diff options
Diffstat (limited to 'src/rtos/uCOS-III.c')
| -rw-r--r-- | src/rtos/uCOS-III.c | 509 |
1 files changed, 509 insertions, 0 deletions
diff --git a/src/rtos/uCOS-III.c b/src/rtos/uCOS-III.c new file mode 100644 index 0000000..75cfe52 --- /dev/null +++ b/src/rtos/uCOS-III.c @@ -0,0 +1,509 @@ +/*************************************************************************** + * Copyright (C) 2016 by Square, Inc. * + * Steven Stallion <stallion@squareup.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 "rtos.h" +#include "helper/log.h" +#include "helper/types.h" +#include "rtos/rtos_ucos_iii_stackings.h" + +#ifndef UCOS_III_MAX_STRLEN +#define UCOS_III_MAX_STRLEN 64 +#endif + +#ifndef UCOS_III_MAX_THREADS +#define UCOS_III_MAX_THREADS 256 +#endif + +struct uCOS_III_params { + const char *target_name; + const unsigned char pointer_width; + symbol_address_t thread_stack_offset; + symbol_address_t thread_name_offset; + symbol_address_t thread_state_offset; + symbol_address_t thread_priority_offset; + symbol_address_t thread_prev_offset; + symbol_address_t thread_next_offset; + bool thread_offsets_updated; + size_t threadid_start; + const struct rtos_register_stacking *stacking_info; + size_t num_threads; + symbol_address_t threads[]; +}; + +static const struct uCOS_III_params uCOS_III_params_list[] = { + { + "cortex_m", /* target_name */ + sizeof(uint32_t), /* pointer_width */ + 0, /* thread_stack_offset */ + 0, /* thread_name_offset */ + 0, /* thread_state_offset */ + 0, /* thread_priority_offset */ + 0, /* thread_prev_offset */ + 0, /* thread_next_offset */ + false, /* thread_offsets_updated */ + 1, /* threadid_start */ + &rtos_uCOS_III_Cortex_M_stacking, /* stacking_info */ + 0, /* num_threads */ + }, +}; + +static const char * const uCOS_III_symbol_list[] = { + "OSRunning", + "OSTCBCurPtr", + "OSTaskDbgListPtr", + "OSTaskQty", + + /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */ + "openocd_OS_TCB_StkPtr_offset", + "openocd_OS_TCB_NamePtr_offset", + "openocd_OS_TCB_TaskState_offset", + "openocd_OS_TCB_Prio_offset", + "openocd_OS_TCB_DbgPrevPtr_offset", + "openocd_OS_TCB_DbgNextPtr_offset", + NULL +}; + +enum uCOS_III_symbol_values { + uCOS_III_VAL_OSRunning, + uCOS_III_VAL_OSTCBCurPtr, + uCOS_III_VAL_OSTaskDbgListPtr, + uCOS_III_VAL_OSTaskQty, + + /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */ + uCOS_III_VAL_OS_TCB_StkPtr_offset, + uCOS_III_VAL_OS_TCB_NamePtr_offset, + uCOS_III_VAL_OS_TCB_TaskState_offset, + uCOS_III_VAL_OS_TCB_Prio_offset, + uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset, + uCOS_III_VAL_OS_TCB_DbgNextPtr_offset, +}; + +static const char * const uCOS_III_thread_state_list[] = { + "Ready", + "Delay", + "Pend", + "Pend Timeout", + "Suspended", + "Delay Suspended", + "Pend Suspended", + "Pend Timeout Suspended", +}; + +static int uCOS_III_find_or_create_thread(struct rtos *rtos, symbol_address_t thread_address, + threadid_t *threadid) +{ + struct uCOS_III_params *params = rtos->rtos_specific_params; + size_t thread_index; + + for (thread_index = 0; thread_index < params->num_threads; thread_index++) + if (params->threads[thread_index] == thread_address) + goto found; + + if (params->num_threads == UCOS_III_MAX_THREADS) { + LOG_WARNING("uCOS-III: too many threads; increase UCOS_III_MAX_THREADS"); + return ERROR_FAIL; + } + + params->threads[thread_index] = thread_address; + params->num_threads++; +found: + *threadid = thread_index + params->threadid_start; + return ERROR_OK; +} + +static int uCOS_III_find_thread_address(struct rtos *rtos, threadid_t threadid, + symbol_address_t *thread_address) +{ + struct uCOS_III_params *params = rtos->rtos_specific_params; + size_t thread_index; + + thread_index = threadid - params->threadid_start; + if (thread_index >= params->num_threads) { + LOG_ERROR("uCOS-III: failed to find thread address"); + return ERROR_FAIL; + } + + *thread_address = params->threads[thread_index]; + return ERROR_OK; +} + +static int uCOS_III_find_last_thread_address(struct rtos *rtos, symbol_address_t *thread_address) +{ + struct uCOS_III_params *params = rtos->rtos_specific_params; + int retval; + + /* read the thread list head */ + symbol_address_t thread_list_address = 0; + + retval = target_read_memory(rtos->target, + rtos->symbols[uCOS_III_VAL_OSTaskDbgListPtr].address, + params->pointer_width, + 1, + (void *)&thread_list_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read thread list address"); + return retval; + } + + /* advance