rtos: add support for NuttX
This patch introduces RTOS support for NuttX. Currently, only ARM Cortex-M (both FPU and FPU-less) targets are supported. To use, add the following lines to ~/.gdbinit. define hookpost-file eval "monitor nuttx.pid_offset %d", &((struct tcb_s *)(0))->pid eval "monitor nuttx.xcpreg_offset %d", &((struct tcb_s *)(0))->xcp.regs eval "monitor nuttx.state_offset %d", &((struct tcb_s *)(0))->task_state eval "monitor nuttx.name_offset %d", &((struct tcb_s *)(0))->name eval "monitor nuttx.name_size %d", sizeof(((struct tcb_s *)(0))->name) end And please make sure the above values are the same as in src/rtos/nuttx_header.h Change-Id: I2aaf8644d24dfb84b500516a9685382d5d8fe48f Signed-off-by: Masayuki Ishikawa <Masayuki.Ishikawa@jp.sony.com> Signed-off-by: Masatoshi Tateishi <Masatoshi.Tateishi@jp.sony.com> Signed-off-by: Nobuto Kobayashi <Nobuto.Kobayashi@sony.com> Reviewed-on: http://openocd.zylin.com/4103 Tested-by: jenkins Reviewed-by: Alan Carvalho de Assis <acassis@gmail.com> Reviewed-by: Tomas Vanek <vanekt@fbl.cz>
This commit is contained in:
Masatoshi Tateishi
Tomas Vanek
parent
7ce8624dbf
commit
9ec306e95a
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@ -4441,7 +4441,7 @@ The value should normally correspond to a static mapping for the
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@item @code{-rtos} @var{rtos_type} -- enable rtos support for target,
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@var{rtos_type} can be one of @option{auto}, @option{eCos},
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@option{ThreadX}, @option{FreeRTOS}, @option{linux}, @option{ChibiOS},
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@option{embKernel}, @option{mqx}, @option{uCOS-III}
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@option{embKernel}, @option{mqx}, @option{uCOS-III}, @option{nuttx}
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@xref{gdbrtossupport,,RTOS Support}.
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@item @code{-defer-examine} -- skip target examination at initial JTAG chain
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@ -9806,6 +9806,7 @@ Currently supported rtos's include:
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@item @option{embKernel}
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@item @option{mqx}
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@item @option{uCOS-III}
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@item @option{nuttx}
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@end itemize
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@quotation Note
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@ -9841,6 +9842,8 @@ Rtos::sListSuspended, Rtos::sMaxPriorities, Rtos::sCurrentTaskCount.
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_mqx_kernel_data, MQX_init_struct.
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@item uC/OS-III symbols
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OSRunning, OSTCBCurPtr, OSTaskDbgListPtr, OSTaskQty
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@item nuttx symbols
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g_readytorun, g_tasklisttable
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@end table
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For most RTOS supported the above symbols will be exported by default. However for
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@ -15,6 +15,7 @@ noinst_LTLIBRARIES += %D%/librtos.la
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%D%/embKernel.c \
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%D%/mqx.c \
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%D%/uCOS-III.c \
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%D%/nuttx.c \
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%D%/rtos.h \
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%D%/rtos_standard_stackings.h \
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%D%/rtos_ecos_stackings.h \
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@ -22,7 +23,8 @@ noinst_LTLIBRARIES += %D%/librtos.la
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%D%/rtos_chibios_stackings.h \
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%D%/rtos_embkernel_stackings.h \
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%D%/rtos_mqx_stackings.h \
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%D%/rtos_ucos_iii_stackings.h
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%D%/rtos_ucos_iii_stackings.h \
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%D%/nuttx_header.h
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%C%_librtos_la_CFLAGS = $(AM_CFLAGS)
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@ -0,0 +1,405 @@
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/***************************************************************************
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* Copyright 2016,2017 Sony Video & Sound Products Inc. *
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* Masatoshi Tateishi - Masatoshi.Tateishi@jp.sony.com *
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* Masayuki Ishikawa - Masayuki.Ishikawa@jp.sony.com *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <jtag/jtag.h>
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#include "target/target.h"
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#include "target/target_type.h"
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#include "target/armv7m.h"
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#include "target/cortex_m.h"
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#include "rtos.h"
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#include "helper/log.h"
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#include "helper/types.h"
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#include "server/gdb_server.h"
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#include "nuttx_header.h"
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int rtos_thread_packet(struct connection *connection, const char *packet, int packet_size);
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#ifdef CONFIG_DISABLE_SIGNALS
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#define SIG_QUEUE_NUM 0
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#else
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#define SIG_QUEUE_NUM 1
