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openocd/src/rtos/FreeRTOS.c

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/***************************************************************************
* 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 "rtos.h"
#include "helper/log.h"
#include "helper/types.h"
#include "rtos_standard_stackings.h"
#include "target/armv7m.h"
#include "target/cortex_m.h"
#define FREERTOS_MAX_PRIORITIES 63
#define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
struct FreeRTOS_params {
const char *target_name;
const unsigned char thread_count_width;
const unsigned char pointer_width;
const unsigned char list_next_offset;
const unsigned char list_width;
const unsigned char list_elem_next_offset;
const unsigned char list_elem_content_offset;
const unsigned char thread_stack_offset;
const unsigned char thread_name_offset;
const struct rtos_register_stacking *stacking_info_cm3;
const struct rtos_register_stacking *stacking_info_cm4f;
const struct rtos_register_stacking *stacking_info_cm4f_fpu;
};
static const struct FreeRTOS_params FreeRTOS_params_list[] = {
{
"cortex_m", /* target_name */
4, /* thread_count_width; */
4, /* pointer_width; */
16, /* list_next_offset; */
20, /* list_width; */
8, /* list_elem_next_offset; */
12, /* list_elem_content_offset */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_Cortex_M3_stacking, /* stacking_info */
&rtos_standard_Cortex_M4F_stacking,
&rtos_standard_Cortex_M4F_FPU_stacking,
},
{
"hla_target", /* target_name */
4, /* thread_count_width; */
4, /* pointer_width; */
16, /* list_next_offset; */
20, /* list_width; */
8, /* list_elem_next_offset; */
12, /* list_elem_content_offset */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_Cortex_M3_stacking, /* stacking_info */
&rtos_standard_Cortex_M4F_stacking,
&rtos_standard_Cortex_M4F_FPU_stacking,
},
{
"nds32_v3", /* target_name */
4, /* thread_count_width; */
4, /* pointer_width; */
16, /* list_next_offset; */
20, /* list_width; */
8, /* list_elem_next_offset; */
12, /* list_elem_content_offset */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_NDS32_N1068_stacking, /* stacking_info */
&rtos_standard_Cortex_M4F_stacking,
&rtos_standard_Cortex_M4F_FPU_stacking,
},
};
#define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
static int FreeRTOS_detect_rtos(struct target *target);
static int FreeRTOS_create(struct target *target);
static int FreeRTOS_update_threads(struct rtos *rtos);
static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
struct rtos_type FreeRTOS_rtos = {
.name = "FreeRTOS",
.detect_rtos = FreeRTOS_detect_rtos,
.create = FreeRTOS_create,
.update_threads = FreeRTOS_update_threads,
.get_thread_reg_list = FreeRTOS_get_thread_reg_list,
.get_symbol_list_to_lookup = FreeRTOS_get_symbol_list_to_lookup,
};
enum FreeRTOS_symbol_values {
FreeRTOS_VAL_pxCurrentTCB = 0,
FreeRTOS_VAL_pxReadyTasksLists = 1,
FreeRTOS_VAL_xDelayedTaskList1 = 2,
FreeRTOS_VAL_xDelayedTaskList2 = 3,
FreeRTOS_VAL_pxDelayedTaskList = 4,
FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
FreeRTOS_VAL_xPendingReadyList = 6,
FreeRTOS_VAL_xTasksWaitingTermination = 7,
FreeRTOS_VAL_xSuspendedTaskList = 8,
FreeRTOS_VAL_uxCurrentNumberOfTasks = 9,
FreeRTOS_VAL_uxTopUsedPriority = 10,
};
struct symbols {
const char *name;
bool optional;
};
static const struct symbols FreeRTOS_symbol_list[] = {
{ "pxCurrentTCB", false },
{ "pxReadyTasksLists", false },
{ "xDelayedTaskList1", false },
{ "xDelayedTaskList2", false },
{ "pxDelayedTaskList", false },
{ "pxOverflowDelayedTaskList", false },
{ "xPendingReadyList", false },
{ "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
{ "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
{ "uxCurrentNumberOfTasks", false },
{ "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
{ NULL, false }
};
/* TODO: */
/* this is not safe for little endian yet */
/* may be problems reading if sizes are not 32 bit long integers. */
/* test mallocs for failure */
static int FreeRTOS_update_threads(struct rtos *rtos)
{
int i = 0;
int retval;
int tasks_found = 0;
const struct FreeRTOS_params *param;
if (rtos->rtos_specific_params == NULL)
return -1;
param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
if (rtos->symbols == NULL) {
LOG_ERROR("No symbols for FreeRTOS");
return -3;
}
if (rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0) {
LOG_ERROR("Don't have the number of threads in FreeRTOS");
return -2;
}
int thread_list_size = 0;
retval = target_read_buffer(rtos->target,
rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
param->thread_count_width,
(uint8_t *)&thread_list_size);
LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %d\r\n",
rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
thread_list_size);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read FreeRTOS thread count from target");
return retval;
}
/* wipe out previous thread details if any */
rtos_free_threadlist(rtos);
/* read the current thread */
retval = target_read_buffer(rtos->target,
rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
param->pointer_width,
(uint8_t *)&rtos->current_thread);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading current thread in FreeRTOS thread list");
return retval;
}
LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
rtos->current_thread);
if ((thread_list_size == 0) || (rtos->current_thread == 0)) {
/* Either : No RTOS threads - there is always at least the current execution though */
/* OR : No current thread - all threads suspended - show the current execution
* of idling */
char tmp_str[] = "Current Execution";
thread_list_size++;
tasks_found++;
rtos->thread_details = malloc(
sizeof(struct thread_detail) * thread_list_size);
if (!rtos->thread_details) {
LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
return ERROR_FAIL;
}
rtos->thread_details->threadid = 1;
rtos->thread_details->exists = true;
rtos->thread_details->display_str = NULL;
rtos->thread_details->extra_info_str = NULL;
rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
strcpy(rtos->thread_details->thread_name_str, tmp_str);
if (thread_list_size == 1) {
rtos->thread_count = 1;
return ERROR_OK;
}
} else {
/* create space for new thread details */
rtos->thread_details = malloc(
sizeof(struct thread_detail) * thread_list_size);
if (!rtos->thread_details) {
LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
return ERROR_FAIL;
}
}
/* Find out how many lists are needed to be read from pxReadyTasksLists, */
if (rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address == 0) {
LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
return ERROR_FAIL;
}
int64_t max_used_priority = 0;
retval = target_read_buffer(rtos->target,
rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
param->pointer_width,
(uint8_t *)&max_used_priority);
if (retval != ERROR_OK)
return retval;
LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRId64 "\r\n",
rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
max_used_priority);
if (max_used_priority > FREERTOS_MAX_PRIORITIES) {
LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "",
max_used_priority);
return ERROR_FAIL;
}
symbol_address_t *list_of_lists =
malloc(sizeof(symbol_address_t) *
(max_used_priority+1 + 5));
if (!list_of_lists) {
LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
return ERROR_FAIL;
}
int num_lists;
for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
num_lists * param->list_width;
list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
for (i = 0; i < num_lists; i++) {
if (list_of_lists[i] == 0)
continue;
/* Read the number of threads in this list */
int64_t list_thread_count = 0;
retval = target_read_buffer(rtos->target,
list_of_lists[i],
param->thread_count_width,
(uint8_t *)&list_thread_count);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64 ", value %" PRId64 "\r\n",
i, list_of_lists[i], list_thread_count);
if (list_thread_count == 0)
continue;
/* Read the location of first list item */
uint64_t prev_list_elem_ptr = -1;
uint64_t list_elem_ptr = 0;
retval = target_read_buffer(rtos->target,
list_of_lists[i] + param->list_next_offset,
param->pointer_width,
(uint8_t *)&list_elem_ptr);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
(list_elem_ptr != prev_list_elem_ptr) &&
(tasks_found < thread_list_size)) {
/* Get the location of the thread structure. */
rtos->thread_details[tasks_found].threadid = 0;
retval = target_read_buffer(rtos->target,
list_elem_ptr + param->list_elem_content_offset,
param->pointer_width,
(uint8_t *)&(rtos->thread_details[tasks_found].threadid));
if (retval != ERROR_OK) {
LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
list_elem_ptr + param->list_elem_content_offset,
rtos->thread_details[tasks_found].threadid);
/* get thread name */
#define FREERTOS_THREAD_NAME_STR_SIZE (200)
char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
/* Read the thread name */
retval = target_read_buffer(rtos->target,
rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
FREERTOS_THREAD_NAME_STR_SIZE,
