rtos/ChibiOS: Fix some coding styles

Change-Id: I2648479df1a2dd95f8a57868c4ed4259e0fbbe11
Signed-off-by: Marc Schink <openocd-dev@marcschink.de>
Reviewed-on: http://openocd.zylin.com/4989
Tested-by: jenkins
Reviewed-by: Antonio Borneo <borneo.antonio@gmail.com>

1 files changed, 547 insertions, 0 deletions

diff --git a/src/rtos/chibios.c b/src/rtos/chibios.c
new file mode 100644
index 0000000..4d2b1b2
--- /dev/null
+++ b/src/rtos/chibios.c
@@ -0,0 +1,547 @@
+/***************************************************************************
+ *   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, 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 "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",
+"WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
+"WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "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 bool 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,
+		struct rtos_reg **reg_list, int *num_regs);
+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
+};
+
+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 */
+	{ 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 != FP_NONE) {
+			/* 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->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 thread_state;
+		const char *state_desc;
+
+		retval = target_read_u8(rtos->target,
+								current + signature->cf_off_state, &thread_state);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("Error reading thread state from ChibiOS target");
+			return retval;
+		}
+
+
+		if (thread_state < CHIBIOS_NUM_STATES)
+			state_desc = chibios_thread_states[thread_state];
+		else
+			state_desc = "Unknown";
+
+		curr_thrd_details->extra_info_str = malloc(strlen(
+					state_desc)+8);
+		sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc);
+
+		curr_thrd_details->exists = true;
+
+		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,
+		struct rtos_reg **reg_list, int *num_regs)
+{
+	int retval;
+	const struct chibios_params *param;
+	uint32_t stack_ptr = 0;
+
+	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, reg_list, num_regs);
+}
+
+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 bool 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))) {
+
+		if (target->rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address == 0) {
+			LOG_INFO("It looks like the target may be running ChibiOS "
+					"without ch_debug.");
+			return false;
+		}
+
+		/* looks like ChibiOS with memory map enabled.*/
+		return true;
+	}
+
+	return false;
+}
+
+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;
+}