to end of thread list */ + do { + *thread_address = thread_list_address; + + retval = target_read_memory(rtos->target, + thread_list_address + params->thread_next_offset, + params->pointer_width, + 1, + (void *)&thread_list_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read next thread address"); + return retval; + } + } while (thread_list_address != 0); + + return ERROR_OK; +} + +static int uCOS_III_update_thread_offsets(struct rtos *rtos) +{ + struct uCOS_III_params *params = rtos->rtos_specific_params; + + if (params->thread_offsets_updated) + return ERROR_OK; + + const struct thread_offset_map { + enum uCOS_III_symbol_values symbol_value; + symbol_address_t *thread_offset; + } thread_offset_maps[] = { + { + uCOS_III_VAL_OS_TCB_StkPtr_offset, + ¶ms->thread_stack_offset, + }, + { + uCOS_III_VAL_OS_TCB_NamePtr_offset, + ¶ms->thread_name_offset, + }, + { + uCOS_III_VAL_OS_TCB_TaskState_offset, + ¶ms->thread_state_offset, + }, + { + uCOS_III_VAL_OS_TCB_Prio_offset, + ¶ms->thread_priority_offset, + }, + { + uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset, + ¶ms->thread_prev_offset, + }, + { + uCOS_III_VAL_OS_TCB_DbgNextPtr_offset, + ¶ms->thread_next_offset, + }, + }; + + for (size_t i = 0; i < ARRAY_SIZE(thread_offset_maps); i++) { + const struct thread_offset_map *thread_offset_map = &thread_offset_maps[i]; + + int retval = target_read_memory(rtos->target, + rtos->symbols[thread_offset_map->symbol_value].address, + params->pointer_width, + 1, + (void *)thread_offset_map->thread_offset); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read thread offset"); + return retval; + } + } + + params->thread_offsets_updated = true; + return ERROR_OK; +} + +static int uCOS_III_detect_rtos(struct target *target) +{ + return target->rtos->symbols != NULL && + target->rtos->symbols[uCOS_III_VAL_OSRunning].address != 0; +} + +static int uCOS_III_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv) +{ + struct uCOS_III_params *params = target->rtos->rtos_specific_params; + + params->thread_offsets_updated = false; + params->num_threads = 0; + + return ERROR_OK; +} + +static int uCOS_III_create(struct target *target) +{ + struct uCOS_III_params *params; + + for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_params_list); i++) + if (strcmp(uCOS_III_params_list[i].target_name, target->type->name) == 0) { + params = malloc(sizeof(*params) + + UCOS_III_MAX_THREADS * sizeof(*params->threads)); + if (params == NULL) { + LOG_ERROR("uCOS-III: out of memory"); + return ERROR_FAIL; + } + + memcpy(params, &uCOS_III_params_list[i], sizeof(uCOS_III_params_list[i])); + target->rtos->rtos_specific_params = (void *)params; + + target_register_reset_callback(uCOS_III_reset_handler, NULL); + + return ERROR_OK; + } + + LOG_ERROR("uCOS-III: target not supported: %s", target->type->name); + return ERROR_FAIL; +} + +static int uCOS_III_update_threads(struct rtos *rtos) +{ + struct uCOS_III_params *params = rtos->rtos_specific_params; + int retval; + + /* free previous thread details */ + rtos_free_threadlist(rtos); + + /* verify RTOS is running */ + uint8_t rtos_running; + + retval = target_read_u8(rtos->target, + rtos->symbols[uCOS_III_VAL_OSRunning].address, + &rtos_running); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read RTOS running"); + return retval; + } + + if (!rtos_running) { + rtos->thread_details = calloc(1, sizeof(struct thread_detail)); + if (rtos->thread_details == NULL) { + LOG_ERROR("uCOS-III: out of memory"); + return ERROR_FAIL; + } + + rtos->thread_count = 1; + rtos->thread_details->threadid = 0; + rtos->thread_details->exists = true; + rtos->current_thread = 0; + + return ERROR_OK; + } + + /* update thread offsets */ + retval = uCOS_III_update_thread_offsets(rtos); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to update thread offsets"); + return retval; + } + + /* read current thread address */ + symbol_address_t current_thread_address = 0; + + retval = target_read_memory(rtos->target, + rtos->symbols[uCOS_III_VAL_OSTCBCurPtr].address, + params->pointer_width, + 1, + (void *)¤t_thread_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read current thread address"); + return retval; + } + + /* read number of tasks */ + retval = target_read_u16(rtos->target, + rtos->symbols[uCOS_III_VAL_OSTaskQty].address, + (void *)&rtos->thread_count); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read thread count"); + return