aboutsummaryrefslogtreecommitdiff
path: root/src/rtos
diff options
context:
space:
mode:
Diffstat (limited to 'src/rtos')
-rw-r--r--src/rtos/Makefile.am3
-rw-r--r--src/rtos/riot.c428
-rw-r--r--src/rtos/rtos.c3
-rw-r--r--src/rtos/rtos_riot_stackings.c95
-rw-r--r--src/rtos/rtos_riot_stackings.h32
5 files changed, 561 insertions, 0 deletions
diff --git a/src/rtos/Makefile.am b/src/rtos/Makefile.am
index 6a2fc12..de54596 100644
--- a/src/rtos/Makefile.am
+++ b/src/rtos/Makefile.am
@@ -7,6 +7,7 @@ noinst_LTLIBRARIES += %D%/librtos.la
%D%/rtos_embkernel_stackings.c \
%D%/rtos_mqx_stackings.c \
%D%/rtos_ucos_iii_stackings.c \
+ %D%/rtos_riot_stackings.c \
%D%/FreeRTOS.c \
%D%/ThreadX.c \
%D%/eCos.c \
@@ -18,6 +19,7 @@ noinst_LTLIBRARIES += %D%/librtos.la
%D%/uCOS-III.c \
%D%/nuttx.c \
%D%/hwthread.c \
+ %D%/riot.c \
%D%/rtos.h \
%D%/rtos_standard_stackings.h \
%D%/rtos_ecos_stackings.h \
@@ -25,6 +27,7 @@ noinst_LTLIBRARIES += %D%/librtos.la
%D%/rtos_chibios_stackings.h \
%D%/rtos_embkernel_stackings.h \
%D%/rtos_mqx_stackings.h \
+ %D%/rtos_riot_stackings.h \
%D%/rtos_ucos_iii_stackings.h \
%D%/nuttx_header.h
diff --git a/src/rtos/riot.c b/src/rtos/riot.c
new file mode 100644
index 0000000..15cbb0f
--- /dev/null
+++ b/src/rtos/riot.c
@@ -0,0 +1,428 @@
+/***************************************************************************
+ * Copyright (C) 2015 by Daniel Krebs *
+ * Daniel Krebs - github@daniel-krebs.net *
+ * *
+ * 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 "target/armv7m.h"
+#include "rtos_riot_stackings.h"
+
+static bool riot_detect_rtos(struct target *target);
+static int riot_create(struct target *target);
+static int riot_update_threads(struct rtos *rtos);
+static int riot_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
+ struct rtos_reg **reg_list, int *num_regs);
+static int riot_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
+
+struct riot_thread_state {
+ int value;
+ const char *desc;
+};
+
+/* refer RIOT sched.h */
+static const struct riot_thread_state riot_thread_states[] = {
+ { 0, "Stopped" },
+ { 1, "Zombie" },
+ { 2, "Sleeping" },
+ { 3, "Blocked mutex" },
+ { 4, "Blocked receive" },
+ { 5, "Blocked send" },
+ { 6, "Blocked reply" },
+ { 7, "Blocked any flag" },
+ { 8, "Blocked all flags" },
+ { 9, "Blocked mbox" },
+ { 10, "Blocked condition" },
+ { 11, "Running" },
+ { 12, "Pending" },
+};
+#define RIOT_NUM_STATES ARRAY_SIZE(riot_thread_states)
+
+struct riot_params {
+ const char *target_name;
+ unsigned char thread_sp_offset;
+ unsigned char thread_status_offset;
+};
+
+static const struct riot_params riot_params_list[] = {
+ {
+ "cortex_m", /* target_name */
+ 0x00, /* thread_sp_offset */
+ 0x04, /* thread_status_offset */
+ },
+ { /* STLink */
+ "hla_target", /* target_name */
+ 0x00, /* thread_sp_offset */
+ 0x04, /* thread_status_offset */
+ }
+};
+#define RIOT_NUM_PARAMS ARRAY_SIZE(riot_params_list)
+
+/* Initialize in riot_create() depending on architecture */
+static const struct rtos_register_stacking *stacking_info;
+
+enum riot_symbol_values {
+ RIOT_THREADS_BASE = 0,
+ RIOT_NUM_THREADS,
+ RIOT_ACTIVE_PID,
+ RIOT_MAX_THREADS,
+ RIOT_NAME_OFFSET,
+};
+
+/* refer RIOT core/sched.c */
+static const char *const riot_symbol_list[] = {