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#endif /* CONFIG_DISABLE_SIGNALS */
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#ifdef CONFIG_DISABLE_MQUEUE
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#define M_QUEUE_NUM 0
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#else
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#define M_QUEUE_NUM 2
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#endif /* CONFIG_DISABLE_MQUEUE */
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#ifdef CONFIG_PAGING
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#define PAGING_QUEUE_NUM 1
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#else
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#define PAGING_QUEUE_NUM 0
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#endif /* CONFIG_PAGING */
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#define TASK_QUEUE_NUM (6 + SIG_QUEUE_NUM + M_QUEUE_NUM + PAGING_QUEUE_NUM)
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/* see nuttx/sched/os_start.c */
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static char *nuttx_symbol_list[] = {
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"g_readytorun", /* 0: must be top of this array */
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"g_tasklisttable",
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NULL
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};
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/* see nuttx/include/nuttx/sched.h */
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struct tcb {
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uint32_t flink;
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uint32_t blink;
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uint8_t dat[512];
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};
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struct {
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uint32_t addr;
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uint32_t prio;
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} g_tasklist[TASK_QUEUE_NUM];
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static char *task_state_str[] = {
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"INVALID",
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"PENDING",
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"READYTORUN",
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"RUNNING",
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"INACTIVE",
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"WAIT_SEM",
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#ifndef CONFIG_DISABLE_SIGNALS
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"WAIT_SIG",
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#endif /* CONFIG_DISABLE_SIGNALS */
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#ifndef CONFIG_DISABLE_MQUEUE
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"WAIT_MQNOTEMPTY",
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"WAIT_MQNOTFULL",
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#endif /* CONFIG_DISABLE_MQUEUE */
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#ifdef CONFIG_PAGING
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"WAIT_PAGEFILL",
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#endif /* CONFIG_PAGING */
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};
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/* see arch/arm/include/armv7-m/irq_cmnvector.h */
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static const struct stack_register_offset nuttx_stack_offsets_cortex_m[] = {
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{ 0x28, 32 }, /* r0 */
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{ 0x2c, 32 }, /* r1 */
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{ 0x30, 32 }, /* r2 */
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{ 0x34, 32 }, /* r3 */
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{ 0x08, 32 }, /* r4 */
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{ 0x0c, 32 }, /* r5 */
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{ 0x10, 32 }, /* r6 */
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{ 0x14, 32 }, /* r7 */
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{ 0x18, 32 }, /* r8 */
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{ 0x1c, 32 }, /* r9 */
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{ 0x20, 32 }, /* r10 */
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{ 0x24, 32 }, /* r11 */
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{ 0x38, 32 }, /* r12 */
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{ 0, 32 }, /* sp */
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{ 0x3c, 32 }, /* lr */
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{ 0x40, 32 }, /* pc */
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{ 0x44, 32 }, /* xPSR */
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};
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static const struct rtos_register_stacking nuttx_stacking_cortex_m = {
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0x48, /* stack_registers_size */
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-1, /* stack_growth_direction */
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17, /* num_output_registers */
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0, /* stack_alignment */
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nuttx_stack_offsets_cortex_m /* register_offsets */
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};
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static const struct stack_register_offset nuttx_stack_offsets_cortex_m_fpu[] = {
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{ 0x6c, 32 }, /* r0 */
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{ 0x70, 32 }, /* r1 */
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{ 0x74, 32 }, /* r2 */
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{ 0x78, 32 }, /* r3 */
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{ 0x08, 32 }, /* r4 */
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{ 0x0c, 32 }, /* r5 */
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{ 0x10, 32 }, /* r6 */
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{ 0x14, 32 }, /* r7 */
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{ 0x18, 32 }, /* r8 */
