X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Frtos%2Frtos.c;h=eaad5e50c9fd3432d305b32d8eb2ff0f3db1fc9c;hp=a0bbc82b5ec03871b9d4f49baa519711558f914b;hb=79800db98a985bcd601e8a892aed76d96548a51b;hpb=433ca26f1abe59f39844eeac0dafef6cb7fdd520

diff --git a/src/rtos/rtos.c b/src/rtos/rtos.c
index a0bbc82b5e..eaad5e50c9 100644
--- a/src/rtos/rtos.c
+++ b/src/rtos/rtos.c
@@ -13,40 +13,55 @@
  *   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, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ *   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"
 
-
-
-static void hex_to_str( char* dst, char * hex_src );
-
-
 /* RTOSs */
-extern struct rtos_type FreeRTOS_rtos;
-extern struct rtos_type ThreadX_rtos;
-extern struct rtos_type eCos_rtos;
-
-static struct rtos_type *rtos_types[] =
-{
-	&ThreadX_rtos,
-	&FreeRTOS_rtos,
-	&eCos_rtos,
+extern struct rtos_type freertos_rtos;
+extern struct rtos_type threadx_rtos;
+extern struct rtos_type ecos_rtos;
+extern struct rtos_type linux_rtos;
+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;
+extern struct rtos_type zephyr_rtos;
+
+static struct rtos_type *rtos_types[] = {
+	&threadx_rtos,
+	&freertos_rtos,
+	&ecos_rtos,
+	&linux_rtos,
+	&chibios_rtos,
+	&chromium_ec_rtos,
+	&embkernel_rtos,
+	&mqx_rtos,
+	&ucos_iii_rtos,
+	&nuttx_rtos,
+	&riot_rtos,
+	&zephyr_rtos,
+	/* keep this as last, as it always matches with rtos auto */
+	&hwthread_rtos,
 	NULL
 };
 
-int rtos_thread_packet(struct connection *connection, char *packet, int packet_size);
+static int rtos_try_next(struct target *target);
+
+int rtos_thread_packet(struct connection *connection, const char *packet, int packet_size);
 
 int rtos_smp_init(struct target *target)
 {
@@ -55,252 +70,300 @@ int rtos_smp_init(struct target *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;
+}
 
-int rtos_create(Jim_GetOptInfo *goi, struct target * target)
+static void os_free(struct target *target)
 {
-	int x;
-	char *cp;
-	if (! goi->isconfigure) {
-		if (goi->argc != 0) {
-			if (goi->argc != 0) {
-				Jim_WrongNumArgs(goi->interp,
-						goi->argc, goi->argv,
-						"NO PARAMS");
-				return JIM_ERR;
-			}
+	if (!target->rtos)
+		return;
 
-			Jim_SetResultString(goi->interp,
-					target_type_name(target), -1);
-		}
+	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 (ret == JIM_OK) {
+		ret = target->rtos->type->create(target);
+		if (ret != JIM_OK)
+			os_free(target);
 	}
 
-	if (target->rtos) {
-		free((void *)(target->rtos));
+	return ret;
+}
+
+int rtos_create(struct jim_getopt_info *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;
 	}
-//			e = Jim_GetOpt_String(goi, &cp, NULL);
-//			target->rtos = strdup(cp);
 
-	Jim_GetOpt_String(goi, &cp, NULL);
-	/* now does target type exist */
+	os_free(target);
+
+	e = jim_getopt_string(goi, &cp, NULL);
+	if (e != JIM_OK)
+		return e;
 
-	if ( 0 == strcmp( cp, "auto") )
-	{
-		// auto detection of RTOS
+	if (strcmp(cp, "auto") == 0) {
+		/* 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;
-		x = 0;
-	}
-	else
-	{
 
