Merge pull request #62 from riscv/riscv64

Merge mainline OpenOCD

12 files changed, 675 insertions, 63 deletions

diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c
index 00e9df7..1bc1af8 100644
--- a/src/rtos/ChibiOS.c
+++ b/src/rtos/ChibiOS.c
@@ -440,11 +440,11 @@ static int ChibiOS_update_threads(struct rtos *rtos)
 		if (threadState < CHIBIOS_NUM_STATES)
 			state_desc = ChibiOS_thread_states[threadState];
 		else
-			state_desc = "Unknown state";
+			state_desc = "Unknown";
 
 		curr_thrd_details->extra_info_str = malloc(strlen(
-					state_desc)+1);
-		strcpy(curr_thrd_details->extra_info_str, state_desc);
+					state_desc)+8);
+		sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc);
 
 		curr_thrd_details->exists = true;
 
diff --git a/src/rtos/FreeRTOS.c b/src/rtos/FreeRTOS.c
index 52cebad..83961eb 100644
--- a/src/rtos/FreeRTOS.c
+++ b/src/rtos/FreeRTOS.c
@@ -362,7 +362,7 @@ static int FreeRTOS_update_threads(struct rtos *rtos)
 			rtos->thread_details[tasks_found].exists = true;
 
 			if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
-				char running_str[] = "Running";
+				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,
diff --git a/src/rtos/Makefile.am b/src/rtos/Makefile.am
index a7dab00..22f7da5 100644
--- a/src/rtos/Makefile.am
+++ b/src/rtos/Makefile.am
@@ -1,32 +1,34 @@
-# ***************************************************************************
-# *   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/>. *
-# ***************************************************************************
+noinst_LTLIBRARIES += %D%/librtos.la
+%C%_librtos_la_SOURCES = \
+	%D%/rtos.c \
+	%D%/rtos_standard_stackings.c \
+	%D%/rtos_ecos_stackings.c  \
+	%D%/rtos_chibios_stackings.c \
+	%D%/rtos_embkernel_stackings.c \
+	%D%/rtos_mqx_stackings.c \
+	%D%/rtos_ucos_iii_stackings.c \
+	%D%/FreeRTOS.c \
+	%D%/ThreadX.c \
+	%D%/eCos.c \
+	%D%/linux.c \
+	%D%/ChibiOS.c \
+	%D%/embKernel.c \
+	%D%/mqx.c \
+	%D%/riscv_debug.c \
+	%D%/uCOS-III.c \
+	%D%/rtos.h \
+	%D%/rtos_standard_stackings.h \
+	%D%/rtos_ecos_stackings.h \
+	%D%/linux_header.h \
+	%D%/rtos_chibios_stackings.h \
+	%D%/rtos_embkernel_stackings.h \
+	%D%/rtos_mqx_stackings.h \
+	%D%/rtos_ucos_iii_stackings.h \
+	%D%/riscv_debug.h
 
-include $(top_srcdir)/common.mk
+%C%_librtos_la_CFLAGS = $(AM_CFLAGS)
 
-METASOURCES = AUTO
-noinst_LTLIBRARIES = librtos.la
-noinst_HEADERS = rtos.h rtos_standard_stackings.h rtos_ecos_stackings.h linux_header.h rtos_chibios_stackings.h rtos_embkernel_stackings.h rtos_mqx_stackings.h riscv_debug.h
-librtos_la_SOURCES = rtos.c rtos_standard_stackings.c rtos_ecos_stackings.c  rtos_chibios_stackings.c rtos_embkernel_stackings.c rtos_mqx_stackings.c FreeRTOS.c ThreadX.c eCos.c linux.c ChibiOS.c embKernel.c mqx.c riscv_debug.c
-
-librtos_la_CFLAGS =
 if IS_MINGW
 # FD_* macros are sloppy with their signs on MinGW32 platform
-librtos_la_CFLAGS += -Wno-sign-compare
+%C%_librtos_la_CFLAGS += -Wno-sign-compare
 endif
-
-MAINTAINERCLEANFILES = $(srcdir)/Makefile.in
diff --git a/src/rtos/ThreadX.c b/src/rtos/ThreadX.c
index 8267b9f..ab8a66e 100644
--- a/src/rtos/ThreadX.c
+++ b/src/rtos/ThreadX.c
@@ -408,8 +408,8 @@ static int ThreadX_update_threads(struct rtos *rtos)
 			state_desc = "Unknown state";
 