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{ 0x1c, 32 }, /* r9 */
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{ 0x20, 32 }, /* r10 */
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{ 0x24, 32 }, /* r11 */
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{ 0x7c, 32 }, /* r12 */
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{ 0, 32 }, /* sp */
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{ 0x80, 32 }, /* lr */
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{ 0x84, 32 }, /* pc */
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{ 0x88, 32 }, /* xPSR */
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};
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static const struct rtos_register_stacking nuttx_stacking_cortex_m_fpu = {
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0x8c, /* stack_registers_size */
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-1, /* stack_growth_direction */
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17, /* num_output_registers */
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0, /* stack_alignment */
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nuttx_stack_offsets_cortex_m_fpu /* register_offsets */
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};
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static int pid_offset = PID;
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static int state_offset = STATE;
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static int name_offset = NAME;
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static int xcpreg_offset = XCPREG;
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static int name_size = NAME_SIZE;
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static int rcmd_offset(const char *cmd, const char *name)
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{
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if (strncmp(cmd, name, strlen(name)))
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return -1;
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if (strlen(cmd) <= strlen(name) + 1)
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return -1;
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return atoi(cmd + strlen(name));
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}
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static int nuttx_thread_packet(struct connection *connection,
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char const *packet, int packet_size)
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{
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char cmd[GDB_BUFFER_SIZE / 2] = "";
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if (!strncmp(packet, "qRcmd", 5)) {
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size_t len = unhexify((uint8_t *)cmd, packet + 6, sizeof(cmd));
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int offset;
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if (len <= 0)
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goto pass;
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offset = rcmd_offset(cmd, "nuttx.pid_offset");
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if (offset >= 0) {
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LOG_INFO("pid_offset: %d", offset);
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pid_offset = offset;
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goto retok;
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}
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offset = rcmd_offset(cmd, "nuttx.state_offset");
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if (offset >= 0) {
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LOG_INFO("state_offset: %d", offset);
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state_offset = offset;
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goto retok;
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}
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offset = rcmd_offset(cmd, "nuttx.name_offset");
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if (offset >= 0) {
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LOG_INFO("name_offset: %d", offset);
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name_offset = offset;
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goto retok;
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}
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offset = rcmd_offset(cmd, "nuttx.xcpreg_offset");
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if (offset >= 0) {
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LOG_INFO("xcpreg_offset: %d", offset);
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xcpreg_offset = offset;
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goto retok;
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}
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offset = rcmd_offset(cmd, "nuttx.name_size");
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if (offset >= 0) {
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LOG_INFO("name_size: %d", offset);
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name_size = offset;
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goto retok;
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}
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}
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pass:
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return rtos_thread_packet(connection, packet, packet_size);
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retok:
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gdb_put_packet(connection, "OK", 2);
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return ERROR_OK;
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}
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static bool nuttx_detect_rtos(struct target *target)
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{
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if ((target->rtos->symbols != NULL) &&
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(target->rtos->symbols[0].address != 0) &&
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(target->rtos->symbols[1].address != 0)) {
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return true;
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}
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return false;
