diff options
Diffstat (limited to 'src/rtos/freertos.c')
| -rw-r--r-- | src/rtos/freertos.c | 959 |
1 files changed, 959 insertions, 0 deletions
diff --git a/src/rtos/freertos.c b/src/rtos/freertos.c new file mode 100644 index 0000000..02409a5 --- /dev/null +++ b/src/rtos/freertos.c @@ -0,0 +1,959 @@ +// SPDX-License-Identifier: GPL-2.0-or-later + +/*************************************************************************** + * Copyright (C) 2011 by Broadcom Corporation * + * Evan Hunter - ehunter@broadcom.com * + ***************************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <helper/time_support.h> +#include <jtag/jtag.h> +#include "target/target.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_THREAD_NAME_STR_SIZE 200 +#define FREERTOS_CURRENT_EXECUTION_ID 1 + +struct freertos_params { + const char *target_name; + int (*stacking)(struct rtos *rtos, const struct rtos_register_stacking **stacking, + target_addr_t stack_ptr); + const struct command_registration *commands; +}; + +struct freertos_thread_entry { + struct list_head list; + threadid_t threadid; + target_addr_t tcb; +}; + +struct FreeRTOS { + const struct freertos_params *param; + threadid_t last_threadid; + /* Keep track of which threadid we're using for which TCB. We cannot use a + * 1:1 mapping because TCB's can be 64 bits, and the gdb protocol doesn't + * work well with thread id's that are greater than 32 bits. + */ + struct list_head thread_entry_list; + /* sizeof(UBaseType_t) */ + unsigned ubasetype_size; + /* sizeof(void *) */ + unsigned pointer_size; + /* sizeof(TickType_t) */ + unsigned ticktype_size; + unsigned list_width; + unsigned list_item_width; + unsigned list_elem_next_offset; + unsigned list_elem_next_size; + unsigned list_elem_content_offset; + unsigned list_elem_content_size; + unsigned list_uxNumberOfItems_offset; + unsigned list_uxNumberOfItems_size; + unsigned list_next_offset; + unsigned list_next_size; + unsigned thread_stack_offset; + unsigned thread_stack_size; + unsigned thread_name_offset; +}; + +static int cortex_m_stacking(struct rtos *rtos, const struct rtos_register_stacking **stacking, + target_addr_t 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) || (armv7m_target->fp_feature == FPV5_SP) || + (armv7m_target->fp_feature == FPV5_DP)) { + /* Found ARM v7m target which includes a FPU */ + uint32_t cpacr; + + int 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 retval; + } + + /* 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; + int retval = target_read_u32(rtos->target, + stack_ptr + 0x20, + &LR_svc); + if (retval != ERROR_OK) { + LOG_OUTPUT("Error reading stack frame from FreeRTOS thread"); + return retval; + } + if ((LR_svc & 0x10) == 0) + *stacking = &rtos_standard_cortex_m4f_fpu_stacking; + else + *stacking = &rtos_standard_cortex_m4f_stacking; + } else { + *stacking = &rtos_standard_cortex_m3_stacking; + } + + return ERROR_OK; +} + +/* take 4 bytes (32 bits) as the default size, + * which is suitable for most 32-bit targets and + * configuration of configUSE_16_BIT_TICKS = 0. */ +static unsigned int freertos_ticktype_size = 4; +COMMAND_HANDLER(handle_freertos_ticktype_size) +{ + if (CMD_ARGC != 1) { + LOG_ERROR("Command takes exactly 1 parameter"); + return ERROR_COMMAND_SYNTAX_ERROR; + } + + unsigned int size; + COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], size); + switch (size) { + case 2: + case 4: + case 8: + freertos_ticktype_size = size; + break; + default: + LOG_ERROR("Invalid ticktype size. Should be 2, 4 or 8."); + return ERROR_COMMAND_SYNTAX_ERROR; + } + + return ERROR_OK; +} + +static