X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Frtos%2FChibiOS.c;h=b94e286f759c9d617cb09064a4a29acf6d3c8625;hp=85da6f8114a460439c153d826ec8ad65e518ffc4;hb=806872a34aa0db95ecef7ba9e0743b18d80842f6;hpb=e6907e6d7e4cfc108d03d05dc2686f989ba7213d;ds=sidebyside

diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c
index 85da6f8114..b94e286f75 100644
--- a/src/rtos/ChibiOS.c
+++ b/src/rtos/ChibiOS.c
@@ -36,7 +36,6 @@
 #include "helper/types.h"
 #include "rtos_chibios_stackings.h"
 
-
 /**
  * @brief   ChibiOS/RT memory signature record.
  *
@@ -72,7 +71,7 @@ struct ChibiOS_chdebug {
 /**
  * @brief ChibiOS thread states.
  */
-const char *ChibiOS_thread_states[] = {
+static const char * const ChibiOS_thread_states[] = {
 	"READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
 	"WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
 	"FINAL"
@@ -92,7 +91,7 @@ struct ChibiOS_params {
 	const struct rtos_register_stacking *stacking_info;
 };
 
-struct ChibiOS_params ChibiOS_params_list[] = {
+static struct ChibiOS_params ChibiOS_params_list[] = {
 	{
 	"cortex_m",							/* target_name */
 	0,
@@ -122,19 +121,30 @@ struct rtos_type ChibiOS_rtos = {
 	.get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 };
 
+
+/* In ChibiOS/RT 3.0 the rlist structure has become part of a system
+ * data structure ch. We declare both symbols as optional and later
+ * use whatever is available.
+ */
+
 enum ChibiOS_symbol_values {
 	ChibiOS_VAL_rlist = 0,
-	ChibiOS_VAL_ch_debug = 1,
-	ChibiOS_VAL_chSysInit = 2
+	ChibiOS_VAL_ch = 1,
+	ChibiOS_VAL_ch_debug = 2,
+	ChibiOS_VAL_chSysInit = 3
 };
 
-static char *ChibiOS_symbol_list[] = {
-	"rlist",		/* Thread ready list*/
-	"ch_debug",		/* Memory Signatur containing offsets of fields in rlist*/
-	"chSysInit",	/* Necessary part of API, used for ChibiOS detection*/
-	NULL
+static symbol_table_elem_t ChibiOS_symbol_list[] = {
+	{ "rlist", 0, true},		/* Thread ready list */
+	{ "ch", 0, true},			/* System data structure */
+	{ "ch_debug", 0, false},	/* Memory Signature containing offsets of fields in rlist */
+	{ "chSysInit", 0, false},	/* Necessary part of API, used for ChibiOS detection */
+	{ NULL, 0, false}
 };
 
+/* Offset of the rlist structure within the system data structure (ch) */
+#define CH_RLIST_OFFSET 0x00
+
 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 {
 	int retval;
@@ -254,11 +264,9 @@ static int ChibiOS_update_stacking(struct rtos *rtos)
 			/* Check if CP10 and CP11 are set to full access.
 			 * In ChibiOS this is done in ResetHandler() in crt0.c */
 			if (cpacr & 0x00F00000) {
-				/* Found target with enabled FPU */
-				/* FIXME: Need to figure out how to specify the FPU registers */
-				LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
-						  " are NOT supported");
-				return -1;
+				LOG_DEBUG("Enabled FPU detected.");
+				param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
+				return 0;
 			}
 		}
 
@@ -301,7 +309,9 @@ static int ChibiOS_update_threads(struct rtos *rtos)
 	/* ChibiOS does not save the current thread count. We have to first
 	 * parse the double linked thread list to check for errors and the number of
 	 * threads. */
-	const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address;
+	const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
+		rtos->symbols[ChibiOS_VAL_rlist].address :
+		rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 	const struct ChibiOS_chdebug *signature = param->signature;
 	uint32_t current;
 	uint32_t previous;
@@ -497,20 +507,15 @@ static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, cha
 
 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 {
-	unsigned int i;
-	*symbol_list = malloc(
-			sizeof(symbol_table_elem_t) * ARRAY_SIZE(ChibiOS_symbol_list));
-
-	for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
-		(*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
-
+	*symbol_list = ChibiOS_symbol_list;
 	return 0;
 }
 
 static int ChibiOS_detect_rtos(struct target *target)
 {
 	if ((target->rtos->symbols != NULL) &&
-			(target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
+			((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
+			 (target->rtos->symbols[ChibiOS_VAL_ch].address != 0)) &&
 			(target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 
 		if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
@@ -539,6 +544,6 @@ static int ChibiOS_create(struct target *target)
 		return -1;
 	}
 
-	target->rtos->rtos_specific_params = &ChibiOS_params_list[i];
+	target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
 	return 0;
 }