-		for (x = 0 ; rtos_types[x] ; x++) {
-			if (0 == strcmp(cp, rtos_types[x]->name)) {
-				/* found */
-				break;
-			}
-		}
-		if (rtos_types[x] == NULL) {
-			Jim_SetResultFormatted(goi->interp, "Unknown rtos type %s, try one of ", cp);
-			for (x = 0 ; rtos_types[x] ; x++) {
-				if (rtos_types[x + 1]) {
-					Jim_AppendStrings(goi->interp,
-									   Jim_GetResult(goi->interp),
-									   rtos_types[x]->name,
-									   ", ", NULL);
-				} else {
-					Jim_AppendStrings(goi->interp,
-									   Jim_GetResult(goi->interp),
-									   " or ",
-									   rtos_types[x]->name,NULL);
-				}
-			}
-			return JIM_ERR;
-		}
-	}
-	/* Create it */
-	target->rtos = calloc(1,sizeof(struct rtos));
-	target->rtos->type = rtos_types[x];
-	target->rtos->current_threadid = -1;
-	target->rtos->current_thread = 0;
-	target->rtos->symbols = NULL;
-	target->rtos->target = target;
-	/* put default thread handler in linux usecase it is overloaded*/
-	target->rtos->gdb_thread_packet = rtos_thread_packet;
-
-	if ( 0 != strcmp( cp, "auto") )
-	{
-		target->rtos->type->create( target );
+		/* 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]);
 	}
 
-	return JIM_OK;
+	for (x = 0; rtos_types[x]; x++)
+		if (strcmp(cp, rtos_types[x]->name) == 0)
+			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 *packet, int packet_size)
+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*/
+	if (!target->rtos)
+		return rtos_thread_packet(connection, packet, packet_size);	/* thread not
+										 *found*/
 	return target->rtos->gdb_thread_packet(connection, packet, packet_size);
 }
-/* return -1 if no rtos defined, 0 if rtos and symbol to be asked, 1 if all
- * symbol have been asked*/
-int rtos_qsymbol(struct connection *connection, char *packet, int packet_size)
+
+static struct symbol_table_elem *next_symbol(struct rtos *os, char *cur_symbol, uint64_t cur_addr)
 {
-	struct target *target = get_target_from_connection(connection);
-	if (target->rtos != NULL) {
-		int next_symbol_num = -1;
-		if (target->rtos->symbols == NULL)
-			target->rtos->type->get_symbol_list_to_lookup(&target->rtos->symbols);
-		if (0 == strcmp("qSymbol::", packet))
-			/* first query - */
-			next_symbol_num = 0;
-		else {
-			int64_t value = 0;
-			char *hex_name_str = malloc(strlen(packet));
-			char *name_str;
-			int symbol_num;
-
-			char *found = strstr(packet, "qSymbol::");
-			if (0 == found)
-				sscanf(packet, "qSymbol:%" SCNx64 ":%s", &value, hex_name_str);
-			else
-				/* No value returned by GDB - symbol was not found*/
-				sscanf(packet, "qSymbol::%s", hex_name_str);
-			name_str = (char *) malloc(1 + strlen(hex_name_str) / 2);
-
-			hex_to_str(name_str, hex_name_str);
-			symbol_num = 0;
-			while ((target->rtos->symbols[symbol_num].symbol_name != NULL)
-					&& (0 != strcmp(target->rtos->symbols[symbol_num].symbol_name, name_str)))
-				symbol_num++;
-
-			if (target->rtos->symbols[symbol_num].symbol_name == NULL) {
-				LOG_OUTPUT("ERROR: unknown symbol\r\n");
-				gdb_put_packet(connection, "OK", 2);
-				return ERROR_OK;
-			}
+	struct symbol_table_elem *s;
 
-			target->rtos->symbols[symbol_num].address = value;
+	if (!os->symbols)
+		os->type->get_symbol_list_to_lookup(&os->symbols);
 
-			next_symbol_num = symbol_num+1;
-			free(hex_name_str);
-			free(name_str);
+	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;
 		}
 