 		rtos->thread_details[tasks_found].extra_info_str = malloc(strlen(
-					state_desc)+1);
-		strcpy(rtos->thread_details[tasks_found].extra_info_str, state_desc);
+					state_desc)+8);
+		sprintf(rtos->thread_details[tasks_found].extra_info_str, "State: %s", state_desc);
 
 		rtos->thread_details[tasks_found].exists = true;
 
diff --git a/src/rtos/eCos.c b/src/rtos/eCos.c
index e38e11f..edc3d8b 100644
--- a/src/rtos/eCos.c
+++ b/src/rtos/eCos.c
@@ -261,8 +261,8 @@ static int eCos_update_threads(struct rtos *rtos)
 			state_desc = "Unknown state";
 
 		rtos->thread_details[tasks_found].extra_info_str = malloc(strlen(
-					state_desc)+1);
-		strcpy(rtos->thread_details[tasks_found].extra_info_str, state_desc);
+					state_desc)+8);
+		sprintf(rtos->thread_details[tasks_found].extra_info_str, "State: %s", state_desc);
 
 		rtos->thread_details[tasks_found].exists = true;
 
diff --git a/src/rtos/embKernel.c b/src/rtos/embKernel.c
index ceb313f..e515383 100644
--- a/src/rtos/embKernel.c
+++ b/src/rtos/embKernel.c
@@ -168,11 +168,11 @@ static int embKernel_get_tasks_details(struct rtos *rtos, int64_t iterable, cons
 		return retval;
 	details->extra_info_str = malloc(EMBKERNEL_MAX_THREAD_NAME_STR_SIZE);
 	if (task == rtos->current_thread) {
-		snprintf(details->extra_info_str, EMBKERNEL_MAX_THREAD_NAME_STR_SIZE, "Pri=%u, Running",
+		snprintf(details->extra_info_str, EMBKERNEL_MAX_THREAD_NAME_STR_SIZE, "State: Running, Priority: %u",
 				(unsigned int) priority);
 	} else {
-		snprintf(details->extra_info_str, EMBKERNEL_MAX_THREAD_NAME_STR_SIZE, "Pri=%u, %s", (unsigned int) priority,
-				state_str);
+		snprintf(details->extra_info_str, EMBKERNEL_MAX_THREAD_NAME_STR_SIZE, "State: %s, Priority: %u",
+				state_str, (unsigned int) priority);
 	}
 
 	LOG_OUTPUT("Getting task details: iterable=0x%08X, task=0x%08X, name=%s\n", (unsigned int)iterable,
diff --git a/src/rtos/linux.c b/src/rtos/linux.c
index 8c150af..3efaab1 100644
--- a/src/rtos/linux.c
+++ b/src/rtos/linux.c
@@ -105,11 +105,11 @@ static int linux_os_dummy_update(struct rtos *rtos)
 	return 0;
 }
 
-static int linux_compute_virt2phys(struct target *target, uint32_t address)
+static int linux_compute_virt2phys(struct target *target, target_addr_t address)
 {
 	struct linux_os *linux_os = (struct linux_os *)
 		target->rtos->rtos_specific_params;
-	uint32_t pa = 0;
+	target_addr_t pa = 0;
 	int retval = target->type->virt2phys(target, address, &pa);
 	if (retval != ERROR_OK) {
 		LOG_ERROR("Cannot compute linux virt2phys translation");
@@ -1213,7 +1213,7 @@ int linux_thread_extra_info(struct target *target,
 		if (temp->threadid == threadid) {
 			char *pid = " PID: ";
 			char *pid_current = "*PID: ";
-			char *name = "NAME: ";
+			char *name = "Name: ";
 			int str_size = strlen(pid) + strlen(name);
 			char *tmp_str = calloc(1, str_size + 50);
 			char *tmp_str_ptr = tmp_str;
@@ -1225,13 +1225,12 @@ int linux_thread_extra_info(struct target *target,
 			else
 				tmp_str_ptr += sprintf(tmp_str_ptr, "%s", pid);
 
