// 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 #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 #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) != 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); }