const struct command_registration freertos_commands[] = { + { + .name = "freertos_ticktype_size", + .handler = handle_freertos_ticktype_size, + .mode = COMMAND_ANY, + .usage = "(2|4|8)", + .help = "Pass the size (in bytes) of TickType_t to OpenOCD. To make sure the " + "calculation of offsets and sizes is correct. Defaults to 4." + }, + COMMAND_REGISTRATION_DONE +}; + +static enum { + STACKING_MAINLINE, + STACKING_METAL +} riscv_freertos_stacking; +COMMAND_HANDLER(handle_riscv_freertos_stacking) +{ + if (CMD_ARGC != 1) { + LOG_ERROR("Command takes exactly 1 parameter"); + return ERROR_COMMAND_SYNTAX_ERROR; + } + if (!strcmp(CMD_ARGV[0], "mainline")) { + riscv_freertos_stacking = STACKING_MAINLINE; + } else if (!strcmp(CMD_ARGV[0], "metal")) { + riscv_freertos_stacking = STACKING_METAL; + } else { + LOG_ERROR("Only two arguments are supported: mainline and metal"); + return ERROR_COMMAND_SYNTAX_ERROR; + } + return ERROR_OK; +} + +static const struct command_registration riscv_commands[] = { + { + .name = "riscv_freertos_stacking", + .handler = handle_riscv_freertos_stacking, + .mode = COMMAND_ANY, + .usage = "mainline|metal", + .help = "Select which FreeRTOS branch is being used. OpenOCD needs to " + "know because different branches save thread registers on the stack " + "in different orders. It is likely that this order on both branches will " + "change in the future, so make sure to seek out the very latest OpenOCD if " + "debugging is not working right." + }, + COMMAND_REGISTRATION_DONE +}; + +static int riscv_stacking(struct rtos *rtos, const struct rtos_register_stacking **stacking, + target_addr_t stack_ptr) +{ + struct FreeRTOS *freertos = (struct FreeRTOS *) rtos->rtos_specific_params; + LOG_DEBUG("riscv_freertos_stacking=%d", riscv_freertos_stacking); + switch (riscv_freertos_stacking) { + case STACKING_MAINLINE: + if (freertos->pointer_size == 4) + *stacking = &rtos_standard_rv32_stacking; + else if (freertos->pointer_size == 8) + *stacking = &rtos_standard_rv64_stacking; + break; + case STACKING_METAL: + if (freertos->pointer_size == 4) + *stacking = &rtos_metal_rv32_stacking; + else if (freertos->pointer_size == 8) + *stacking = &rtos_metal_rv64_stacking; + break; + } + return ERROR_OK; +} + +static const struct freertos_params freertos_params_list[] = { + { + .target_name = "cortex_m", + .stacking = cortex_m_stacking + }, + { + .target_name = "hla_target", + .stacking = cortex_m_stacking + }, + { + .target_name = "riscv", + .stacking = riscv_stacking, + .commands = riscv_commands, + }, +}; + +static bool 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, threadid_t thread_id, + struct rtos_reg **reg_list, int *num_regs); +static int freertos_get_thread_reg_value(struct rtos *rtos, threadid_t thread_id, + uint32_t reg_num, uint32_t *size, uint8_t **value); +static int freertos_set_reg(struct rtos *rtos, uint32_t reg_num, uint8_t *reg_value); +static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]); + +const 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_thread_reg_value = freertos_get_thread_reg_value, + .set_reg = freertos_set_reg, + .get_symbol_list_to_lookup = freertos_get_symbol_list_to_lookup, +}; + +enum freertos_symbol_values { + FREERTOS_VAL_PX_CURRENT_TCB = 0, + FREERTOS_VAL_PX_READY_TASKS_LISTS = 1, + FREERTOS_VAL_X_DELAYED_TASK_LIST1 = 2, + FREERTOS_VAL_X_DELAYED_TASK_LIST2 = 3, + FREERTOS_VAL_PX_DELAYED_TASK_LIST = 4, + FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST = 5, + FREERTOS_VAL_X_PENDING_READY_LIST = 6, + FREERTOS_VAL_X_TASKS_WAITING_TERMINATION = 7, + FREERTOS_VAL_X_SUSPENDED_TASK_LIST = 8, + FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS = 9, + FREERTOS_VAL_UX_TOP_USED_PRIORITY = 10, + FREERTOS_VAL_X_SCHEDULER_RUNNING = 11, +}; + +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 */ + { "xSchedulerRunning", false }, + { 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_read_struct_value( + struct target *target, target_addr_t base_address, unsigned offset, + unsigned size_bytes, uint64_t *value) +{ + uint8_t buf[size_bytes]; + int retval = target_read_buffer(target, base_address + offset, size_bytes, buf); + *value = buf_get_u64(buf, 0, size_bytes * 8); + return retval; +} + +typedef struct { + enum { + TYPE_POINTER, + TYPE_UBASE, + TYPE_TICKTYPE, + TYPE_LIST_ITEM, + TYPE_CHAR_ARRAY + } type; + unsigned offset; + unsigned size; +} type_offset_size_t; + +static unsigned populate_offset_size(struct FreeRTOS *freertos, + type_offset_size_t *info, unsigned count) +{ + unsigned offset = 0; + unsigned largest = 0; + for (unsigned i = 0; i < count; i++) { + unsigned align = 0; + switch (info[i].type) { + case TYPE_UBASE: + info[i].size = freertos->ubasetype_size; + align = freertos->ubasetype_size; + break; + case TYPE_POINTER: + info[i].size = freertos->pointer_size; + align = freertos->pointer_size; + break; + case TYPE_TICKTYPE: + info[i].size = freertos->ticktype_size; + align = freertos->ticktype_size; + break; + case TYPE_LIST_ITEM: + info[i].size = freertos->list_item_width; + align = MAX(freertos->ticktype_size, freertos->pointer_size); + break; + case TYPE_CHAR_ARRAY: + /* size is set by the caller. */ + align = 1; + break; + } + + assert(info[i].size > 0); + assert(align > 0); + + largest = MAX(largest, align); + + if (offset & (align - 1)) { + offset = offset & ~(align - 1); + offset += align; + } + + info[i].offset = offset; + offset += info[i].size; + } + + /* Now align offset to the largest type used, and return that as the width + * of the structure. */ + + if (offset & (largest - 1)) { + offset = offset & ~(largest - 1); + offset += largest; + } + return offset; +} + +static void freertos_compute_offsets(struct rtos *rtos) +{ + struct FreeRTOS *freertos = (struct FreeRTOS *) rtos->rtos_specific_params; + + if (freertos->ticktype_size == freertos_ticktype_size) + return; + + freertos->pointer_size = DIV_ROUND_UP(target_address_bits(rtos->target), 8); + freertos->ubasetype_size = DIV_ROUND_UP(target_data_bits(rtos->target), 8); + freertos->ticktype_size = freertos_ticktype_size; + + /* + * FreeRTOS can be compiled with configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES + * in which case extra data is inserted and OpenOCD won't work right. + */ + + /* struct xLIST */ + type_offset_size_t struct_list_info[] = { + {TYPE_UBASE, 0, 0}, /* uxNumberOfItems */ + {TYPE_POINTER, 0, 0}, /* ListItem_t *pxIndex */ + {TYPE_TICKTYPE, 0, 0}, /* xItemValue */ + {TYPE_POINTER, 0, 0}, /* ListItem_t *pxNext */ + {TYPE_POINTER, 0, 0}, /* ListItem_t *pxPrevious */ + }; + + /* struct xLIST_ITEM */ + type_offset_size_t struct_list_item_info[] = { + {TYPE_TICKTYPE, 0, 0}, /* xItemValue */ + {TYPE_POINTER, 0, 0}, /* ListItem_t *pxNext */ + {TYPE_POINTER, 0, 0}, /* ListItem_t *pxPrevious */ + {TYPE_POINTER, 0, 0}, /* void *pvOwner */ + {TYPE_POINTER, 0, 0}, /* List_t *pvContainer */ + }; + + /* struct tskTaskControlBlock */ + type_offset_size_t task_control_block_info[] = { + {TYPE_POINTER, 0, 0}, /* StackType_t *pxTopOfStack */ + {TYPE_LIST_ITEM, 0, 0}, /* ListItem_t xStateListItem */ + {TYPE_LIST_ITEM, 0, 0}, /* ListItem_t xEventListItem */ + {TYPE_UBASE, 0, 0}, /* uxPriority */ + {TYPE_POINTER, 0, 0}, /* StackType_t *pxStack */ + /* configMAX_TASK_NAME_LEN varies a lot between targets, but luckily the + * name is NULL_terminated and we don't need to read anything else in + * the TCB. */ + {TYPE_CHAR_ARRAY, 0, FREERTOS_THREAD_NAME_STR_SIZE}, /* char pcTaskName[configMAX_TASK_NAME_LEN] */ + /* Lots of more optional stuff, but is is irrelevant to us. */ + }; + + freertos->list_width = populate_offset_size( + freertos, struct_list_info, ARRAY_SIZE(struct_list_info)); + freertos->list_uxNumberOfItems_offset = struct_list_info[0].offset; + freertos->list_uxNumberOfItems_size = struct_list_info[0].size; + freertos->list_next_offset = struct_list_info[3].offset; + freertos->list_next_size = struct_list_info[3].size; + + freertos->list_item_width = populate_offset_size( + freertos, struct_list_item_info, ARRAY_SIZE(struct_list_item_info)); + freertos->list_elem_next_offset = struct_list_item_info[1].offset; + freertos->list_elem_next_size = struct_list_item_info[1].size; + freertos->list_elem_content_offset = struct_list_item_info[3].offset; + freertos->list_elem_content_size = struct_list_item_info[3].size; + + populate_offset_size( + freertos, task_control_block_info, ARRAY_SIZE(task_control_block_info)); + freertos->thread_stack_offset = task_control_block_info[0].offset; + freertos->thread_stack_size = task_control_block_info[0].size; + freertos->thread_name_offset = task_control_block_info[5].offset; +} + +struct freertos_thread_entry *thread_entry_list_find_by_tcb( + struct list_head *list, target_addr_t tcb) +{ + struct freertos_thread_entry *t; + list_for_each_entry(t, list, list) { + if (t->tcb == tcb) + return t; + } + return NULL; +} + +struct freertos_thread_entry *thread_entry_list_find_by_id( + struct list_head *list, threadid_t threadid) +{ + struct freertos_thread_entry *t; + list_for_each_entry(t, list, list) { + if (t->threadid == threadid) + return t; + } + return NULL; +} + +static int freertos_update_threads(struct rtos *rtos) +{ + int retval; + unsigned int tasks_found = 0; + + if (!rtos->rtos_specific_params) + return ERROR_FAIL; + + freertos_compute_offsets(rtos); + + struct FreeRTOS *freertos = (struct FreeRTOS *) rtos->rtos_specific_params; + + if (!rtos->symbols) { + LOG_ERROR("No symbols for FreeRTOS"); + return ERROR_FAIL; + } + + if (rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address == 0) { + LOG_ERROR("Don't have the number of threads in FreeRTOS"); + return ERROR_FAIL; + } + + uint64_t thread_list_size; + retval = freertos_read_struct_value(rtos->target, + rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address, + 0, + freertos->ubasetype_size, + &thread_list_size); + LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu64, + rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].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 */ + target_addr_t px_current_tcb; + retval = freertos_read_struct_value(rtos->target, + rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address, + 0, + freertos->pointer_size, + &px_current_tcb); + 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, + rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address, + px_current_tcb); + + /* read scheduler running */ + uint64_t scheduler_running; + retval = freertos_read_struct_value(rtos->target, + rtos->symbols[FREERTOS_VAL_X_SCHEDULER_RUNNING].address, + 0, + freertos->ubasetype_size, + &scheduler_running); + if (retval != ERROR_OK) { + LOG_ERROR("Error reading FreeRTOS scheduler state"); + return retval; + } + LOG_DEBUG("FreeRTOS: Read xSchedulerRunning at 0x%" PRIx64 ", value 0x%" PRIx64, + rtos->symbols[FREERTOS_VAL_X_SCHEDULER_RUNNING].address, + scheduler_running); + + if (thread_list_size == 0 || px_current_tcb == 0 || scheduler_running != 1) { + /* 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 %" PRIu64 " threads", thread_list_size); + return ERROR_FAIL; + } + rtos->current_thread = FREERTOS_CURRENT_EXECUTION_ID; + rtos->thread_details->threadid = rtos->current_thread; + 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 %" PRId64 " threads", thread_list_size); + return ERROR_FAIL; + } + } + + /* Find out how many lists are needed to be read from pxReadyTasksLists, */ + uint64_t top_used_priority = 0; + if (rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address == 0) { + LOG_WARNING("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around"); + /* This is a hack specific to the binary I'm debugging. + * Ideally we get https://github.com/FreeRTOS/FreeRTOS-Kernel/issues/33 + * into our FreeRTOS source. */ + top_used_priority = 6; + } else { + retval = freertos_read_struct_value(rtos->target, + rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address, + 0, + freertos->ubasetype_size, + &top_used_priority); + if (retval != ERROR_OK) + return retval; + LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu64, + rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address, + top_used_priority); + } + if (top_used_priority > FREERTOS_MAX_PRIORITIES) { + LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu64, + top_used_priority); + return ERROR_FAIL; + } + + /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1 + * in old FreeRTOS versions (before V7.5.3) + * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol + * in newer FreeRTOS versions. + * Here we restore the original configMAX_PRIORITIES value */ + unsigned int config_max_priorities = top_used_priority + 1; + + symbol_address_t *list_of_lists = + malloc(sizeof(symbol_address_t) * (config_max_priorities + 5)); + if (!list_of_lists) { + LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities); + return ERROR_FAIL; + } + + unsigned int num_lists; + for (num_lists = 0; num_lists < config_max_priorities; num_lists++) + list_of_lists[num_lists] = rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address + + num_lists * freertos->list_width; + + list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST1].address; + list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST2].address; + list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_PENDING_READY_LIST].address; + list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_SUSPENDED_TASK_LIST].address; + list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION].address; + + for (unsigned int i = 0; i < num_lists; i++) { + if (list_of_lists[i] == 0) + continue; + + /* Read the number of threads in this list */ + uint64_t list_thread_count = 0; + retval = freertos_read_struct_value(rtos->target, + list_of_lists[i], + freertos->list_uxNumberOfItems_offset, + freertos->list_uxNumberOfItems_size, + &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 %u at 0x%" PRIx64 ", value %" PRIu64, + i, list_of_lists[i] + freertos->list_uxNumberOfItems_offset, list_thread_count); + + if (list_thread_count == 0) + continue; + + /* Read the location of first list item */ + target_addr_t prev_list_elem_ptr = -1; + target_addr_t list_elem_ptr = 0; + retval = freertos_read_struct_value(rtos->target, + list_of_lists[i], + freertos->list_next_offset, + freertos->list_next_size, + &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 %u at 0x%" PRIx64 ", value 0x%" PRIx64, + i, list_of_lists[i] + freertos->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; + target_addr_t