-		int symbols_done = 0;
-		if (target->rtos->symbols[next_symbol_num].symbol_name == NULL) {
-			if ((target->rtos_auto_detect == false) ||
-					(1 == target->rtos->type->detect_rtos(target))) {
-				/* Found correct RTOS or not autodetecting */
-				if (target->rtos_auto_detect == true)
-					LOG_OUTPUT("Auto-detected RTOS: %s\r\n", target->rtos->type->name);
-				symbols_done = 1;
-			} else {
-				/* Auto detecting RTOS and currently not found */
-				if (1 != rtos_try_next(target))
-					/* No more RTOS's to try */
-					symbols_done = 1;
-				else {
-					next_symbol_num = 0;
-					target->rtos->type->get_symbol_list_to_lookup(&target->rtos->symbols);
-				}
+	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 (struct symbol_table_elem *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 */
+	struct symbol_table_elem *next_sym;
+	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';
+		}
+	}
+
+	LOG_DEBUG("RTOS: Address of symbol '%s' is 0x%" PRIx64, cur_sym, addr);
+
+	next_sym = next_symbol(os, cur_sym, addr);
+
+	/* Should never happen unless the debugger misbehaves */
+	if (!next_sym) {
+		LOG_WARNING("RTOS: Debugger sent us qSymbol with '%s' that we did not ask for", cur_sym);
+		goto done;
+	}
+
+	if (!next_sym->symbol_name) {
+		/* No more symbols need looking up */
+
+		if (!target->rtos_auto_detect) {
+			rtos_detected = 1;
+			goto done;
 		}
-		if (symbols_done == 1)
-			return symbols_done;
-		else {
-			char *symname = target->rtos->symbols[next_symbol_num].symbol_name;
-			char qsymstr[] = "qSymbol:";
-			char *opstring = (char *)malloc(sizeof(qsymstr)+strlen(symname)*2+1);
-			char *posptr = opstring;
-			posptr += sprintf(posptr, "%s", qsymstr);
-			str_to_hex(posptr, symname);
-			gdb_put_packet(connection, opstring, strlen(opstring));
-			free(opstring);
-			return symbols_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;
 		}
 	}
-	gdb_put_packet(connection, "OK", 2);
-	return -1;
-}
 
+	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;
+	}
+
+	LOG_DEBUG("RTOS: Requesting symbol lookup of '%s' from the debugger", next_sym->symbol_name);
+
+	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 *packet, int packet_size)
+int rtos_thread_packet(struct connection *connection, char const *packet, int packet_size)
 {
 	struct target *target = get_target_from_connection(connection);
 
-	if (strstr(packet, "qThreadExtraInfo,"))
-	{
-		if ((target->rtos != NULL) && (target->rtos->thread_details != NULL) && (target->rtos->thread_count != 0))
-		{
+	if (strncmp(packet, "qThreadExtraInfo,", 17) == 0) {
+		if ((target->rtos) && (target->rtos->thread_details) &&
+				(target->rtos->thread_count != 0)) {
 			threadid_t threadid = 0;
 			int found = -1;
-			sscanf(packet, "qThreadExtraInfo,%" SCNx64, &threadid );
+			sscanf(packet, "qThreadExtraInfo,%" SCNx64, &threadid);
 
-			if ((target->rtos != NULL) && (target->rtos->thread_details
-					!= NULL)) {
+			if ((target->rtos) && (target->rtos->thread_details)) {
 				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) {
+				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
+				gdb_put_packet(connection, "E01", 3);	/* thread not found */
 				return ERROR_OK;
 			}
 
-			struct thread_detail* detail = &target->rtos->thread_details[found];
+			struct thread_detail *detail = &target->rtos->thread_details[found];
 
 			int str_size = 0;
-			if ( detail->display_str != NULL )
-			{
-				str_size += strlen(detail->display_str);
-			}
-			if ( detail->thread_name_str != NULL )
-			{
+			if (detail->thread_name_str)
 				str_size += strlen(detail->thread_name_str);
-			}
-			if ( detail->extra_info_str != NULL )
-			{
+			if (detail->extra_info_str)
 				str_size += strlen(detail->extra_info_str);
-			}
 