-			tmp_str_ptr +=
-				sprintf(tmp_str_ptr, "%d", (int)temp->pid);
-			tmp_str_ptr += sprintf(tmp_str_ptr, "%s", " | ");
+			tmp_str_ptr += sprintf(tmp_str_ptr, "%d, ", (int)temp->pid);
 			sprintf(tmp_str_ptr, "%s", name);
 			sprintf(tmp_str_ptr, "%s", temp->name);
 			char *hex_str = calloc(1, strlen(tmp_str) * 2 + 1);
-			int pkt_len = hexify(hex_str, tmp_str, 0, strlen(tmp_str) * 2 + 1);
+			size_t pkt_len = hexify(hex_str, (const uint8_t *)tmp_str,
+				strlen(tmp_str), strlen(tmp_str) * 2 + 1);
 			gdb_put_packet(connection, hex_str, pkt_len);
 			free(hex_str);
 			free(tmp_str);
diff --git a/src/rtos/mqx.c b/src/rtos/mqx.c
index b8095a0..63a48c5 100644
--- a/src/rtos/mqx.c
+++ b/src/rtos/mqx.c
@@ -353,7 +353,7 @@ static int mqx_update_threads(
 		uint32_t task_name_addr = 0, task_id = 0, task_errno = 0;
 		uint32_t state_index = 0, state_max = 0;
 		uint32_t extra_info_length = 0;
-		char *state_name = "unknown state";
+		char *state_name = "Unknown";
 
 		/* set current taskpool address */
 		if (ERROR_OK != mqx_get_member(
@@ -435,13 +435,13 @@ static int mqx_update_threads(
 		 * calculate length as:
 		 * state length + address length + errno length + formatter length
 		 */
-		extra_info_length += strlen((void *)state_name) + 8 + 8 + 8;
+		extra_info_length += strlen((void *)state_name) + 7 + 13 + 8 + 15 + 8;
 		rtos->thread_details[i].extra_info_str = malloc(extra_info_length + 1);
 		if (NULL == rtos->thread_details[i].extra_info_str)
 			return ERROR_FAIL;
-		snprintf(
-			rtos->thread_details[i].extra_info_str, extra_info_length, "%s : 0x%"PRIx32 " : %" PRIu32,
-			state_name, task_addr, task_errno
+		snprintf(rtos->thread_details[i].extra_info_str, extra_info_length,
+			 "State: %s, Address: 0x%" PRIx32 ",  Error Code: %" PRIu32,
+			 state_name, task_addr, task_errno
 		);
 		/* set active thread */
 		if (active_td_addr == task_addr)
diff --git a/src/rtos/rtos.c b/src/rtos/rtos.c
index 9bf218e..5e8ce48 100644
--- a/src/rtos/rtos.c
+++ b/src/rtos/rtos.c
@@ -34,6 +34,7 @@ extern struct rtos_type Linux_os;
 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 riscv_rtos;
 
 static struct rtos_type *rtos_types[] = {
@@ -44,6 +45,7 @@ static struct rtos_type *rtos_types[] = {
 	&ChibiOS_rtos,
 	&embKernel_rtos,
 	&mqx_rtos,
+	&uCOS_III_rtos,
 	&riscv_rtos,
 	NULL
 };
@@ -107,6 +109,7 @@ int rtos_create(Jim_GetOptInfo *goi, struct target *target)
 	int x;
 	const char *cp;
 	struct Jim_Obj *res;
+	int e;
 
 	if (!goi->isconfigure && goi->argc != 0) {
 		Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "NO PARAMS");
@@ -115,7 +118,9 @@ int rtos_create(Jim_GetOptInfo *goi, struct target *target)
 
 	os_free(target);
 
-	Jim_GetOpt_String(goi, &cp, NULL);
+	e = Jim_GetOpt_String(goi, &cp, NULL);
+	if (e != JIM_OK)
+		return e;
 
 	if (0 == strcmp(cp, "auto")) {
 		/* Auto detect tries to look up all symbols for each RTOS,
@@ -216,7 +221,7 @@ int rtos_qsymbol(struct connection *connection, char const *packet, int packet_s
 		goto done;
 
 	/* Decode any symbol name in the packet*/
-	int len = unhexify(cur_sym, strchr(packet + 8, ':') + 1, strlen(strchr(packet + 8, ':') + 1));
+	size_t len = unhexify((uint8_t *)cur_sym, strchr(packet + 8, ':') + 1, strlen(strchr(packet + 8, ':') + 1));
 	cur_sym[len] = 0;
 
 	if ((strcmp(packet, "qSymbol::") != 0) &&               /* GDB is not offering symbol lookup for the first time */
@@ -264,7 +269,9 @@ int rtos_qsymbol(struct connection *connection, char const *packet, int packet_s
 	}
 
 	reply_len = snprintf(reply, sizeof(reply), "qSymbol:");
-	reply_len += hexify(reply + reply_len, next_sym->symbol_name, 0, sizeof(reply) - reply_len);
+	reply_len += hexify(reply + reply_len,
+		(const uint8_t *)next_sym->symbol_name, strlen(next_sym->symbol_name),
+		sizeof(reply) - reply_len);
 
 done:
 	gdb_put_packet(connection, reply, reply_len);
@@ -304,14 +311,14 @@ int rtos_thread_packet(struct connection *connection, char const *packet, int pa
 			if (detail->extra_info_str != NULL)
 				str_size += strlen(detail->extra_info_str);
 
