/***************************************************************************
* 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 . *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include
#include
#include "target/target.h"
#include "target/target_type.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
/* FIXME: none of the _width parameters are actually observed properly!
* you WILL need to edit more if you actually attempt to target a 8/16/64
* bit target!
*/
struct freertos_params {
const char *target_name;
const unsigned char thread_count_width;
const unsigned char pointer_width;
const unsigned char list_next_offset;
const unsigned char list_width;
const unsigned char list_elem_next_offset;
const unsigned char list_elem_content_offset;
const unsigned char thread_stack_offset;
const unsigned char thread_name_offset;
const struct rtos_register_stacking *stacking_info_cm3;
const struct rtos_register_stacking *stacking_info_cm4f;
const struct rtos_register_stacking *stacking_info_cm4f_fpu;
};
static const struct freertos_params freertos_params_list[] = {
{
"cortex_m", /* target_name */
4, /* thread_count_width; */
4, /* pointer_width; */
16, /* list_next_offset; */
20, /* list_width; */
8, /* list_elem_next_offset; */
12, /* list_elem_content_offset */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_cortex_m3_stacking, /* stacking_info */
&rtos_standard_cortex_m4f_stacking,
&rtos_standard_cortex_m4f_fpu_stacking,
},
{
"hla_target", /* target_name */
4, /* thread_count_width; */
4, /* pointer_width; */
16, /* list_next_offset; */
20, /* list_width; */
8, /* list_elem_next_offset; */
12, /* list_elem_content_offset */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_cortex_m3_stacking, /* stacking_info */
&rtos_standard_cortex_m4f_stacking,
&rtos_standard_cortex_m4f_fpu_stacking,
},
{
"nds32_v3", /* target_name */
4, /* thread_count_width; */
4, /* pointer_width; */
16, /* list_next_offset; */
20, /* list_width; */
8, /* list_elem_next_offset; */
12, /* list_elem_content_offset */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_nds32_n1068_stacking, /* stacking_info */
&rtos_standard_cortex_m4f_stacking,
&rtos_standard_cortex_m4f_fpu_stacking,
},
};
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, int64_t thread_id,
struct rtos_reg **reg_list, int *num_regs);
static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
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_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,
};
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 */
{ 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_update_threads(struct rtos *rtos)
{
int retval;
unsigned int tasks_found = 0;
const struct freertos_params *param;
if (rtos->rtos_specific_params == NULL)
return -1;
param = (const struct freertos_params *) rtos->rtos_specific_params;
if (rtos->symbols == NULL) {
LOG_ERROR("No symbols for FreeRTOS");
return -3;
}
if (rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address == 0) {
LOG_ERROR("Don't have the number of threads in FreeRTOS");
return -2;
}
uint32_t thread_list_size = 0;
retval = target_read_u32(rtos->target,
rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
&thread_list_size);
LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu32,
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 */
uint32_t pointer_casts_are_bad;
retval = target_read_u32(rtos->target,
rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
&pointer_casts_are_bad);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading current thread in FreeRTOS thread list");
return retval;
}
rtos->current_thread = pointer_casts_are_bad;
LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64,
rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
rtos->current_thread);
if ((thread_list_size == 0) || (rtos->current_thread == 0)) {
/* 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 %d threads", thread_list_size);
return ERROR_FAIL;
}
rtos->thread_details->threadid = 1;
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 %d threads", thread_list_size);
return ERROR_FAIL;
}
}
/* Find out how many lists are needed to be read from pxReadyTasksLists, */
if (rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address == 0) {
LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
return ERROR_FAIL;
}
uint32_t top_used_priority = 0;
retval = target_read_u32(rtos->target,
rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
&top_used_priority);
if (retval != ERROR_OK)
return retval;
LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu32,
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: %" PRIu32,
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 * param->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 */
uint32_t list_thread_count = 0;
retval = target_read_u32(rtos->target,
list_of_lists[i],
&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 %" PRIu32,
i, list_of_lists[i], list_thread_count);
if (list_thread_count == 0)
continue;
/* Read the location of first list item */
uint32_t prev_list_elem_ptr = -1;
uint32_t list_elem_ptr = 0;
retval = target_read_u32(rtos->target,
list_of_lists[i] + param->list_next_offset,
&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%" PRIx32,
i, list_of_lists[i] + param->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;
retval = target_read_u32(rtos->target,
list_elem_ptr + param->list_elem_content_offset,
&pointer_casts_are_bad);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
rtos->thread_details[tasks_found].threadid = pointer_casts_are_bad;
LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32 ", value 0x%" PRIx64,
list_elem_ptr + param->list_elem_content_offset,
rtos->thread_details[tasks_found].threadid);
/* get thread name */
#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,
rtos->thread_details[tasks_found].threadid + 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");
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'",
rtos->thread_details[tasks_found].threadid + param->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 (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
char running_str[] = "State: Running";
rtos->thread_details[tasks_found].extra_info_str = malloc(
sizeof(running_str));
strcpy(rtos->thread_details[tasks_found].extra_info_str,
running_str);
} else
rtos->thread_details[tasks_found].extra_info_str = NULL;
tasks_found++;
list_thread_count--;
prev_list_elem_ptr = list_elem_ptr;
list_elem_ptr = 0;
retval = target_read_u32(rtos->target,
prev_list_elem_ptr + param->list_elem_next_offset,
&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 0x%" PRIx32 ", value 0x%" PRIx32,
prev_list_elem_ptr + param->list_elem_next_offset,
list_elem_ptr);
}
}
free(list_of_lists);
rtos->thread_count = tasks_found;
return 0;
}
static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
struct rtos_reg **reg_list, int *num_regs)
{
int retval;
const struct freertos_params *param;
int64_t stack_ptr = 0;
if (rtos == NULL)
return -1;
if (thread_id == 0)
return -2;
if (rtos->rtos_specific_params == NULL)
return -1;
param = (const struct freertos_params *) rtos->rtos_specific_params;
/* Read the stack pointer */
uint32_t pointer_casts_are_bad;
retval = target_read_u32(rtos->target,
thread_id + param->thread_stack_offset,
&pointer_casts_are_bad);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading stack frame from FreeRTOS thread");
return retval;
}
stack_ptr = pointer_casts_are_bad;
LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64,
thread_id + param->thread_stack_offset,
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) {
/* 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. */
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;
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)
return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs);
else
return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs);
} else
return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs);
}
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 == NULL)
return -1;
if (thread_id == 0)
return -2;
if (rtos->rtos_specific_params == NULL)
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 != NULL) &&
(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)
{
for (unsigned int i = 0; i < ARRAY_SIZE(freertos_params_list); i++)
if (strcmp(freertos_params_list[i].target_name, target->type->name) == 0) {
target->rtos->rtos_specific_params = (void *)&freertos_params_list[i];
return 0;
}
LOG_ERROR("Could not find target in FreeRTOS compatibility list");
return -1;
}