-			char * tmp_str = (char*) malloc( str_size + 7 );
-			char*  tmp_str_ptr = tmp_str;
+			char *tmp_str = calloc(str_size + 9, sizeof(char));
+			char *tmp_str_ptr = tmp_str;
 
-			if ( detail->display_str != NULL )
-			{
-				tmp_str_ptr += sprintf( tmp_str_ptr, "%s", detail->display_str );
-			}
-			if ( detail->thread_name_str != NULL )
-			{
-				if ( tmp_str_ptr != tmp_str )
-				{
-					tmp_str_ptr += sprintf( tmp_str_ptr, " : " );
-				}
-				tmp_str_ptr += sprintf( tmp_str_ptr, "%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 );
+			if (detail->thread_name_str)
+				tmp_str_ptr += sprintf(tmp_str_ptr, "Name: %s", detail->thread_name_str);
+			if (detail->extra_info_str) {
+				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 = (char*) malloc( strlen(tmp_str)*2 +1 );
-			str_to_hex( hex_str, 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, strlen(hex_str));
+			gdb_put_packet(connection, hex_str, pkt_len);
 			free(hex_str);
 			free(tmp_str);
 			return ERROR_OK;
@@ -308,105 +371,88 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
 		}
 		gdb_put_packet(connection, "", 0);
 		return ERROR_OK;
-	}
-	else if (strstr(packet, "qSymbol"))
-	{
-		if (rtos_qsymbol(connection, packet, packet_size) == 1)
-		{
-			target->rtos_auto_detect = false;
-			target->rtos->type->create(target);
+	} 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);
-			/* No more symbols needed */
-			gdb_put_packet(connection, "OK", 2);
 		}
 		return ERROR_OK;
-	}
-	else if (strstr(packet, "qfThreadInfo"))
-	{
+	} else if (strncmp(packet, "qfThreadInfo", 12) == 0) {
 		int i;
-		if ( ( target->rtos != NULL ) && ( target->rtos->thread_count != 0 ) )
-		{
-
-			char* out_str = (char*) malloc(17 * target->rtos->thread_count + 5);
-			char* tmp_str = out_str;
-			tmp_str += sprintf(tmp_str, "m");
-			for (i = 0; i < target->rtos->thread_count; i++) {
-				if (i != 0) {
-					tmp_str += sprintf(tmp_str, ",");
+		if (target->rtos) {
+			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);
 				}
-				tmp_str += sprintf(tmp_str, "%016" PRIx64,
-						target->rtos->thread_details[i].threadid);
+				gdb_put_packet(connection, out_str, strlen(out_str));
+				free(out_str);
 			}
-			tmp_str[0] = 0;
-			gdb_put_packet(connection, out_str, strlen(out_str));
-		}
-		else
-		{
-			gdb_put_packet(connection, "", 0);
-		}
+		} else
+			gdb_put_packet(connection, "l", 1);
 