-			char *tmp_str = calloc(str_size + 4, sizeof(char));
+			char *tmp_str = calloc(str_size + 9, sizeof(char));
 			char *tmp_str_ptr = tmp_str;
 
 			if (detail->thread_name_str != NULL)
-				tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->thread_name_str);
+				tmp_str_ptr += sprintf(tmp_str_ptr, "Name: %s", detail->thread_name_str);
 			if (detail->extra_info_str != NULL) {
 				if (tmp_str_ptr != tmp_str)
-					tmp_str_ptr += sprintf(tmp_str_ptr, " : ");
+					tmp_str_ptr += sprintf(tmp_str_ptr, ", ");
 				tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->extra_info_str);
 			}
 
@@ -319,7 +326,8 @@ int rtos_thread_packet(struct connection *connection, char const *packet, int pa
 				(size_t) (tmp_str_ptr - tmp_str));
 
 			char *hex_str = malloc(strlen(tmp_str) * 2 + 1);
-			int pkt_len = hexify(hex_str, tmp_str, 0, strlen(tmp_str) * 2 + 1);
+			size_t pkt_len = hexify(hex_str, (const uint8_t *)tmp_str,
+				strlen(tmp_str), strlen(tmp_str) * 2 + 1);
 
 			gdb_put_packet(connection, hex_str, pkt_len);
 			free(hex_str);
@@ -400,9 +408,14 @@ int rtos_thread_packet(struct connection *connection, char const *packet, int pa
 	} else if (packet[0] == 'H') {	/* Set current thread ( 'c' for step and continue, 'g' for
 					 * all other operations ) */
 		if ((packet[1] == 'g') && (target->rtos != NULL)) {
-			sscanf(packet, "Hg%16" SCNx64, &target->rtos->current_threadid);
-			LOG_DEBUG("RTOS: GDB requested to set current thread to 0x%" PRIx64 "\r\n",
-										target->rtos->current_threadid);
+			threadid_t threadid;
+			sscanf(packet, "Hg%16" SCNx64, &threadid);
+			LOG_DEBUG("RTOS: GDB requested to set current thread to 0x%" PRIx64, threadid);
+			/* threadid of 0 indicates target should choose */
+			if (threadid == 0)
+				target->rtos->current_threadid = target->rtos->current_thread;
+			else
+				target->rtos->current_threadid = threadid;
 		}
 		gdb_put_packet(connection, "OK", 2);
 		return ERROR_OK;
@@ -426,9 +439,13 @@ int rtos_get_gdb_reg_list(struct connection *connection)
 										current_threadid,
 										target->rtos->current_thread);
 
-		target->rtos->type->get_thread_reg_list(target->rtos,
-			current_threadid,
-			&hex_reg_list);
+		int retval = target->rtos->type->get_thread_reg_list(target->rtos,
+				current_threadid,
+				&hex_reg_list);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("RTOS: failed to get register list");
+			return retval;
+		}
 
