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-rw-r--r--src/rtos/freertos.c959
1 files changed, 959 insertions, 0 deletions
diff --git a/src/rtos/freertos.c b/src/rtos/freertos.c
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+++ 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, &reg);
+ *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);
+}