 		return ERROR_OK;
-	}
-	else if (strstr(packet, "qsThreadInfo"))
-	{
+	} else if (strncmp(packet, "qsThreadInfo", 12) == 0) {
 		gdb_put_packet(connection, "l", 1);
 		return ERROR_OK;
-	}
-	else if (strstr(packet, "qAttached"))
-	{
+	} else if (strncmp(packet, "qAttached", 9) == 0) {
 		gdb_put_packet(connection, "1", 1);
 		return ERROR_OK;
-	}
-	else if (strstr(packet, "qOffsets"))
-	{
+	} 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 (strstr(packet, "qC"))
-	{
-		if( target->rtos!=NULL )
-		{
-			char buffer[15];
+	} 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) {
+			char buffer[19];
 			int size;
-			size = snprintf(buffer, 15, "QC%08X", (int)target->rtos->current_thread);
+			size = snprintf(buffer, 19, "QC%016" PRIx64, target->rtos->current_thread);
 			gdb_put_packet(connection, buffer, size);
-		}
-		else
-		{
+		} else
 			gdb_put_packet(connection, "QC0", 3);
-		}
 		return ERROR_OK;
-	}
-	else if ( packet[0] == 'T' ) // Is thread alive?
-	{
+	} 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)) {
+		if ((target->rtos) && (target->rtos->thread_details)) {
 			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) {
+			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
-		}
+		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))
-			sscanf(packet, "Hg%16" SCNx64, &target->rtos->current_threadid);
+	} else if (packet[0] == 'H') {	/* Set current thread ( 'c' for step and continue, 'g' for
+					 * all other operations ) */
+		if ((packet[1] == 'g') && (target->rtos)) {
+			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;
 	}
@@ -414,177 +460,249 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
 	return GDB_THREAD_PACKET_NOT_CONSUMED;
 }
 
-int rtos_get_gdb_reg_list(struct connection *connection)
+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 */
-	{
-		char * hex_reg_list;
-		target->rtos->type->get_thread_reg_list( target->rtos, current_threadid, &hex_reg_list );
-
-		if ( hex_reg_list != NULL )
-		{
-			gdb_put_packet(connection, hex_reg_list, strlen(hex_reg_list));
-			free(hex_reg_list);
-			return ERROR_OK;
+	if ((target->rtos) && (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) && (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_generic_stack_read( struct target * target, const struct rtos_register_stacking* stacking, int64_t stack_ptr, char ** hex_reg_list )
+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) &&
+			(target->rtos->type->set_reg) &&
+			(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 list_size = 0;
-	char * tmp_str_ptr;
-	int64_t new_stack_ptr;
-	int i;
 	int retval;
 
-	if ( stack_ptr == 0)
-	{
-		LOG_OUTPUT("Error: null stack pointer in thread\r\n");
+	if (stack_ptr == 0) {
+		LOG_ERROR("Error: null stack pointer in thread");
 		return -5;
 	}
-	// Read the stack
-	uint8_t * stack_data = (uint8_t*) malloc( stacking->stack_registers_size );
+	/* 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 )
-	{
-		LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
+	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_OUTPUT("Stack Data :");
-	for(i = 0; i < stacking->stack_registers_size; i++ )
-	{
-		LOG_OUTPUT("%02X",stack_data[i]);
-	}
-	LOG_OUTPUT("\r\n");
-*/
-	for( i = 0; i < stacking->num_output_registers; i++ )
-	{
-		list_size += stacking->register_offsets[i].width_bits/8;
-	}
-	*hex_reg_list = (char*)malloc( list_size*2 +1 );
-	tmp_str_ptr = *hex_reg_list;
-	new_stack_ptr = stack_ptr - stacking->stack_growth_direction * stacking->stack_registers_size;
-	if (stacking->stack_alignment != 0) {
-		/* Align new stack pointer to x byte boundary */
-		new_stack_ptr =
-			(new_stack_ptr & (~((int64_t) stacking->stack_alignment - 1))) +
-			((stacking->stack_growth_direction == -1) ? stacking->stack_alignment : 0);
+	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) {
+		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;
 	}
-	for( i = 0; i < stacking->num_output_registers; i++ )
-	{
-		int j;
-		for ( j = 0; j < stacking->register_offsets[i].width_bits/8; j++ )
-		{
-			if ( stacking->register_offsets[i].offset == -1 )
-			{
-				tmp_str_ptr += sprintf( tmp_str_ptr, "%02x", 0 );
-			}
-			else if ( stacking->register_offsets[i].offset == -2 )
-			{
-				tmp_str_ptr += sprintf( tmp_str_ptr, "%02x", ((uint8_t*)&new_stack_ptr)[j] );
-			}
-			else
-			{
-				tmp_str_ptr += sprintf( tmp_str_ptr,"%02x", stack_data[ stacking->register_offsets[i].offset + j ] );
-			}
-		}
+
+	*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);
 	}
-//	LOG_OUTPUT("Output register string: %s\r\n", *hex_reg_list);
+
+	free(stack_data);
+/*	LOG_OUTPUT("Output register string: %s\r\n", *hex_reg_list); */
 	return ERROR_OK;
 }
 
