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v0.10.0-rc1
openocd/src/rtos/FreeRTOS.c
Steven Stallion 50dd7207ea gdb_server: support qXfer:threads:read packet 
This patch adds support for the qXfer:threads:read packet. In addition
to providing a more efficient method of updating thread state, recent
versions of GDB (7.11.1 and up) can also report remote thread names.
While thread names are not enabled in this patch due to its limited
applicability at the moment, it can be enabled at a later date with
little effort.

As a part of revamping how threads are presented to GDB, extra info
strings for each of the supported RTOSes were updated to match
conventions present in the GDB source code. For more information, see
remote_threads_extra_info() in remote.c. This results in a much smoother
experience when interacting with GDB.

It is also worth mentioning that use of qXfer:threads:read works around
a number of regressions in older versions of GDB regarding remote thread
display. Trust me, it's great.

Change-Id: I97dd6a93c342ceb9b9d0023b6359db0e5604c6e6
Signed-off-by: Steven Stallion <stallion@squareup.com>
Reviewed-on: http://openocd.zylin.com/3559
Tested-by: jenkins
Reviewed-by: Tomas Vanek <vanekt@fbl.cz>
Reviewed-by: Paul Fertser <fercerpav@gmail.com>
2016-12-08 12:34:00 +00:00

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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, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#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->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].exists = true;
if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
char running_str[] = "State: 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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