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Diffstat (limited to 'src/rtos/chibios.c')
| -rw-r--r-- | src/rtos/chibios.c | 547 |
1 files changed, 547 insertions, 0 deletions
diff --git a/src/rtos/chibios.c b/src/rtos/chibios.c new file mode 100644 index 0000000..4d2b1b2 --- /dev/null +++ b/src/rtos/chibios.c @@ -0,0 +1,547 @@ +/*************************************************************************** + * Copyright (C) 2012 by Matthias Blaicher * + * Matthias Blaicher - matthias@blaicher.com * + * * + * 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 <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 "target/armv7m.h" +#include "target/cortex_m.h" +#include "rtos.h" +#include "helper/log.h" +#include "helper/types.h" +#include "rtos_chibios_stackings.h" + +/** + * @brief ChibiOS/RT memory signature record. + * + * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT. + */ +struct chibios_chdebug { + char ch_identifier[4]; /**< @brief Always set to "main". */ + uint8_t ch_zero; /**< @brief Must be zero. */ + uint8_t ch_size; /**< @brief Size of this structure. */ + uint16_t ch_version; /**< @brief Encoded ChibiOS/RT version. */ + uint8_t ch_ptrsize; /**< @brief Size of a pointer. */ + uint8_t ch_timesize; /**< @brief Size of a @p systime_t. */ + uint8_t ch_threadsize; /**< @brief Size of a @p Thread struct. */ + uint8_t cf_off_prio; /**< @brief Offset of @p p_prio field. */ + uint8_t cf_off_ctx; /**< @brief Offset of @p p_ctx field. */ + uint8_t cf_off_newer; /**< @brief Offset of @p p_newer field. */ + uint8_t cf_off_older; /**< @brief Offset of @p p_older field. */ + uint8_t cf_off_name; /**< @brief Offset of @p p_name field. */ + uint8_t cf_off_stklimit; /**< @brief Offset of @p p_stklimit + field. */ + uint8_t cf_off_state; /**< @brief Offset of @p p_state field. */ + uint8_t cf_off_flags; /**< @brief Offset of @p p_flags field. */ + uint8_t cf_off_refs; /**< @brief Offset of @p p_refs field. */ + uint8_t cf_off_preempt; /**< @brief Offset of @p p_preempt + field. */ + uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */ +}; + +#define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f) +#define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f) +#define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f) + +/** + * @brief ChibiOS thread states. + */ +static const char * const chibios_thread_states[] = { "READY", "CURRENT", +"WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING", +"WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL" +}; + +#define CHIBIOS_NUM_STATES (sizeof(chibios_thread_states)/sizeof(char *)) + +/* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64 + * chars ought to be enough. + */ +#define CHIBIOS_THREAD_NAME_STR_SIZE (64) + +struct chibios_params { + const char *target_name; + + struct chibios_chdebug *signature; + const struct rtos_register_stacking *stacking_info; +}; + +static struct chibios_params chibios_params_list[] = { + { + "cortex_m", /* target_name */ + 0, + NULL, /* stacking_info */ + }, + { + "hla_target", /* target_name */ + 0, + NULL, /* stacking_info */ + } +}; +#define CHIBIOS_NUM_PARAMS ((int)(sizeof(chibios_params_list)/sizeof(struct chibios_params))) + +static bool chibios_detect_rtos(struct target *target); +static int chibios_create(struct target *target); +static int chibios_update_threads(struct rtos *rtos); +static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, + struct rtos_reg **reg_list, int *num_regs); +static int chibios_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]); + +struct rtos_type chibios_rtos = { + .name = "chibios", + + .detect_rtos = chibios_detect_rtos, + .create = chibios_create, + .update_threads = chibios_update_threads, + .get_thread_reg_list = chibios_get_thread_reg_list, + .get_symbol_list_to_lookup = chibios_get_symbol_list_to_lookup, +}; + + +/* In ChibiOS/RT 3.0 the rlist structure has become part of a system + * data structure ch. We declare both symbols as optional and later + * use