tcb; + retval = freertos_read_struct_value(rtos->target, + list_elem_ptr, + freertos->list_elem_content_offset, + freertos->list_elem_content_size, + &tcb); + if (retval != ERROR_OK) { + LOG_ERROR("Error reading thread list item object in FreeRTOS thread list"); + free(list_of_lists); + return retval; + } + + const struct freertos_thread_entry *value = + thread_entry_list_find_by_tcb(&freertos->thread_entry_list, tcb); + + if (!value) { + struct freertos_thread_entry *new_value = calloc(1, sizeof(struct freertos_thread_entry)); + new_value->tcb = tcb; + /* threadid can't be 0. + * plus 1 to avoid duplication with "Current Execution" */ + new_value->threadid = ++freertos->last_threadid + FREERTOS_CURRENT_EXECUTION_ID; + + LOG_DEBUG("FreeRTOS: new thread created, tcb=0x%" PRIx64 ", threadid=0x%" PRIx64, + new_value->tcb, new_value->threadid); + + list_add_tail(&new_value->list, &freertos->thread_entry_list); + value = new_value; + } + + rtos->thread_details[tasks_found].threadid = value->threadid; + + LOG_DEBUG("FreeRTOS: Thread %" PRId64 " has TCB 0x%" TARGET_PRIxADDR + "; read from 0x%" PRIx64, + value->threadid, value->tcb, + list_elem_ptr + freertos->list_elem_content_offset); + + /* get thread name */ + + char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE]; + + /* Read the thread name */ + retval = target_read_buffer(rtos->target, + value->tcb + freertos->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'", + value->tcb + freertos->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 (value->tcb == px_current_tcb && rtos->current_thread != FREERTOS_CURRENT_EXECUTION_ID) { + char running_str[] = "State: Running"; + rtos->current_thread = value->threadid; + 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--; + rtos->thread_count = tasks_found; + + prev_list_elem_ptr = list_elem_ptr; + list_elem_ptr = 0; + retval = freertos_read_struct_value(rtos->target, + prev_list_elem_ptr, + freertos->list_elem_next_offset, + freertos->list_elem_next_size, + &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 " TARGET_ADDR_FMT + ", value " TARGET_ADDR_FMT, + prev_list_elem_ptr + freertos->list_elem_next_offset, + list_elem_ptr); + } + } + + free(list_of_lists); + return 0; +} + +static int freertos_get_stacking_info(struct rtos *rtos, threadid_t thread_id, + const struct rtos_register_stacking **stacking_info, + target_addr_t *stack_ptr) +{ + if (!rtos->rtos_specific_params) { + LOG_ERROR("rtos_specific_params is NULL!"); + return ERROR_FAIL; + } + + freertos_compute_offsets(rtos); + + struct FreeRTOS *freertos = (struct FreeRTOS *) rtos->rtos_specific_params; + const struct freertos_params *param = freertos->param; + + const struct freertos_thread_entry *entry = + thread_entry_list_find_by_id(&freertos->thread_entry_list, thread_id); + if (!entry) { + LOG_ERROR("Unknown thread id: %" PRId64, thread_id); + return ERROR_FAIL; + } + + /* Read the stack pointer */ + int retval = freertos_read_struct_value(rtos->target, + entry->tcb, + freertos->thread_stack_offset, + freertos->thread_stack_size, + stack_ptr); + if (retval != ERROR_OK) { + LOG_ERROR("Error reading stack frame from FreeRTOS thread %" PRIx64, thread_id); + return retval; + } + LOG_DEBUG("[%" PRId64 "] FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64, + thread_id, entry->tcb + freertos->thread_stack_offset, *stack_ptr); + + if (param->stacking(rtos, stacking_info, *stack_ptr) != ERROR_OK) { + LOG_ERROR("No stacking info found for %s!", param->target_name); + return ERROR_FAIL; + } + + return ERROR_OK; +} + +static int