retval; + } + + rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail)); + if (rtos->thread_details == NULL) { + LOG_ERROR("uCOS-III: out of memory"); + return ERROR_FAIL; + } + + /* + * uC/OS-III adds tasks in LIFO order; advance to the end of the + * list and work backwards to preserve the intended order. + */ + symbol_address_t thread_address = 0; + + retval = uCOS_III_find_last_thread_address(rtos, &thread_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to find last thread address"); + return retval; + } + + for (int i = 0; i < rtos->thread_count; i++) { + struct thread_detail *thread_detail = &rtos->thread_details[i]; + char thread_str_buffer[UCOS_III_MAX_STRLEN + 1]; + + /* find or create new threadid */ + retval = uCOS_III_find_or_create_thread(rtos, + thread_address, + &thread_detail->threadid); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to find or create thread"); + return retval; + } + + if (thread_address == current_thread_address) + rtos->current_thread = thread_detail->threadid; + + thread_detail->exists = true; + + /* read thread name */ + symbol_address_t thread_name_address = 0; + + retval = target_read_memory(rtos->target, + thread_address + params->thread_name_offset, + params->pointer_width, + 1, + (void *)&thread_name_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to name address"); + return retval; + } + + retval = target_read_buffer(rtos->target, + thread_name_address, + sizeof(thread_str_buffer), + (void *)thread_str_buffer); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read thread name"); + return retval; + } + + thread_str_buffer[sizeof(thread_str_buffer) - 1] = '\0'; + thread_detail->thread_name_str = strdup(thread_str_buffer); + + /* read thread extra info */ + uint8_t thread_state; + uint8_t thread_priority; + + retval = target_read_u8(rtos->target, + thread_address + params->thread_state_offset, + &thread_state); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read thread state"); + return retval; + } + + retval = target_read_u8(rtos->target, + thread_address + params->thread_priority_offset, + &thread_priority); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read thread priority"); + return retval; + } + + const char *thread_state_str; + + if (thread_state < ARRAY_SIZE(uCOS_III_thread_state_list)) + thread_state_str = uCOS_III_thread_state_list[thread_state]; + else + thread_state_str = "Unknown"; + + snprintf(thread_str_buffer, sizeof(thread_str_buffer), "State: %s, Priority: %d", + thread_state_str, thread_priority); + thread_detail->extra_info_str = strdup(thread_str_buffer); + + /* read previous thread address */ + retval = target_read_memory(rtos->target, + thread_address + params->thread_prev_offset, + params->pointer_width, + 1, + (void *)&thread_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read previous thread address"); + return retval; + } + } + + return ERROR_OK; +} + +static int uCOS_III_get_thread_reg_list(struct rtos *rtos, threadid_t threadid, char **hex_reg_list) +{ + struct uCOS_III_params *params = rtos->rtos_specific_params; + int retval; + + /* find thread address for threadid */ + symbol_address_t thread_address = 0; + + retval = uCOS_III_find_thread_address(rtos, threadid, &thread_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to find thread address"); + return retval; + } + + /* read thread stack address */ + symbol_address_t stack_address = 0; + + retval = target_read_memory(rtos->target, + thread_address + params->thread_stack_offset, + params->pointer_width, + 1, + (void *)&stack_address); + if (retval != ERROR_OK) { + LOG_ERROR("uCOS-III: failed to read stack address"); + return retval; + } + + return rtos_generic_stack_read(rtos->target, + params->stacking_info, + stack_address, + hex_reg_list); +} + +static int uCOS_III_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]) +{ + *symbol_list = calloc(ARRAY_SIZE(uCOS_III_symbol_list), sizeof(symbol_table_elem_t)); + if (*symbol_list == NULL) { + LOG_ERROR("uCOS-III: out of memory"); + return ERROR_FAIL; + } + + for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_symbol_list); i++) + (*symbol_list)[i].symbol_name = uCOS_III_symbol_list[i]; + + return ERROR_OK; +} + +const struct rtos_type uCOS_III_rtos = { + .name = "uCOS-III", + .detect_rtos = uCOS_III_detect_rtos, + .create = uCOS_III_create, + .update_threads = uCOS_III_update_threads, + .get_thread_reg_list = uCOS_III_get_thread_reg_list, + .get_symbol_list_to_lookup = uCOS_III_get_symbol_list_to_lookup, +}; |