 		if (hex_reg_list != NULL) {
 			gdb_put_packet(connection, hex_reg_list, strlen(hex_reg_list));
@@ -546,5 +563,7 @@ void rtos_free_threadlist(struct rtos *rtos)
 		free(rtos->thread_details);
 		rtos->thread_details = NULL;
 		rtos->thread_count = 0;
+		rtos->current_threadid = -1;
+		rtos->current_thread = 0;
 	}
 }
diff --git a/src/rtos/rtos_ucos_iii_stackings.c b/src/rtos/rtos_ucos_iii_stackings.c
new file mode 100644
index 0000000..f2f5564
--- /dev/null
+++ b/src/rtos/rtos_ucos_iii_stackings.c
@@ -0,0 +1,53 @@
+/***************************************************************************
+ *   Copyright (C) 2016 by Square, Inc.                                    *
+ *   Steven Stallion <stallion@squareup.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 "rtos.h"
+#include "rtos_standard_stackings.h"
+#include "target/armv7m.h"
+
+static const struct stack_register_offset rtos_uCOS_III_Cortex_M_stack_offsets[ARMV7M_NUM_CORE_REGS] = {
+	{ 0x20, 32 },		/* r0   */
+	{ 0x24, 32 },		/* r1   */
+	{ 0x28, 32 },		/* r2   */
+	{ 0x2c, 32 },		/* r3   */
+	{ 0x00, 32 },		/* r4   */
+	{ 0x04, 32 },		/* r5   */
+	{ 0x08, 32 },		/* r6   */
+	{ 0x0c, 32 },		/* r7   */
+	{ 0x10, 32 },		/* r8   */
+	{ 0x14, 32 },		/* r9   */
+	{ 0x18, 32 },		/* r10  */
+	{ 0x1c, 32 },		/* r11  */
+	{ 0x30, 32 },		/* r12  */
+	{ -2,   32 },		/* sp   */
+	{ 0x34, 32 },		/* lr   */
+	{ 0x38, 32 },		/* pc   */
+	{ 0x3c, 32 },		/* xPSR */
+};
+
+const struct rtos_register_stacking rtos_uCOS_III_Cortex_M_stacking = {
+	0x40,					/* stack_registers_size */
+	-1,					/* stack_growth_direction */
+	ARMV7M_NUM_CORE_REGS,			/* num_output_registers */
+	rtos_generic_stack_align8,		/* stack_alignment */
+	rtos_uCOS_III_Cortex_M_stack_offsets	/* register_offsets */
+};
diff --git a/src/rtos/rtos_ucos_iii_stackings.h b/src/rtos/rtos_ucos_iii_stackings.h
new file mode 100644
index 0000000..c462cd7
--- /dev/null
+++ b/src/rtos/rtos_ucos_iii_stackings.h
@@ -0,0 +1,30 @@
+/***************************************************************************
+ *   Copyright (C) 2016 by Square, Inc.                                    *
+ *   Steven Stallion <stallion@squareup.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_RTOS_UCOS_III_STACKINGS_H
+#define OPENOCD_RTOS_RTOS_UCOS_III_STACKINGS_H
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "rtos.h"
+
+extern const struct rtos_register_stacking rtos_uCOS_III_Cortex_M_stacking;
+
+#endif /* OPENOCD_RTOS_RTOS_UCOS_III_STACKINGS_H */
diff --git a/src/rtos/uCOS-III.c b/src/rtos/uCOS-III.c
new file mode 100644
index 0000000..75cfe52
--- /dev/null
+++ b/src/rtos/uCOS-III.c
@@ -0,0 +1,509 @@
+/***************************************************************************
+ *   Copyright (C) 2016 by Square, Inc.                                    *
+ *   Steven Stallion <stallion@squareup.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/rtos_ucos_iii_stackings.h"
+
+#ifndef UCOS_III_MAX_STRLEN
+#define UCOS_III_MAX_STRLEN 64
+#endif
+
+#ifndef UCOS_III_MAX_THREADS
+#define UCOS_III_MAX_THREADS 256
+#endif
+
+struct uCOS_III_params {
+	const char *target_name;
+	const unsigned char pointer_width;
+	symbol_address_t thread_stack_offset;
+	symbol_address_t thread_name_offset;
+	symbol_address_t thread_state_offset;
+	symbol_address_t thread_priority_offset;
+	symbol_address_t thread_prev_offset;
+	symbol_address_t thread_next_offset;
+	bool thread_offsets_updated;
+	size_t threadid_start;
+	const struct rtos_register_stacking *stacking_info;
+	size_t num_threads;
+	symbol_address_t threads[];
+};
+
+static const struct uCOS_III_params uCOS_III_params_list[] = {
+	{
+		"cortex_m",				/* target_name */
+		sizeof(uint32_t),			/* pointer_width */
+		0,					/* thread_stack_offset */
+		0,					/* thread_name_offset */
+		0,					/* thread_state_offset */
+		0,					/* thread_priority_offset */
+		0,					/* thread_prev_offset */
+		0,					/* thread_next_offset */
+		false,					/* thread_offsets_updated */
+		1,					/* threadid_start */
+		&rtos_uCOS_III_Cortex_M_stacking,	/* stacking_info */
+		0,					/* num_threads */
+	},
+};
+