freertos_get_thread_reg_list(struct rtos *rtos, threadid_t thread_id, + struct rtos_reg **reg_list, int *num_regs) +{ + /* Let the caller read registers directly for the current thread. */ + if (thread_id == 0) + return ERROR_FAIL; + + const struct rtos_register_stacking *stacking_info; + target_addr_t stack_ptr; + if (freertos_get_stacking_info(rtos, thread_id, &stacking_info, &stack_ptr) != ERROR_OK) + return ERROR_FAIL; + + return rtos_generic_stack_read(rtos->target, stacking_info, stack_ptr, reg_list, num_regs); +} + +static int freertos_get_thread_reg_value(struct rtos *rtos, threadid_t thread_id, + uint32_t reg_num, uint32_t *size, uint8_t **value) +{ + LOG_DEBUG("reg_num=%d", reg_num); + /* Let the caller read registers directly for the current thread. */ + if (thread_id == 0) + return ERROR_FAIL; + + const struct rtos_register_stacking *stacking_info; + target_addr_t stack_ptr; + if (freertos_get_stacking_info(rtos, thread_id, &stacking_info, &stack_ptr) != ERROR_OK) + return ERROR_FAIL; + + struct rtos_reg reg; + reg.number = reg_num; + int result = rtos_generic_stack_read_reg(rtos->target, stacking_info, + stack_ptr, reg_num, ®); + *size = reg.size; + *value = malloc(DIV_ROUND_UP(reg.size, 8)); + if (!*value) { + LOG_ERROR("Failed to allocate memory for %d-bit register.", reg.size); + return ERROR_FAIL; + } + memcpy(*value, reg.value, DIV_ROUND_UP(reg.size, 8)); + return result; +} + +static int freertos_set_reg(struct rtos *rtos, uint32_t reg_num, uint8_t *reg_value) +{ + LOG_DEBUG("[%" PRId64 "] reg_num=%" PRId32, rtos->current_threadid, reg_num); + + /* Let the caller write registers directly for the current thread. */ + if (rtos->current_threadid == rtos->current_thread) + return ERROR_FAIL; + + const struct rtos_register_stacking *stacking_info; + target_addr_t stack_ptr; + if (freertos_get_stacking_info(rtos, rtos->current_threadid, + &stacking_info, &stack_ptr) != ERROR_OK) + return ERROR_FAIL; + + return rtos_generic_stack_write_reg(rtos->target, stacking_info, stack_ptr, + reg_num, reg_value); +} + +static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]) +{ + unsigned int i; + *symbol_list = calloc( + ARRAY_SIZE(freertos_symbol_list), sizeof(struct symbol_table_elem)); + + 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) + return -1; + + if (thread_id == 0) + return -2; + + if (!rtos->rtos_specific_params) + 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 bool freertos_detect_rtos(struct target *target) +{ + if ((target->rtos->symbols) && + (target->rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address != 0)) { + /* looks like FreeRTOS */ + return true; + } + return false; +} + +static int freertos_create(struct target *target) +{ + unsigned int i = 0; + while (i < ARRAY_SIZE(freertos_params_list) && + strcmp(freertos_params_list[i].target_name, target_type_name(target)) != 0) { + i++; + } + if (i >= ARRAY_SIZE(freertos_params_list)) { + LOG_ERROR("Could not find target in FreeRTOS compatibility list"); + return ERROR_FAIL; + } + + target->rtos->rtos_specific_params = calloc(1, sizeof(struct FreeRTOS)); + if (!target->rtos->rtos_specific_params) { + LOG_ERROR("calloc failed"); + return ERROR_FAIL; + } + + struct FreeRTOS *freertos = (struct FreeRTOS *) target->rtos->rtos_specific_params; + INIT_LIST_HEAD(&freertos->thread_entry_list); + + freertos->param = &freertos_params_list[i]; + + if (freertos->param->commands) { + if (register_commands(target->rtos->cmd_ctx, NULL, + freertos->param->commands) != ERROR_OK) + return ERROR_FAIL; + } + + return register_commands(target->rtos->cmd_ctx, NULL, freertos_commands); +} |