(uint8_t *)&tmp_str);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value \"%s\"\r\n",
rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
tmp_str);
if (tmp_str[0] == '\x00')
strcpy(tmp_str, "No Name");
rtos->thread_details[tasks_found].thread_name_str =
malloc(strlen(tmp_str)+1);
strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
rtos->thread_details[tasks_found].display_str = NULL;
rtos->thread_details[tasks_found].exists = true;
if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
char running_str[] = "Running";
rtos->thread_details[tasks_found].extra_info_str = malloc(
sizeof(running_str));
strcpy(rtos->thread_details[tasks_found].extra_info_str,
running_str);
} else
rtos->thread_details[tasks_found].extra_info_str = NULL;
tasks_found++;
list_thread_count--;
prev_list_elem_ptr = list_elem_ptr;
list_elem_ptr = 0;
retval = target_read_buffer(rtos->target,
prev_list_elem_ptr + param->list_elem_next_offset,
param->pointer_width,
(uint8_t *)&list_elem_ptr);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
prev_list_elem_ptr + param->list_elem_next_offset,
list_elem_ptr);
}
}
free(list_of_lists);
rtos->thread_count = tasks_found;
return 0;
}
static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
{
int retval;
const struct FreeRTOS_params *param;
int64_t stack_ptr = 0;
*hex_reg_list = NULL;
if (rtos == NULL)
return -1;
if (thread_id == 0)
return -2;
if (rtos->rtos_specific_params == NULL)
return -1;
param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
/* Read the stack pointer */
retval = target_read_buffer(rtos->target,
thread_id + param->thread_stack_offset,
param->pointer_width,
(uint8_t *)&stack_ptr);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading stack frame from FreeRTOS thread");
return retval;
}
LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
thread_id + param->thread_stack_offset,
stack_ptr);
/* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
int cm4_fpu_enabled = 0;
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. */
if (cpacr & 0x00F00000) {
/* Found target with enabled FPU */
cm4_fpu_enabled = 1;
}
}
}
if (cm4_fpu_enabled == 1) {
/* Read the LR to decide between stacking with or without FPU */
uint32_t LR_svc = 0;
retval = target_read_buffer(rtos->target,
stack_ptr + 0x20,
param->pointer_width,
(uint8_t *)&LR_svc);
if (retval != ERROR_OK) {
LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
return retval;
}
if ((LR_svc & 0x10) == 0)
return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, hex_reg_list);
else
return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, hex_reg_list);
} else
return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, hex_reg_list);
}
static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
{
unsigned int i;
*symbol_list = calloc(
ARRAY_SIZE(FreeRTOS_symbol_list), sizeof(symbol_table_elem_t));
for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++) {
(*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i].name;
(*symbol_list)[i].optional = FreeRTOS_symbol_list[i].optional;
}
return 0;
}
#if 0
static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
{
return 0;
}
static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
{
int retval;
const struct FreeRTOS_params *param;
if (rtos == NULL)
return -1;
if (thread_id == 0)
return -2;
if (rtos->rtos_specific_params == NULL)
return -3;
param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
#define FREERTOS_THREAD_NAME_STR_SIZE (200)
char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
/* Read the thread name */
retval = target_read_buffer(rtos->target,
thread_id + param->thread_name_offset,
FREERTOS_THREAD_NAME_STR_SIZE,
(uint8_t *)&tmp_str);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
return retval;
}
tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
if (tmp_str[0] == '\x00')
strcpy(tmp_str, "No Name");
*info = malloc(strlen(tmp_str)+1);
strcpy(*info, tmp_str);
return 0;
}
#endif
static int FreeRTOS_detect_rtos(struct target *target)
{
if ((target->rtos->symbols != NULL) &&
(target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
/* looks like FreeRTOS */
return 1;
}
return 0;
}
static int FreeRTOS_create(struct target *target)
{
int i = 0;
while ((i < FREERTOS_NUM_PARAMS) &&
(0 != strcmp(FreeRTOS_params_list[i].target_name, target->type->name))) {
i++;
}
if (i >= FREERTOS_NUM_PARAMS) {
LOG_ERROR("Could not find target in FreeRTOS compatibility list");
return -1;
}
target->rtos->rtos_specific_params = (void *) &FreeRTOS_params_list[i];
return 0;
}
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