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}
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static int nuttx_create(struct target *target)
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{
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target->rtos->gdb_thread_packet = nuttx_thread_packet;
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LOG_INFO("target type name = %s", target->type->name);
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return 0;
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}
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static int nuttx_update_threads(struct rtos *rtos)
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{
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uint32_t thread_count;
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struct tcb tcb;
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int ret;
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uint32_t head;
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uint32_t tcb_addr;
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uint32_t i;
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uint8_t state;
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if (rtos->symbols == NULL) {
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LOG_ERROR("No symbols for NuttX");
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return -3;
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}
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/* free previous thread details */
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rtos_free_threadlist(rtos);
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ret = target_read_buffer(rtos->target, rtos->symbols[1].address,
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sizeof(g_tasklist), (uint8_t *)&g_tasklist);
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if (ret) {
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LOG_ERROR("target_read_buffer : ret = %d\n", ret);
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return ERROR_FAIL;
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}
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thread_count = 0;
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for (i = 0; i < TASK_QUEUE_NUM; i++) {
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if (g_tasklist[i].addr == 0)
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continue;
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ret = target_read_u32(rtos->target, g_tasklist[i].addr,
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&head);
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if (ret) {
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LOG_ERROR("target_read_u32 : ret = %d\n", ret);
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return ERROR_FAIL;
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}
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/* readytorun head is current thread */
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if (g_tasklist[i].addr == rtos->symbols[0].address)
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rtos->current_thread = head;
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tcb_addr = head;
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while (tcb_addr) {
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struct thread_detail *thread;
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ret = target_read_buffer(rtos->target, tcb_addr,
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sizeof(tcb), (uint8_t *)&tcb);
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if (ret) {
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LOG_ERROR("target_read_buffer : ret = %d\n",
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ret);
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return ERROR_FAIL;
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}
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thread_count++;
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rtos->thread_details = realloc(rtos->thread_details,
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sizeof(struct thread_detail) * thread_count);
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thread = &rtos->thread_details[thread_count - 1];
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thread->threadid = tcb_addr;
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thread->exists = true;
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state = tcb.dat[state_offset - 8];
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thread->extra_info_str = NULL;
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if (state < sizeof(task_state_str)/sizeof(char *)) {
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thread->extra_info_str = malloc(256);
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snprintf(thread->extra_info_str, 256, "pid:%d, %s",
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tcb.dat[pid_offset - 8] |
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tcb.dat[pid_offset - 8 + 1] << 8,
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task_state_str[state]);
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}
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if (name_offset) {
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thread->thread_name_str = malloc(name_size + 1);
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snprintf(thread->thread_name_str, name_size,
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"%s", (char *)&tcb.dat[name_offset - 8]);
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} else {
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thread->thread_name_str = malloc(sizeof("None"));
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strcpy(thread->thread_name_str, "None");
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}
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tcb_addr = tcb.flink;
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}
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}
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rtos->thread_count = thread_count;
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return 0;
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}
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/*
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* thread_id = tcb address;
