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openocd/src/rtos/ChibiOS.c

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/***************************************************************************
* Copyright (C) 2012 by Matthias Blaicher *
* Matthias Blaicher - matthias@blaicher.com *
* *
* 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, write to the *
* Free Software Foundation, Inc., *
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <helper/time_support.h>
#include <jtag/jtag.h>
#include "target/target.h"
#include "target/target_type.h"
#include "target/armv7m.h"
#include "target/cortex_m.h"
#include "rtos.h"
#include "helper/log.h"
#include "helper/types.h"
#include "rtos_chibios_stackings.h"
/**
* @brief ChibiOS/RT memory signature record.
*
* @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
*/
struct ChibiOS_chdebug {
char ch_identifier[4]; /**< @brief Always set to "main". */
uint8_t ch_zero; /**< @brief Must be zero. */
uint8_t ch_size; /**< @brief Size of this structure. */
uint16_t ch_version; /**< @brief Encoded ChibiOS/RT version. */
uint8_t ch_ptrsize; /**< @brief Size of a pointer. */
uint8_t ch_timesize; /**< @brief Size of a @p systime_t. */
uint8_t ch_threadsize; /**< @brief Size of a @p Thread struct. */
uint8_t cf_off_prio; /**< @brief Offset of @p p_prio field. */
uint8_t cf_off_ctx; /**< @brief Offset of @p p_ctx field. */
uint8_t cf_off_newer; /**< @brief Offset of @p p_newer field. */
uint8_t cf_off_older; /**< @brief Offset of @p p_older field. */
uint8_t cf_off_name; /**< @brief Offset of @p p_name field. */
uint8_t cf_off_stklimit; /**< @brief Offset of @p p_stklimit
field. */
uint8_t cf_off_state; /**< @brief Offset of @p p_state field. */
uint8_t cf_off_flags; /**< @brief Offset of @p p_flags field. */
uint8_t cf_off_refs; /**< @brief Offset of @p p_refs field. */
uint8_t cf_off_preempt; /**< @brief Offset of @p p_preempt
field. */
uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
};
#define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
#define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
#define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
/**
* @brief 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"
};
#define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
/* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
* chars ought to be enough.
*/
#define CHIBIOS_THREAD_NAME_STR_SIZE (64)
struct ChibiOS_params {
const char *target_name;
struct ChibiOS_chdebug *signature;
const struct rtos_register_stacking *stacking_info;
};
static struct ChibiOS_params ChibiOS_params_list[] = {
{
"cortex_m", /* target_name */
0,
NULL, /* stacking_info */
},
{
"hla_target", /* target_name */
0,
NULL, /* stacking_info */
}
};
#define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
static int ChibiOS_detect_rtos(struct target *target);
static int ChibiOS_create(struct target *target);
static int ChibiOS_update_threads(struct rtos *rtos);
static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
struct rtos_type ChibiOS_rtos = {
.name = "ChibiOS",
.detect_rtos = ChibiOS_detect_rtos,
.create = ChibiOS_create,
.update_threads = ChibiOS_update_threads,
.get_thread_reg_list = ChibiOS_get_thread_reg_list,
.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 = 1,
ChibiOS_VAL_ch_debug = 2,
ChibiOS_VAL_chSysInit = 3
};
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;
struct ChibiOS_params *param;
struct ChibiOS_chdebug *signature;
param = (struct ChibiOS_params *) rtos->rtos_specific_params;
/* Free existing memory description.*/
if (param->signature) {
free(param->signature);
param->signature = 0;
}
signature = malloc(sizeof(*signature));
if (!signature) {
LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
return -1;
}
retval = target_read_buffer(rtos->target,
rtos->symbols[ChibiOS_VAL_ch_debug].address,
sizeof(*signature),
(uint8_t *) signature);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
goto errfree;
}
if (strncmp(signature->ch_identifier, "main", 4) != 0) {
LOG_ERROR("Memory signature identifier does not contain magic bytes.");
goto errfree;
}
if (signature->ch_size < sizeof(*signature)) {
LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
"than expected");
goto errfree;
}
if (signature->ch_size > sizeof(*signature)) {
LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
" expected. Assuming compatibility...");
}
/* Convert endianness of version field */
const uint8_t *versionTarget = (const uint8_t *)
&signature->ch_version;
signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
const uint16_t ch_version = signature->ch_version;
LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
"running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
/* Currently, we have the inherent assumption that all address pointers
* are 32 bit wide. */
if (signature->ch_ptrsize != sizeof(uint32_t)) {
LOG_ERROR("ChibiOS/RT target memory signature claims an address"
"width unequal to 32 bits!");
free(signature);
return -1;
}
param->signature = signature;
return 0;
errfree:
/* Error reading the ChibiOS memory structure */
free(signature);
param->signature = 0;
return -1;
}
static int ChibiOS_update_stacking(struct rtos *rtos)
{
/* Sometimes the stacking can not be determined only by looking at the
* target name but only a runtime.