whatever is available. + */ + +enum chibios_symbol_values { + CHIBIOS_VAL_RLIST = 0, + CHIBIOS_VAL_CH = 1, + CHIBIOS_VAL_CH_DEBUG = 2 +}; + +static symbol_table_elem_t chibios_symbol_list[] = { + { "rlist", 0, true}, /* Thread ready list */ + { "ch", 0, true}, /* System data structure */ + { "ch_debug", 0, false}, /* Memory Signature containing offsets of fields in rlist */ + { NULL, 0, false} +}; + +/* Offset of the rlist structure within the system data structure (ch) */ +#define CH_RLIST_OFFSET 0x00 + +static int chibios_update_memory_signature(struct rtos *rtos) +{ + int retval; + struct chibios_params *param; + struct chibios_chdebug *signature; + + param = (struct chibios_params *) rtos->rtos_specific_params; + + /* Free existing memory description.*/ + if (param->signature) { + free(param->signature); + param->signature = 0; + } + + signature = malloc(sizeof(*signature)); + if (!signature) { + LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature"); + return -1; + } + + retval = target_read_buffer(rtos->target, + rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address, + sizeof(*signature), + (uint8_t *) signature); + if (retval != ERROR_OK) { + LOG_ERROR("Could not read ChibiOS/RT memory signature from target"); + goto errfree; + } + + if (strncmp(signature->ch_identifier, "main", 4) != 0) { + LOG_ERROR("Memory signature identifier does not contain magic bytes."); + goto errfree; + } + + if (signature->ch_size < sizeof(*signature)) { + LOG_ERROR("ChibiOS/RT memory signature claims to be smaller " + "than expected"); + goto errfree; + } + + if (signature->ch_size > sizeof(*signature)) { + LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than" + " expected. Assuming compatibility..."); + } + + /* Convert endianness of version field */ + const uint8_t *versionTarget = (const uint8_t *) + &signature->ch_version; + signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ? + le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget); + + const uint16_t ch_version = signature->ch_version; + LOG_INFO("Successfully loaded memory map of ChibiOS/RT target " + "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version), + GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version)); + + /* Currently, we have the inherent assumption that all address pointers + * are 32 bit wide. */ + if (signature->ch_ptrsize != sizeof(uint32_t)) { + LOG_ERROR("ChibiOS/RT target memory signature claims an address " + "width unequal to 32 bits!"); + free(signature); + return -1; + } + + param->signature = signature; + return 0; + +errfree: + /* Error reading the ChibiOS memory structure */ + free(signature); + param->signature = 0; + return -1; +} + + +static int chibios_update_stacking(struct rtos *rtos) +{ + /* Sometimes the stacking can not be determined only by looking at the + * target name but only a runtime. + * + * For example, this is the case for Cortex-M4 targets and ChibiOS which + * only stack the FPU registers if it is enabled during ChibiOS build. + * + * Terminating which stacking is used is target depending. + * + * Assumptions: + * - Once ChibiOS is actually initialized, the stacking is fixed. + * - During startup code, the FPU might not be initialized and the + * detection might fail. + * - Since no threads are running during startup, the problem is solved + * by delaying stacking detection until there are more threads + * available than the current execution. In which case + * chibios_get_thread_reg_list is called. + */ + int retval; + + if (!rtos->rtos_specific_params) + return -1; + + struct chibios_params *param; + param = (struct chibios_params *) rtos->rtos_specific_params; + + /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4 */ + struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target); + if (is_armv7m(armv7m_target)) { + if (armv7m_target->fp_feature != FP_NONE) { + /* 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. + * In ChibiOS this is done in ResetHandler() in