+static const char * const uCOS_III_symbol_list[] = {
+	"OSRunning",
+	"OSTCBCurPtr",
+	"OSTaskDbgListPtr",
+	"OSTaskQty",
+
+	/* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
+	"openocd_OS_TCB_StkPtr_offset",
+	"openocd_OS_TCB_NamePtr_offset",
+	"openocd_OS_TCB_TaskState_offset",
+	"openocd_OS_TCB_Prio_offset",
+	"openocd_OS_TCB_DbgPrevPtr_offset",
+	"openocd_OS_TCB_DbgNextPtr_offset",
+	NULL
+};
+
+enum uCOS_III_symbol_values {
+	uCOS_III_VAL_OSRunning,
+	uCOS_III_VAL_OSTCBCurPtr,
+	uCOS_III_VAL_OSTaskDbgListPtr,
+	uCOS_III_VAL_OSTaskQty,
+
+	/* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
+	uCOS_III_VAL_OS_TCB_StkPtr_offset,
+	uCOS_III_VAL_OS_TCB_NamePtr_offset,
+	uCOS_III_VAL_OS_TCB_TaskState_offset,
+	uCOS_III_VAL_OS_TCB_Prio_offset,
+	uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
+	uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
+};
+
+static const char * const uCOS_III_thread_state_list[] = {
+	"Ready",
+	"Delay",
+	"Pend",
+	"Pend Timeout",
+	"Suspended",
+	"Delay Suspended",
+	"Pend Suspended",
+	"Pend Timeout Suspended",
+};
+
+static int uCOS_III_find_or_create_thread(struct rtos *rtos, symbol_address_t thread_address,
+		threadid_t *threadid)
+{
+	struct uCOS_III_params *params = rtos->rtos_specific_params;
+	size_t thread_index;
+
+	for (thread_index = 0; thread_index < params->num_threads; thread_index++)
+		if (params->threads[thread_index] == thread_address)
+			goto found;
+
+	if (params->num_threads == UCOS_III_MAX_THREADS) {
+		LOG_WARNING("uCOS-III: too many threads; increase UCOS_III_MAX_THREADS");
+		return ERROR_FAIL;
+	}
+
+	params->threads[thread_index] = thread_address;
+	params->num_threads++;
+found:
+	*threadid = thread_index + params->threadid_start;
+	return ERROR_OK;
+}
+
+static int uCOS_III_find_thread_address(struct rtos *rtos, threadid_t threadid,
+		symbol_address_t *thread_address)
+{
+	struct uCOS_III_params *params = rtos->rtos_specific_params;
+	size_t thread_index;
+
+	thread_index = threadid - params->threadid_start;
+	if (thread_index >= params->num_threads) {
+		LOG_ERROR("uCOS-III: failed to find thread address");
+		return ERROR_FAIL;
+	}
+
+	*thread_address = params->threads[thread_index];
+	return ERROR_OK;
+}
+
+static int uCOS_III_find_last_thread_address(struct rtos *rtos, symbol_address_t *thread_address)
+{
+	struct uCOS_III_params *params = rtos->rtos_specific_params;
+	int retval;
+
+	/* read the thread list head */
+	symbol_address_t thread_list_address = 0;
+
+	retval = target_read_memory(rtos->target,
+				    rtos->symbols[uCOS_III_VAL_OSTaskDbgListPtr].address,
+				    params->pointer_width,
+				    1,
+				    (void *)&thread_list_address);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to read thread list address");
+		return retval;
+	}
+
+	/* advance to end of thread list */
+	do {
+		*thread_address = thread_list_address;
+
+		retval = target_read_memory(rtos->target,
+					    thread_list_address + params->thread_next_offset,
+					    params->pointer_width,
+					    1,
+					    (void *)&thread_list_address);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to read next thread address");
+			return retval;
+		}
+	} while (thread_list_address != 0);
+
+	return ERROR_OK;
+}
+
+static int uCOS_III_update_thread_offsets(struct rtos *rtos)
+{
+	struct uCOS_III_params *params = rtos->rtos_specific_params;
+
+	if (params->thread_offsets_updated)
+		return ERROR_OK;
+
+	const struct thread_offset_map {
+		enum uCOS_III_symbol_values symbol_value;
+		symbol_address_t *thread_offset;
+	} thread_offset_maps[] = {
+		{
+			uCOS_III_VAL_OS_TCB_StkPtr_offset,
+			&params->thread_stack_offset,
+		},
+		{
+			uCOS_III_VAL_OS_TCB_NamePtr_offset,
+			&params->thread_name_offset,
+		},
+		{
+			uCOS_III_VAL_OS_TCB_TaskState_offset,
+			&params->thread_state_offset,
+		},
+		{
+			uCOS_III_VAL_OS_TCB_Prio_offset,
+			&params->thread_priority_offset,
+		},
+		{
+			uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
+			&params->thread_prev_offset,
+		},
+		{
+			uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
+			&params->thread_next_offset,