*
* For example, this is the case for Cortex-M4 targets and ChibiOS which
* only stack the FPU registers if it is enabled during ChibiOS build.
*
* Terminating which stacking is used is target depending.
*
* Assumptions:
* - Once ChibiOS is actually initialized, the stacking is fixed.
* - During startup code, the FPU might not be initialized and the
* detection might fail.
* - Since no threads are running during startup, the problem is solved
* by delaying stacking detection until there are more threads
* available than the current execution. In which case
* ChibiOS_get_thread_reg_list is called.
*/
int retval;
if (!rtos->rtos_specific_params)
return -1;
struct ChibiOS_params *param;
param = (struct ChibiOS_params *) rtos->rtos_specific_params;
/* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4 */
struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
if (is_armv7m(armv7m_target)) {
if (armv7m_target->fp_feature == FPv4_SP) {
/* Found ARM v7m target which includes a FPU */
uint32_t cpacr;
retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read CPACR register to check FPU state");
return -1;
}
/* Check if CP10 and CP11 are set to full access.
* In ChibiOS this is done in ResetHandler() in crt0.c */
if (cpacr & 0x00F00000) {
LOG_DEBUG("Enabled FPU detected.");
param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
return 0;
}
}
/* Found ARM v7m target with no or disabled FPU */
param->stacking_info = &rtos_chibios_arm_v7m_stacking;
return 0;
}
return -1;
}
static int ChibiOS_update_threads(struct rtos *rtos)
{
int retval;
const struct ChibiOS_params *param;
int tasks_found = 0;
int rtos_valid = -1;
if (!rtos->rtos_specific_params)
return -1;
if (!rtos->symbols) {
LOG_ERROR("No symbols for ChibiOS");
return -3;
}
param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
/* Update the memory signature saved in the target memory */
if (!param->signature) {
retval = ChibiOS_update_memory_signature(rtos);
if (retval != ERROR_OK) {
LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
return retval;
}
}
/* wipe out previous thread details if any */
rtos_free_threadlist(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 ?
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;
uint32_t older;
current = rlist;
previous = rlist;
while (1) {
retval = target_read_u32(rtos->target,
current + signature->cf_off_newer, &current);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read next ChibiOS thread");
return retval;
}
/* Could be NULL if the kernel is not initialized yet or if the
* registry is corrupted. */
if (current == 0) {
LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
rtos_valid = 0;
break;
}
/* Fetch previous thread in the list as a integrity check. */
retval = target_read_u32(rtos->target,
current + signature->cf_off_older, &older);
if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
LOG_ERROR("ChibiOS registry integrity check failed, "
"double linked list violation");
rtos_valid = 0;
break;
}
/* Check for full iteration of the linked list. */
if (current == rlist)
break;
tasks_found++;
previous = current;
}
if (!rtos_valid) {
/* No RTOS, there is always at least the current execution, though */
LOG_INFO("Only showing current execution because of a broken "
"ChibiOS thread registry.");
const char tmp_thread_name[] = "Current Execution";
const char tmp_thread_extra_info[] = "No RTOS thread";
rtos->thread_details = malloc(
sizeof(struct thread_detail));
rtos->thread_details->threadid = 1;
rtos->thread_details->exists = true;
rtos->thread_details->display_str = NULL;
rtos->thread_details->extra_info_str = malloc(
sizeof(tmp_thread_extra_info));
strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
rtos->thread_details->thread_name_str = malloc(
sizeof(tmp_thread_name));
strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
rtos->current_thread = 1;
rtos->thread_count = 1;
return ERROR_OK;
}
/* create space for new thread details */
rtos->thread_details = malloc(
sizeof(struct thread_detail) * tasks_found);
if (!rtos->thread_details) {