-int rtos_try_next( struct target * target )
+static int rtos_try_next(struct target *target)
 {
-	int x;
+	struct rtos *os = target->rtos;
+	struct rtos_type **type = rtos_types;
 
-	if ( target->rtos == NULL )
-	{
-		return -1;
-	}
+	if (!os)
+		return 0;
 
-	for (x = 0 ; rtos_types[x] ; x++) {
-		if (target->rtos->type == rtos_types[x] ) {
-			/* found */
-			if ( rtos_types[x+1] != NULL )
-			{
-				target->rtos->type = rtos_types[x+1];
-				if ( target->rtos->symbols != NULL )
-				{
-					free( target->rtos->symbols );
-				}
-				return 1;
-			}
-			else
-			{
-				// No more rtos types
-				return 0;
-			}
+	while (*type && os->type != *type)
+		type++;
 
-		}
-	}
-	return 0;
+	if (!*type || !*(++type))
+		return 0;
 
+	os->type = *type;
+
+	free(os->symbols);
+	os->symbols = NULL;
+
+	return 1;
 }
 
-static void hex_to_str( char* dst, char * hex_src )
+int rtos_update_threads(struct target *target)
 {
-	int src_pos = 0;
-	int dst_pos = 0;
-
-	while ( hex_src[src_pos] != '\x00' )
-	{
-		char hex_char = hex_src[src_pos];
-		char hex_digit_val = (hex_char>='a')?hex_char-'a'+10:(hex_char>='A')?hex_char-'A'+10:hex_char-'0';
-		if ( 0 == (src_pos & 0x01) )
-		{
-			dst[dst_pos] = hex_digit_val;
-			dst[dst_pos+1] = 0;
-		}
-		else
-		{
-			((unsigned char*)dst)[dst_pos] <<= 4;
-			((unsigned char*)dst)[dst_pos] += hex_digit_val;
-			dst_pos++;
-		}
-		src_pos++;
-	}
-
+	if ((target->rtos) && (target->rtos->type))
+		target->rtos->type->update_threads(target->rtos);
+	return ERROR_OK;
 }
 
-int str_to_hex(char *hex_dst, char *src)
+void rtos_free_threadlist(struct rtos *rtos)
 {
-	char * posptr = hex_dst;
-	unsigned i;
-	for( i = 0; i < strlen(src); i++)
-	{
-		posptr += sprintf( posptr, "%02x", (unsigned char)src[i] );
+	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;
 	}
-	return (posptr-hex_dst);
 }
 
+int rtos_read_buffer(struct target *target, target_addr_t address,
+		uint32_t size, uint8_t *buffer)
+{
+	if (target->rtos->type->read_buffer)
+		return target->rtos->type->read_buffer(target->rtos, address, size, buffer);
+	return ERROR_NOT_IMPLEMENTED;
+}
 
-int rtos_update_threads( struct target* target )
+int rtos_write_buffer(struct target *target, target_addr_t address,
+		uint32_t size, const uint8_t *buffer)
 {
-	if ((target->rtos != NULL) && (target->rtos->type != NULL))
-	{
-		target->rtos->type->update_threads(target->rtos);
-	}
-	return ERROR_OK;
+	if (target->rtos->type->write_buffer)
+		return target->rtos->type->write_buffer(target->rtos, address, size, buffer);
+	return ERROR_NOT_IMPLEMENTED;
 }