+ "sched_threads",
+ "sched_num_threads",
+ "sched_active_pid",
+ "max_threads",
+ "_tcb_name_offset",
+ NULL
+};
+
+/* Define which symbols are not mandatory */
+static const enum riot_symbol_values riot_optional_symbols[] = {
+ RIOT_NAME_OFFSET,
+};
+
+const struct rtos_type riot_rtos = {
+ .name = "RIOT",
+ .detect_rtos = riot_detect_rtos,
+ .create = riot_create,
+ .update_threads = riot_update_threads,
+ .get_thread_reg_list = riot_get_thread_reg_list,
+ .get_symbol_list_to_lookup = riot_get_symbol_list_to_lookup,
+};
+
+static int riot_update_threads(struct rtos *rtos)
+{
+ int retval;
+ unsigned int tasks_found = 0;
+ const struct riot_params *param;
+
+ if (rtos == NULL)
+ return ERROR_FAIL;
+
+ if (rtos->rtos_specific_params == NULL)
+ return ERROR_FAIL;
+
+ param = (const struct riot_params *)rtos->rtos_specific_params;
+
+ if (rtos->symbols == NULL) {
+ LOG_ERROR("No symbols for RIOT");
+ return ERROR_FAIL;
+ }
+
+ if (rtos->symbols[RIOT_THREADS_BASE].address == 0) {
+ LOG_ERROR("Can't find symbol `%s`",
+ riot_symbol_list[RIOT_THREADS_BASE]);
+ return ERROR_FAIL;
+ }
+
+ /* wipe out previous thread details if any */
+ rtos_free_threadlist(rtos);
+
+ /* Reset values */
+ rtos->current_thread = 0;
+ rtos->thread_count = 0;
+
+ /* read the current thread id */
+ int16_t active_pid = 0;
+ retval = target_read_u16(rtos->target,
+ rtos->symbols[RIOT_ACTIVE_PID].address,
+ (uint16_t *)&active_pid);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't read symbol `%s`",
+ riot_symbol_list[RIOT_ACTIVE_PID]);
+ return retval;
+ }
+ rtos->current_thread = active_pid;
+
+ /* read the current thread count
+ * It's `int` in RIOT, but this is Cortex M* only anyway */
+ int32_t thread_count = 0;
+ retval = target_read_u16(rtos->target,
+ rtos->symbols[RIOT_NUM_THREADS].address,
+ (uint16_t *)&thread_count);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't read symbol `%s`",
+ riot_symbol_list[RIOT_NUM_THREADS]);
+ return retval;
+ }
+ rtos->thread_count = thread_count;
+
+ /* read the maximum number of threads */
+ uint8_t max_threads = 0;
+ retval = target_read_u8(rtos->target,
+ rtos->symbols[RIOT_MAX_THREADS].address,
+ &max_threads);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't read symbol `%s`",
+ riot_symbol_list[RIOT_MAX_THREADS]);
+ return retval;
+ }
+
+ /* Base address of thread array */
+ uint32_t threads_base = rtos->symbols[RIOT_THREADS_BASE].address;
+
+ /* Try to get the offset of tcb_t::name, if absent RIOT wasn't compiled
+ * with DEVELHELP, so there are no thread names */
+ uint8_t name_offset = 0;
+ if (rtos->symbols[RIOT_NAME_OFFSET].address != 0) {
+ retval = target_read_u8(rtos->target,
+ rtos->symbols[RIOT_NAME_OFFSET].address,
+ &name_offset);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't read symbol `%s`",
+ riot_symbol_list[RIOT_NAME_OFFSET]);
+ return retval;
+ }
+ }
+
+ /* Allocate memory for thread description */
+ rtos->thread_details = calloc(thread_count, sizeof(struct thread_detail));
+ if (rtos->thread_details == NULL) {
+ LOG_ERROR("RIOT: out of memory");
+ return ERROR_FAIL;
+ }
+
+ /* Buffer for thread names, maximum to display is 32 */
+ char buffer[32];
+
+ for (unsigned int i = 0; i < max_threads; i++) {
+ /* get pointer to tcb_t */