+		},
+	};
+
+	for (size_t i = 0; i < ARRAY_SIZE(thread_offset_maps); i++) {
+		const struct thread_offset_map *thread_offset_map = &thread_offset_maps[i];
+
+		int retval = target_read_memory(rtos->target,
+						rtos->symbols[thread_offset_map->symbol_value].address,
+						params->pointer_width,
+						1,
+						(void *)thread_offset_map->thread_offset);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to read thread offset");
+			return retval;
+		}
+	}
+
+	params->thread_offsets_updated = true;
+	return ERROR_OK;
+}
+
+static int uCOS_III_detect_rtos(struct target *target)
+{
+	return target->rtos->symbols != NULL &&
+	    target->rtos->symbols[uCOS_III_VAL_OSRunning].address != 0;
+}
+
+static int uCOS_III_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv)
+{
+	struct uCOS_III_params *params = target->rtos->rtos_specific_params;
+
+	params->thread_offsets_updated = false;
+	params->num_threads = 0;
+
+	return ERROR_OK;
+}
+
+static int uCOS_III_create(struct target *target)
+{
+	struct uCOS_III_params *params;
+
+	for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_params_list); i++)
+		if (strcmp(uCOS_III_params_list[i].target_name, target->type->name) == 0) {
+			params = malloc(sizeof(*params) +
+			    UCOS_III_MAX_THREADS * sizeof(*params->threads));
+			if (params == NULL) {
+				LOG_ERROR("uCOS-III: out of memory");
+				return ERROR_FAIL;
+			}
+
+			memcpy(params, &uCOS_III_params_list[i], sizeof(uCOS_III_params_list[i]));
+			target->rtos->rtos_specific_params = (void *)params;
+
+			target_register_reset_callback(uCOS_III_reset_handler, NULL);
+
+			return ERROR_OK;
+		}
+
+	LOG_ERROR("uCOS-III: target not supported: %s", target->type->name);
+	return ERROR_FAIL;
+}
+
+static int uCOS_III_update_threads(struct rtos *rtos)
+{
+	struct uCOS_III_params *params = rtos->rtos_specific_params;
+	int retval;
+
+	/* free previous thread details */
+	rtos_free_threadlist(rtos);
+
+	/* verify RTOS is running */
+	uint8_t rtos_running;
+
+	retval = target_read_u8(rtos->target,
+				rtos->symbols[uCOS_III_VAL_OSRunning].address,
+				&rtos_running);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to read RTOS running");
+		return retval;
+	}
+
+	if (!rtos_running) {
+		rtos->thread_details = calloc(1, sizeof(struct thread_detail));
+		if (rtos->thread_details == NULL) {
+			LOG_ERROR("uCOS-III: out of memory");
+			return ERROR_FAIL;
+		}
+
+		rtos->thread_count = 1;
+		rtos->thread_details->threadid = 0;
+		rtos->thread_details->exists = true;
+		rtos->current_thread = 0;
+
+		return ERROR_OK;
+	}
+
+	/* update thread offsets */
+	retval = uCOS_III_update_thread_offsets(rtos);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to update thread offsets");
+		return retval;
+	}
+
+	/* read current thread address */
+	symbol_address_t current_thread_address = 0;
+
+	retval = target_read_memory(rtos->target,
+				    rtos->symbols[uCOS_III_VAL_OSTCBCurPtr].address,
+				    params->pointer_width,
+				    1,
+				    (void *)&current_thread_address);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to read current thread address");
+		return retval;
+	}
+
+	/* read number of tasks */
+	retval = target_read_u16(rtos->target,
+				 rtos->symbols[uCOS_III_VAL_OSTaskQty].address,
+				 (void *)&rtos->thread_count);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to read thread count");
+		return retval;
+	}
+
+	rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
+	if (rtos->thread_details == NULL) {
+		LOG_ERROR("uCOS-III: out of memory");
+		return ERROR_FAIL;
+	}
+
+	/*
+	 * uC/OS-III adds tasks in LIFO order; advance to the end of the
+	 * list and work backwards to preserve the intended order.
+	 */
+	symbol_address_t thread_address = 0;
+
+	retval = uCOS_III_find_last_thread_address(rtos, &thread_address);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to find last thread address");
+		return retval;
+	}
+
+	for (int i = 0; i < rtos->thread_count; i++) {
+		struct thread_detail *thread_detail = &rtos->thread_details[i];
+		char thread_str_buffer[UCOS_III_MAX_STRLEN + 1];
+