crt0.c */ + if (cpacr & 0x00F00000) { + LOG_DEBUG("Enabled FPU detected."); + param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu; + return 0; + } + } + + /* Found ARM v7m target with no or disabled FPU */ + param->stacking_info = &rtos_chibios_arm_v7m_stacking; + return 0; + } + + return -1; +} + +static int chibios_update_threads(struct rtos *rtos) +{ + int retval; + const struct chibios_params *param; + int tasks_found = 0; + int rtos_valid = -1; + + if (!rtos->rtos_specific_params) + return -1; + + if (!rtos->symbols) { + LOG_ERROR("No symbols for ChibiOS"); + return -3; + } + + param = (const struct chibios_params *) rtos->rtos_specific_params; + /* Update the memory signature saved in the target memory */ + if (!param->signature) { + retval = chibios_update_memory_signature(rtos); + if (retval != ERROR_OK) { + LOG_ERROR("Reading the memory signature of ChibiOS/RT failed"); + return retval; + } + } + + /* wipe out previous thread details if any */ + rtos_free_threadlist(rtos); + + /* ChibiOS does not save the current thread count. We have to first + * parse the double linked thread list to check for errors and the number of + * threads. */ + const uint32_t rlist = rtos->symbols[CHIBIOS_VAL_RLIST].address ? + rtos->symbols[CHIBIOS_VAL_RLIST].address : + rtos->symbols[CHIBIOS_VAL_CH].address + CH_RLIST_OFFSET /* ChibiOS3 */; + const struct chibios_chdebug *signature = param->signature; + uint32_t current; + uint32_t previous; + uint32_t older; + + current = rlist; + previous = rlist; + while (1) { + retval = target_read_u32(rtos->target, + current + signature->cf_off_newer, ¤t); + if (retval != ERROR_OK) { + LOG_ERROR("Could not read next ChibiOS thread"); + return retval; + } + /* Could be NULL if the kernel is not initialized yet or if the + * registry is corrupted. */ + if (current == 0) { + LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer"); + + rtos_valid = 0; + break; + } + /* Fetch previous thread in the list as a integrity check. */ + retval = target_read_u32(rtos->target, + current + signature->cf_off_older, &older); + if ((retval != ERROR_OK) || (older == 0) || (older != previous)) { + LOG_ERROR("ChibiOS registry integrity check failed, " + "double linked list violation"); + rtos_valid = 0; + break; + } + /* Check for full iteration of the linked list. */ + if (current == rlist) + break; + tasks_found++; + previous = current; + } + if (!rtos_valid) { + /* No RTOS, there is always at least the current execution, though */ + LOG_INFO("Only showing current execution because of a broken " + "ChibiOS thread registry."); + + const char tmp_thread_name[] = "Current Execution"; + const char tmp_thread_extra_info[] = "No RTOS thread"; + + rtos->thread_details = malloc( + sizeof(struct thread_detail)); + rtos->thread_details->threadid = 1; + rtos->thread_details->exists = true; + + rtos->thread_details->extra_info_str = malloc( + sizeof(tmp_thread_extra_info)); + strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info); + + rtos->thread_details->thread_name_str = malloc( + sizeof(tmp_thread_name)); + strcpy(rtos->thread_details->thread_name_str, tmp_thread_name); + + rtos->current_thread = 1; + rtos->thread_count = 1; + return ERROR_OK; + } + + /* create space for new thread details */ + rtos->thread_details = malloc( + sizeof(struct thread_detail) * tasks_found); + if (!rtos->thread_details) { + LOG_ERROR("Could not allocate space for thread details"); + return -1; + } + + rtos->thread_count = tasks_found; + /* Loop through linked list. */ + struct thread_detail *curr_thrd_details = rtos->thread_details; + while (curr_thrd_details < rtos->thread_details + tasks_found) { + uint32_t name_ptr = 0; + char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE]; + + retval = target_read_u32(rtos->target, + current + signature->cf_off_newer, ¤t); + if (retval != ERROR_OK) { + LOG_ERROR("Could not read next ChibiOS thread"); + return -6; + } + + /* Check for full iteration of the linked list. */ + if (current == rlist) + break; + + /* Save the thread pointer */ + curr_thrd_details->threadid = current; + + /* read the name pointer */ + retval = target_read_u32(rtos->target, + current + signature->cf_off_name, &name_ptr); + if (retval != ERROR_OK) { + LOG_ERROR("Could not read ChibiOS thread name pointer from target"); + return retval; + } + + /* Read the thread name */ + retval = target_read_buffer(rtos->target, name_ptr, + CHIBIOS_THREAD_NAME_STR_SIZE, + (uint8_t *)&tmp_str); + if (retval != ERROR_OK) { + LOG_ERROR("Error reading thread name from ChibiOS target"); + return retval; + } + tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00'; + + if (tmp_str[0] == '\x00') + strcpy(tmp_str, "No Name"); + + curr_thrd_details->thread_name_str = malloc( + strlen(tmp_str) + 1); + strcpy(curr_thrd_details->thread_name_str, tmp_str); + + /* State info */ + uint8_t thread_state; + const char *state_desc; + + retval = target_read_u8(rtos->target, + current + signature->cf_off_state, &thread_state); + if (retval != ERROR_OK) { + LOG_ERROR("Error reading thread state from ChibiOS target"); + return retval; + } + + + if (thread_state < CHIBIOS_NUM_STATES) + state_desc = chibios_thread_states[thread_state]; + else + state_desc = "Unknown"; + + curr_thrd_details->extra_info_str = malloc(strlen( + state_desc)+8); + sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc); + + curr_thrd_details->exists = true; + + curr_thrd_details++; + } + + uint32_t current_thrd; + /* NOTE: By design, cf_off_name equals readylist_current_offset */ + retval = target_read_u32(rtos->target, + rlist + signature->cf_off_name, + ¤t_thrd); + if (retval != ERROR_OK) { + LOG_ERROR("Could not read current Thread from ChibiOS target"); + return retval; + } + rtos->current_thread = current_thrd; + + return 0; +} + +static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, + struct rtos_reg **reg_list, int *num_regs) +{ + int retval; + const struct chibios_params *param; + uint32_t stack_ptr = 0; + + if ((rtos == NULL) || (thread_id == 0) || + (rtos->rtos_specific_params == NULL)) + return -1; + + param = (const struct chibios_params *) rtos->rtos_specific_params; + + if (!param->signature) + return -1; + + /* Update stacking if it can only be determined from runtime information */ + if ((param->stacking_info == 0) && + (chibios_update_stacking(rtos) != ERROR_OK)) { + LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name); + return -1; + } + + /* Read the stack pointer */ + retval = target_read_u32(rtos->target, + thread_id + param->signature->cf_off_ctx, &stack_ptr); + if (retval != ERROR_OK) { + LOG_ERROR("Error reading stack frame from ChibiOS thread"); + return retval; + } + + return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, reg_list, num_regs); +} + +static int chibios_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]) +{ + *symbol_list = malloc(sizeof(chibios_symbol_list)); + + if (*symbol_list == NULL) + return ERROR_FAIL; + + memcpy(*symbol_list, chibios_symbol_list, sizeof(chibios_symbol_list)); + return 0; +} + +static bool chibios_detect_rtos(struct target *target) +{ + if ((target->rtos->symbols != NULL) && + ((target->rtos->symbols[CHIBIOS_VAL_RLIST].address != 0) || + (target->rtos->symbols[CHIBIOS_VAL_CH].address != 0))) { + + if (target->rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address == 0) { + LOG_INFO("It looks like the target may be running ChibiOS " + "without ch_debug."); + return false; + } + + /* looks like ChibiOS with memory map enabled.*/ + return true; + } + + return false; +} + +static int chibios_create(struct target *target) +{ + int i = 0; + while ((i < CHIBIOS_NUM_PARAMS) && + (0 != strcmp(chibios_params_list[i].target_name, target->type->name))) { + i++; + } + if (i >= CHIBIOS_NUM_PARAMS) { + LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility " + "list", target->type->name); + return -1; + } + + target->rtos->rtos_specific_params = (void *) &chibios_params_list[i]; + return 0; +} |