+ uint32_t tcb_pointer = 0;
+ retval = target_read_u32(rtos->target,
+ threads_base + (i * 4),
+ &tcb_pointer);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't parse `%s`", riot_symbol_list[RIOT_THREADS_BASE]);
+ goto error;
+ }
+
+ if (tcb_pointer == 0) {
+ /* PID unused */
+ continue;
+ }
+
+ /* Index is PID */
+ rtos->thread_details[tasks_found].threadid = i;
+
+ /* read thread state */
+ uint8_t status = 0;
+ retval = target_read_u8(rtos->target,
+ tcb_pointer + param->thread_status_offset,
+ &status);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't parse `%s`", riot_symbol_list[RIOT_THREADS_BASE]);
+ goto error;
+ }
+
+ /* Search for state */
+ unsigned int k;
+ for (k = 0; k < RIOT_NUM_STATES; k++) {
+ if (riot_thread_states[k].value == status)
+ break;
+ }
+
+ /* Copy state string */
+ if (k >= RIOT_NUM_STATES) {
+ rtos->thread_details[tasks_found].extra_info_str =
+ strdup("unknown state");
+ } else {
+ rtos->thread_details[tasks_found].extra_info_str =
+ strdup(riot_thread_states[k].desc);
+ }
+
+ if (rtos->thread_details[tasks_found].extra_info_str == NULL) {
+ LOG_ERROR("RIOT: out of memory");
+ retval = ERROR_FAIL;
+ goto error;
+ }
+
+ /* Thread names are only available if compiled with DEVELHELP */
+ if (name_offset != 0) {
+ uint32_t name_pointer = 0;
+ retval = target_read_u32(rtos->target,
+ tcb_pointer + name_offset,
+ &name_pointer);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't parse `%s`",
+ riot_symbol_list[RIOT_THREADS_BASE]);
+ goto error;
+ }
+
+ /* read thread name */
+ retval = target_read_buffer(rtos->target,
+ name_pointer,
+ sizeof(buffer),
+ (uint8_t *)&buffer);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't parse `%s`",
+ riot_symbol_list[RIOT_THREADS_BASE]);
+ goto error;
+ }
+
+ /* Make sure the string in the buffer terminates */
+ if (buffer[sizeof(buffer) - 1] != 0)
+ buffer[sizeof(buffer) - 1] = 0;
+
+ /* Copy thread name */
+ rtos->thread_details[tasks_found].thread_name_str =
+ strdup(buffer);
+
+ } else {
+ rtos->thread_details[tasks_found].thread_name_str =
+ strdup("Enable DEVELHELP to see task names");
+ }
+
+ if (rtos->thread_details[tasks_found].thread_name_str == NULL) {
+ LOG_ERROR("RIOT: out of memory");
+ retval = ERROR_FAIL;
+ goto error;
+ }
+
+ rtos->thread_details[tasks_found].exists = true;
+
+ tasks_found++;
+ }
+
+ return ERROR_OK;
+
+error:
+ rtos_free_threadlist(rtos);
+ return retval;
+}
+
+static int riot_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
+ struct rtos_reg **reg_list, int *num_regs)
+{
+ int retval;
+ const struct riot_params *param;
+
+ if (rtos == NULL)
+ return ERROR_FAIL;
+
+ if (thread_id == 0)
+ return ERROR_FAIL;
+
+ if (rtos->rtos_specific_params == NULL)
+ return ERROR_FAIL;
+
+ param = (const struct riot_params *)rtos->rtos_specific_params;
+
+ /* find the thread with given thread id */
+ uint32_t threads_base = rtos->symbols[RIOT_THREADS_BASE].address;
+ uint32_t tcb_pointer = 0;
+ retval = target_read_u32(rtos->target,
+ threads_base + (thread_id * 4),
+ &tcb_pointer);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't parse `%s`", riot_symbol_list[RIOT_THREADS_BASE]);
+ return retval;
+ }
+
+ /* read stack pointer for that thread */
+ uint32_t stackptr = 0;