LOG_ERROR("Could not allocate space for thread details");
return -1;
}
rtos->thread_count = tasks_found;
/* Loop through linked list. */
struct thread_detail *curr_thrd_details = rtos->thread_details;
while (curr_thrd_details < rtos->thread_details + tasks_found) {
uint32_t name_ptr = 0;
char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
retval = target_read_u32(rtos->target,
current + signature->cf_off_newer, &current);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read next ChibiOS thread");
return -6;
}
/* Check for full iteration of the linked list. */
if (current == rlist)
break;
/* Save the thread pointer */
curr_thrd_details->threadid = current;
/* read the name pointer */
retval = target_read_u32(rtos->target,
current + signature->cf_off_name, &name_ptr);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read ChibiOS thread name pointer from target");
return retval;
}
/* Read the thread name */
retval = target_read_buffer(rtos->target, name_ptr,
CHIBIOS_THREAD_NAME_STR_SIZE,
(uint8_t *)&tmp_str);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading thread name from ChibiOS target");
return retval;
}
tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
if (tmp_str[0] == '\x00')
strcpy(tmp_str, "No Name");
curr_thrd_details->thread_name_str = malloc(
strlen(tmp_str) + 1);
strcpy(curr_thrd_details->thread_name_str, tmp_str);
/* State info */
uint8_t threadState;
const char *state_desc;
retval = target_read_u8(rtos->target,
current + signature->cf_off_state, &threadState);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading thread state from ChibiOS target");
return retval;
}
if (threadState < CHIBIOS_NUM_STATES)
state_desc = ChibiOS_thread_states[threadState];
else
state_desc = "Unknown state";
curr_thrd_details->extra_info_str = malloc(strlen(
state_desc)+1);
strcpy(curr_thrd_details->extra_info_str, state_desc);
curr_thrd_details->exists = true;
curr_thrd_details->display_str = NULL;
curr_thrd_details++;
}
uint32_t current_thrd;
/* NOTE: By design, cf_off_name equals readylist_current_offset */
retval = target_read_u32(rtos->target,
rlist + signature->cf_off_name,
&current_thrd);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read current Thread from ChibiOS target");
return retval;
}
rtos->current_thread = current_thrd;
return 0;
}
static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
{
int retval;
const struct ChibiOS_params *param;
uint32_t stack_ptr = 0;
*hex_reg_list = NULL;
if ((rtos == NULL) || (thread_id == 0) ||
(rtos->rtos_specific_params == NULL))
return -1;
param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
if (!param->signature)
return -1;
/* Update stacking if it can only be determined from runtime information */
if ((param->stacking_info == 0) &&
(ChibiOS_update_stacking(rtos) != ERROR_OK)) {
LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
return -1;
}
/* Read the stack pointer */
retval = target_read_u32(rtos->target,
thread_id + param->signature->cf_off_ctx, &stack_ptr);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading stack frame from ChibiOS thread");
return retval;
}
return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
}
static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
{
*symbol_list = malloc(sizeof(ChibiOS_symbol_list));
if (*symbol_list == NULL)
return ERROR_FAIL;
memcpy(*symbol_list, ChibiOS_symbol_list, sizeof(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_ch].address != 0)) &&
(target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
LOG_INFO("It looks like the target is running ChibiOS without "
"ch_debug.");
return 0;
}
/* looks like ChibiOS with memory map enabled.*/
return 1;
}
return 0;
}
static int ChibiOS_create(struct target *target)
{
int i = 0;
while ((i < CHIBIOS_NUM_PARAMS) &&
(0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
i++;
}
if (i >= CHIBIOS_NUM_PARAMS) {
LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
"list", target->type->name);
return -1;
}
target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
return 0;
}
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