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Diffstat (limited to 'src/rtos/ChibiOS.c')
| -rw-r--r-- | src/rtos/ChibiOS.c | 547 |
1 files changed, 0 insertions, 547 deletions
diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c deleted file mode 100644 index 00e9df7..0000000 --- a/src/rtos/ChibiOS.c +++ /dev/null @@ -1,547 +0,0 @@ -/*************************************************************************** - * 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", "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 -}; - -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 == 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, ¤t); - 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, ¤t); - 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++; - } - - 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, - ¤t_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))) { - - 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 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; -} |