+ retval = target_read_u32(rtos->target,
+ tcb_pointer + param->thread_sp_offset,
+ &stackptr);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Can't parse `%s`", riot_symbol_list[RIOT_THREADS_BASE]);
+ return retval;
+ }
+
+ return rtos_generic_stack_read(rtos->target,
+ stacking_info,
+ stackptr,
+ reg_list,
+ num_regs);
+}
+
+static int riot_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
+{
+ *symbol_list = calloc(ARRAY_SIZE(riot_symbol_list), sizeof(symbol_table_elem_t));
+
+ if (*symbol_list == NULL) {
+ LOG_ERROR("RIOT: out of memory");
+ return ERROR_FAIL;
+ }
+
+ for (unsigned int i = 0; i < ARRAY_SIZE(riot_symbol_list); i++) {
+ (*symbol_list)[i].symbol_name = riot_symbol_list[i];
+ (*symbol_list)[i].optional = false;
+
+ /* Lookup if symbol is optional */
+ for (unsigned int k = 0; k < sizeof(riot_optional_symbols); k++) {
+ if (i == riot_optional_symbols[k]) {
+ (*symbol_list)[i].optional = true;
+ break;
+ }
+ }
+ }
+
+ return ERROR_OK;
+}
+
+static bool riot_detect_rtos(struct target *target)
+{
+ if ((target->rtos->symbols != NULL) &&
+ (target->rtos->symbols[RIOT_THREADS_BASE].address != 0)) {
+ /* looks like RIOT */
+ return true;
+ }
+ return false;
+}
+
+static int riot_create(struct target *target)
+{
+ unsigned int i = 0;
+
+ /* lookup if target is supported by RIOT */
+ while ((i < RIOT_NUM_PARAMS) &&
+ (0 != strcmp(riot_params_list[i].target_name, target->type->name))) {
+ i++;
+ }
+ if (i >= RIOT_NUM_PARAMS) {
+ LOG_ERROR("Could not find target in RIOT compatibility list");
+ return ERROR_FAIL;
+ }
+
+ target->rtos->rtos_specific_params = (void *)&riot_params_list[i];
+ target->rtos->current_thread = 0;
+ target->rtos->thread_details = NULL;
+
+ /* Stacking is different depending on architecture */
+ struct armv7m_common *armv7m_target = target_to_armv7m(target);
+
+ if (armv7m_target->arm.is_armv6m)
+ stacking_info = &rtos_riot_cortex_m0_stacking;
+ else if (is_armv7m(armv7m_target))
+ stacking_info = &rtos_riot_cortex_m34_stacking;
+ else {
+ LOG_ERROR("No stacking info for architecture");
+ return ERROR_FAIL;
+ }
+ return ERROR_OK;
+}
diff --git a/src/rtos/rtos.c b/src/rtos/rtos.c
index ff0fb92..ca31d22 100644
--- a/src/rtos/rtos.c
+++ b/src/rtos/rtos.c
@@ -38,6 +38,7 @@ extern struct rtos_type mqx_rtos;
extern struct rtos_type uCOS_III_rtos;
extern struct rtos_type nuttx_rtos;
extern struct rtos_type hwthread_rtos;
+extern struct rtos_type riot_rtos;
static struct rtos_type *rtos_types[] = {
&ThreadX_rtos,
@@ -50,6 +51,8 @@ static struct rtos_type *rtos_types[] = {
&mqx_rtos,
&uCOS_III_rtos,
&nuttx_rtos,
+ &riot_rtos,
+ /* keep this as last, as it always matches with rtos auto */
&hwthread_rtos,
NULL
};
diff --git a/src/rtos/rtos_riot_stackings.c b/src/rtos/rtos_riot_stackings.c
new file mode 100644
index 0000000..23f4d17
--- /dev/null
+++ b/src/rtos/rtos_riot_stackings.c
@@ -0,0 +1,95 @@
+/***************************************************************************
+ * Copyright (C) 2015 by Daniel Krebs *
+ * Daniel Krebs - github@daniel-krebs.net *
+ * *
+ * 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 "target/armv7m.h"
+#include "rtos_standard_stackings.h"
+
+/* This works for the M0 and M34 stackings as xPSR is in a fixed