+		/* find or create new threadid */
+		retval = uCOS_III_find_or_create_thread(rtos,
+							thread_address,
+							&thread_detail->threadid);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to find or create thread");
+			return retval;
+		}
+
+		if (thread_address == current_thread_address)
+			rtos->current_thread = thread_detail->threadid;
+
+		thread_detail->exists = true;
+
+		/* read thread name */
+		symbol_address_t thread_name_address = 0;
+
+		retval = target_read_memory(rtos->target,
+					    thread_address + params->thread_name_offset,
+					    params->pointer_width,
+					    1,
+					    (void *)&thread_name_address);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to name address");
+			return retval;
+		}
+
+		retval = target_read_buffer(rtos->target,
+					    thread_name_address,
+					    sizeof(thread_str_buffer),
+					    (void *)thread_str_buffer);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to read thread name");
+			return retval;
+		}
+
+		thread_str_buffer[sizeof(thread_str_buffer) - 1] = '\0';
+		thread_detail->thread_name_str = strdup(thread_str_buffer);
+
+		/* read thread extra info */
+		uint8_t thread_state;
+		uint8_t thread_priority;
+
+		retval = target_read_u8(rtos->target,
+					thread_address + params->thread_state_offset,
+					&thread_state);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to read thread state");
+			return retval;
+		}
+
+		retval = target_read_u8(rtos->target,
+					thread_address + params->thread_priority_offset,
+					&thread_priority);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to read thread priority");
+			return retval;
+		}
+
+		const char *thread_state_str;
+
+		if (thread_state < ARRAY_SIZE(uCOS_III_thread_state_list))
+			thread_state_str = uCOS_III_thread_state_list[thread_state];
+		else
+			thread_state_str = "Unknown";
+
+		snprintf(thread_str_buffer, sizeof(thread_str_buffer), "State: %s, Priority: %d",
+			 thread_state_str, thread_priority);
+		thread_detail->extra_info_str = strdup(thread_str_buffer);
+
+		/* read previous thread address */
+		retval = target_read_memory(rtos->target,
+					    thread_address + params->thread_prev_offset,
+					    params->pointer_width,
+					    1,
+					    (void *)&thread_address);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("uCOS-III: failed to read previous thread address");
+			return retval;
+		}
+	}
+
+	return ERROR_OK;
+}
+
+static int uCOS_III_get_thread_reg_list(struct rtos *rtos, threadid_t threadid, char **hex_reg_list)
+{
+	struct uCOS_III_params *params = rtos->rtos_specific_params;
+	int retval;
+
+	/* find thread address for threadid */
+	symbol_address_t thread_address = 0;
+
+	retval = uCOS_III_find_thread_address(rtos, threadid, &thread_address);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to find thread address");
+		return retval;
+	}
+
+	/* read thread stack address */
+	symbol_address_t stack_address = 0;
+
+	retval = target_read_memory(rtos->target,
+				    thread_address + params->thread_stack_offset,
+				    params->pointer_width,
+				    1,
+				    (void *)&stack_address);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("uCOS-III: failed to read stack address");
+		return retval;
+	}
+
+	return rtos_generic_stack_read(rtos->target,
+				       params->stacking_info,
+				       stack_address,
+				       hex_reg_list);
+}
+
+static int uCOS_III_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
+{
+	*symbol_list = calloc(ARRAY_SIZE(uCOS_III_symbol_list), sizeof(symbol_table_elem_t));
+	if (*symbol_list == NULL) {
+		LOG_ERROR("uCOS-III: out of memory");
+		return ERROR_FAIL;
+	}
+
+	for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_symbol_list); i++)
+		(*symbol_list)[i].symbol_name = uCOS_III_symbol_list[i];
+
+	return ERROR_OK;
+}
+
+const struct rtos_type uCOS_III_rtos = {
+	.name = "uCOS-III",
+	.detect_rtos = uCOS_III_detect_rtos,
+	.create = uCOS_III_create,
+	.update_threads = uCOS_III_update_threads,
+	.get_thread_reg_list = uCOS_III_get_thread_reg_list,
+	.get_symbol_list_to_lookup = uCOS_III_get_symbol_list_to_lookup,
+};