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*/
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static int nuttx_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
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char **hex_reg_list) {
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int retval;
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*hex_reg_list = NULL;
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/* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
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bool cm4_fpu_enabled = false;
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struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
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if (is_armv7m(armv7m_target)) {
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if (armv7m_target->fp_feature == FPv4_SP) {
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/* Found ARM v7m target which includes a FPU */
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uint32_t cpacr;
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retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
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if (retval != ERROR_OK) {
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LOG_ERROR("Could not read CPACR register to check FPU state");
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return -1;
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}
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/* Check if CP10 and CP11 are set to full access. */
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if (cpacr & 0x00F00000) {
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/* Found target with enabled FPU */
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cm4_fpu_enabled = 1;
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}
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}
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}
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const struct rtos_register_stacking *stacking;
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if (cm4_fpu_enabled)
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stacking = &nuttx_stacking_cortex_m_fpu;
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else
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stacking = &nuttx_stacking_cortex_m;
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return rtos_generic_stack_read(rtos->target, stacking,
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(uint32_t)thread_id + xcpreg_offset, hex_reg_list);
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}
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static int nuttx_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
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{
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unsigned int i;
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*symbol_list = (symbol_table_elem_t *) calloc(1,
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sizeof(symbol_table_elem_t) * ARRAY_SIZE(nuttx_symbol_list));
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for (i = 0; i < ARRAY_SIZE(nuttx_symbol_list); i++)
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(*symbol_list)[i].symbol_name = nuttx_symbol_list[i];
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return 0;
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}
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struct rtos_type nuttx_rtos = {
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.name = "nuttx",
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.detect_rtos = nuttx_detect_rtos,
|
||||
.create = nuttx_create,
|
||||
.update_threads = nuttx_update_threads,
|
||||
.get_thread_reg_list = nuttx_get_thread_reg_list,
|
||||
.get_symbol_list_to_lookup = nuttx_get_symbol_list_to_lookup,
|
||||
};
|
||||
|
||||
|
|
@ -0,0 +1,71 @@
|
|||
/***************************************************************************
|
||||
* Copyright 2016,2017 Sony Video & Sound Products Inc. *
|
||||
* Masatoshi Tateishi - Masatoshi.Tateishi@jp.sony.com *
|
||||
* Masayuki Ishikawa - Masayuki.Ishikawa@jp.sony.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/>. *
|
||||
***************************************************************************/
|
||||
|
||||
#ifndef OPENOCD_RTOS_NUTTX_HEADER_H
|
||||
#define OPENOCD_RTOS_NUTTX_HEADER_H
|
||||
|
||||
/* gdb script to update the header file
|
||||
according to kernel version and build option
|
||||
before executing function awareness
|
||||
kernel symbol must be loaded : symbol nuttx
|
||||
|
||||
define awareness
|
||||
set logging off
|
||||
set logging file nuttx_header.h
|
||||
set logging on
|
||||
|
||||
printf "#define PID %p\n",&((struct tcb_s *)(0))->pid
|
||||
printf "#define XCPREG %p\n",&((struct tcb_s *)(0))->xcp.regs
|
||||
printf "#define STATE %p\n",&((struct tcb_s *)(0))->task_state
|
||||
printf "#define NAME %p\n",&((struct tcb_s *)(0))->name
|
||||
printf "#define NAME_SIZE %d\n",sizeof(((struct tcb_s *)(0))->name)
|
||||
end
|
||||
|
||||
|
||||
OR ~/.gdbinit
|
||||
|
||||
|
||||
define hookpost-file
|
||||
|
||||
if &g_readytorun != 0
|
||||
eval "monitor nuttx.pid_offset %d", &((struct tcb_s *)(0))->pid
|
||||
eval "monitor nuttx.xcpreg_offset %d", &((struct tcb_s *)(0))->xcp.regs
|
||||
eval "monitor nuttx.state_offset %d", &((struct tcb_s *)(0))->task_state
|
||||
eval "monitor nuttx.name_offset %d", &((struct tcb_s *)(0))->name
|
||||
eval "monitor nuttx.name_size %d", sizeof(((struct tcb_s *)(0))->name)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
*/
|
||||
|
||||
/* default offset */
|
||||
#define PID 0xc
|
||||
#define XCPREG 0x70
|
||||
#define STATE 0x19
|
||||
#define NAME 0xb8
|
||||
#define NAME_SIZE 32
|
||||
|
||||
/* defconfig of nuttx */
|
||||
/* #define CONFIG_DISABLE_SIGNALS */
|
||||
#define CONFIG_DISABLE_MQUEUE
|
||||
/* #define CONFIG_PAGING */
|
||||
|
||||
|
||||
#endif /* OPENOCD_RTOS_NUTTX_HEADER_H */
|
||||
|
|
@ -35,6 +35,7 @@ extern struct rtos_type ChibiOS_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;
|
||||
|
||||
static struct rtos_type *rtos_types[] = {
|
||||
&ThreadX_rtos,
|
||||
|
|
@ -45,6 +46,7 @@ static struct rtos_type *rtos_types[] = {
|
|||
&embKernel_rtos,
|
||||
&mqx_rtos,
|
||||
&uCOS_III_rtos,
|
||||
&nuttx_rtos,
|
||||
NULL
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue