking->num_output_registers; ++i) {
                (*reg_list)[i].number = stacking->register_offsets[i].number;
                (*reg_list)[i].size = stacking->register_offsets[i].width_bits;

                int offset = stacking->register_offsets[i].offset;
                if (offset == -2)
                        buf_cpy(&new_stack_ptr, (*reg_list)[i].value, (*reg_list)[i].size);
                else if (offset != -1)
                        buf_cpy(stack_data + offset, (*reg_list)[i].value, (*reg_list)[i].size);
        }

        free(stack_data);
/*      LOG_OUTPUT("Output register string: %s\r\n", *hex_reg_list); */
        return ERROR_OK;
}

int rtos_try_next(struct target *target)
{
        struct rtos *os = target->rtos;
        struct rtos_type **type = rtos_types;

        if (!os)
                return 0;

        while (*type && os->type != *type)
                type++;

        if (!*type || !*(++type))
                return 0;

        os->type = *type;
        if (os->symbols) {
                free(os->symbols);
                os->symbols = NULL;
        }

        return 1;
}

int rtos_update_threads(struct target *target)
{
        if ((target->rtos != NULL) && (target->rtos->type != NULL))
                target->rtos->type->update_threads(target->rtos);
        return ERROR_OK;
}

void rtos_free_threadlist(struct rtos *rtos)
{
        if (rtos->thread_details) {
                int j;

                for (j = 0; j < rtos->thread_count; j++) {
                        struct thread_detail *current_thread = &rtos->thread_details[j];
                        free(current_thread->thread_name_str);
                        free(current_thread->extra_info_str);
                }
                free(rtos->thread_details);
                rtos->thread_details = NULL;
                rtos->thread_count = 0;
                rtos->current_threadid = -1;
                rtos->current_thread = 0;
        }
}