+ * location
+ */
+static int64_t rtos_riot_cortex_m_stack_align(struct target *target,
+ const uint8_t *stack_data, const struct rtos_register_stacking *stacking,
+ int64_t stack_ptr)
+{
+ const int XPSR_OFFSET = 0x40;
+ return rtos_Cortex_M_stack_align(target, stack_data, stacking,
+ stack_ptr, XPSR_OFFSET);
+}
+
+/* see thread_arch.c */
+static const struct stack_register_offset rtos_riot_cortex_m0_stack_offsets[ARMV7M_NUM_CORE_REGS] = {
+ { ARMV7M_R0, 0x24, 32 }, /* r0 */
+ { ARMV7M_R1, 0x28, 32 }, /* r1 */
+ { ARMV7M_R2, 0x2c, 32 }, /* r2 */
+ { ARMV7M_R3, 0x30, 32 }, /* r3 */
+ { ARMV7M_R4, 0x14, 32 }, /* r4 */
+ { ARMV7M_R5, 0x18, 32 }, /* r5 */
+ { ARMV7M_R6, 0x1c, 32 }, /* r6 */
+ { ARMV7M_R7, 0x20, 32 }, /* r7 */
+ { ARMV7M_R8, 0x04, 32 }, /* r8 */
+ { ARMV7M_R9, 0x08, 32 }, /* r9 */
+ { ARMV7M_R10, 0x0c, 32 }, /* r10 */
+ { ARMV7M_R11, 0x10, 32 }, /* r11 */
+ { ARMV7M_R12, 0x34, 32 }, /* r12 */
+ { ARMV7M_R13, -2, 32 }, /* sp */
+ { ARMV7M_R14, 0x38, 32 }, /* lr */
+ { ARMV7M_PC, 0x3c, 32 }, /* pc */
+ { ARMV7M_xPSR, 0x40, 32 }, /* xPSR */
+};
+
+const struct rtos_register_stacking rtos_riot_cortex_m0_stacking = {
+ 0x44, /* stack_registers_size */
+ -1, /* stack_growth_direction */
+ ARMV7M_NUM_CORE_REGS, /* num_output_registers */
+ rtos_riot_cortex_m_stack_align, /* stack_alignment */
+ rtos_riot_cortex_m0_stack_offsets /* register_offsets */
+};
+
+/* see thread_arch.c */
+static const struct stack_register_offset rtos_riot_cortex_m34_stack_offsets[ARMV7M_NUM_CORE_REGS] = {
+ { ARMV7M_R0, 0x24, 32 }, /* r0 */
+ { ARMV7M_R1, 0x28, 32 }, /* r1 */
+ { ARMV7M_R2, 0x2c, 32 }, /* r2 */
+ { ARMV7M_R3, 0x30, 32 }, /* r3 */
+ { ARMV7M_R4, 0x04, 32 }, /* r4 */
+ { ARMV7M_R5, 0x08, 32 }, /* r5 */
+ { ARMV7M_R6, 0x0c, 32 }, /* r6 */
+ { ARMV7M_R7, 0x10, 32 }, /* r7 */
+ { ARMV7M_R8, 0x14, 32 }, /* r8 */
+ { ARMV7M_R9, 0x18, 32 }, /* r9 */
+ { ARMV7M_R10, 0x1c, 32 }, /* r10 */
+ { ARMV7M_R11, 0x20, 32 }, /* r11 */
+ { ARMV7M_R12, 0x34, 32 }, /* r12 */
+ { ARMV7M_R13, -2, 32 }, /* sp */
+ { ARMV7M_R14, 0x38, 32 }, /* lr */
+ { ARMV7M_PC, 0x3c, 32 }, /* pc */
+ { ARMV7M_xPSR, 0x40, 32 }, /* xPSR */
+};
+
+const struct rtos_register_stacking rtos_riot_cortex_m34_stacking = {
+ 0x44, /* stack_registers_size */
+ -1, /* stack_growth_direction */
+ ARMV7M_NUM_CORE_REGS, /* num_output_registers */
+ rtos_riot_cortex_m_stack_align, /* stack_alignment */
+ rtos_riot_cortex_m34_stack_offsets /* register_offsets */
+};
diff --git a/src/rtos/rtos_riot_stackings.h b/src/rtos/rtos_riot_stackings.h
new file mode 100644
index 0000000..c5b8f59
--- /dev/null
+++ b/src/rtos/rtos_riot_stackings.h
@@ -0,0 +1,32 @@
+/***************************************************************************
+ * Copyright (C) 2015 by Daniel Krebs *
+ * Daniel Krebs - github@daniel-krebs.net *
+ * *
+ * 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_RIOT_STACKINGS_H
+#define OPENOCD_RTOS_RTOS_RIOT_STACKINGS_H
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "rtos.h"
+
+extern const struct rtos_register_stacking rtos_riot_cortex_m0_stacking;
+extern const struct rtos_register_stacking rtos_riot_cortex_m34_stacking;
+
+#endif /* OPENOCD_RTOS_RTOS_RIOT_STACKINGS_H */
+
generated by cgit v1.1 at 2024-11-08 00:40:07 +0000