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-rw-r--r--src/rtos/Makefile.am1
-rw-r--r--src/rtos/rtkernel.c384
-rw-r--r--src/rtos/rtos.c2
3 files changed, 387 insertions, 0 deletions
diff --git a/src/rtos/Makefile.am b/src/rtos/Makefile.am
index fc3ab8b..b0f7daf 100644
--- a/src/rtos/Makefile.am
+++ b/src/rtos/Makefile.am
@@ -21,6 +21,7 @@ noinst_LTLIBRARIES += %D%/librtos.la
%D%/mqx.c \
%D%/uCOS-III.c \
%D%/nuttx.c \
+ %D%/rtkernel.c \
%D%/hwthread.c \
%D%/zephyr.c \
%D%/riot.c \
diff --git a/src/rtos/rtkernel.c b/src/rtos/rtkernel.c
new file mode 100644
index 0000000..ba1de25
--- /dev/null
+++ b/src/rtos/rtkernel.c
@@ -0,0 +1,384 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+/***************************************************************************
+ * Copyright (C) 2016-2023 by Andreas Fritiofson *
+ * andreas.fritiofson@gmail.com *
+ ***************************************************************************/
+
+#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_standard_stackings.h"
+#include "target/armv7m.h"
+#include "target/cortex_m.h"
+
+#define ST_DEAD BIT(0) /* Task is waiting to be deleted */
+#define ST_WAIT BIT(1) /* Task is blocked: */
+#define ST_SEM BIT(2) /* on semaphore */
+#define ST_MTX BIT(3) /* on mutex */
+#define ST_SIG BIT(4) /* on signal */
+#define ST_DLY BIT(5) /* on timer */
+#define ST_FLAG BIT(6) /* on flag */
+#define ST_FLAG_ALL BIT(7) /* on flag and flag mode is "ALL" */
+#define ST_MBOX BIT(8) /* on mailbox */
+#define ST_STP BIT(9) /* self stopped */
+#define ST_SUSPEND BIT(10) /* Task is suspended */
+#define ST_TT BIT(11) /* Time triggered task */
+#define ST_TT_YIELD BIT(12) /* Time triggered task that yields */
+#define ST_CREATE BIT(13) /* Task was created by task_create() */
+
+struct rtkernel_params {
+ const char *target_name;
+ 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 rtkernel_params rtkernel_params_list[] = {
+ {
+ "cortex_m", /* target_name */
+ &rtos_standard_cortex_m3_stacking, /* stacking_info */
+ &rtos_standard_cortex_m4f_stacking,
+ &rtos_standard_cortex_m4f_fpu_stacking,
+ },
+ {
+ "hla_target", /* target_name */
+ &rtos_standard_cortex_m3_stacking, /* stacking_info */
+ &rtos_standard_cortex_m4f_stacking,
+ &rtos_standard_cortex_m4f_fpu_stacking,
+ },
+};
+
+enum rtkernel_symbol_values {
+ sym_os_state = 0,
+ sym___off_os_state2chain = 1,
+ sym___off_os_state2current = 2,
+ sym___off_task2chain = 3,
+ sym___off_task2magic = 4,
+ sym___off_task2stack = 5,
+ sym___off_task2state = 6,
+ sym___off_task2name = 7,
+ sym___val_task_magic = 8,
+};
+
+struct symbols {
+ const char *name;
+ bool optional;
+};
+
+static const struct symbols rtkernel_symbol_list[] = {
+ { "os_state", false },
+ { "__off_os_state2chain", false },
+ { "__off_os_state2current", false },
+ { "__off_task2chain", false },
+ { "__off_task2magic", false },
+ { "__off_task2stack", false },
+ { "__off_task2state", false },
+ { "__off_task2name", false },
+ { "__val_task_magic", false },
+ { NULL, false }
+};
+
+static void *realloc_preserve(void *ptr, size_t old_size, size_t new_size)
+{
+ void *new_ptr = malloc(new_size);
+
+ if (new_ptr) {
+ memcpy(new_ptr, ptr, MIN(old_size, new_size));
+ free(ptr);
+ }
+
+ return new_ptr;
+}
+
+static int rtkernel_add_task(struct rtos *rtos, uint32_t task, uint32_t current_task)
+{
+ int retval;
+ int new_thread_count = rtos->thread_count + 1;
+ struct thread_detail *new_thread_details = realloc_preserve(rtos->thread_details,
+ rtos->thread_count * sizeof(struct thread_detail),
+ new_thread_count * sizeof(struct thread_detail));
+ if (!new_thread_details) {
+ LOG_ERROR("Error growing memory to %d threads", new_thread_count);
+ return ERROR_FAIL;
+ }
+ rtos->thread_details = new_thread_details;
+ struct thread_detail *thread = &new_thread_details[rtos->thread_count];
+
+ *thread = (struct thread_detail){ .threadid = task, .exists = true };
+
+ /* Read the task name */
+ uint32_t name;
+ retval = target_read_u32(rtos->target, task + rtos->symbols[sym___off_task2name].address, &name);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read task name pointer from target");
+ return retval;
+ }
+ uint8_t tmp_str[33];
+ retval = target_read_buffer(rtos->target, name, sizeof(tmp_str) - 1, tmp_str);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Error reading task name from target");
+ return retval;
+ }
+ tmp_str[sizeof(tmp_str) - 1] = '\0';
+ LOG_DEBUG("task name at 0x%" PRIx32 ", value \"%s\"", name, tmp_str);
+
+ if (tmp_str[0] != '\0')
+ thread->thread_name_str = strdup((char *)tmp_str);
+ else
+ thread->thread_name_str = strdup("No Name");
+
+ /* Read the task state */
+ uint16_t state;
+ retval = target_read_u16(rtos->target, task + rtos->symbols[sym___off_task2state].address, &state);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read task state from target");
+ return retval;
+ }
+
+ LOG_DEBUG("task state 0x%" PRIx16, state);
+
+ char state_str[64] = "";
+ if (state & ST_TT)
+ strcat(state_str, "TT|");
+ if (task == current_task) {
+ strcat(state_str, "RUN");
+ } else {
+ if (state & (ST_TT | ST_TT_YIELD))
+ strcat(state_str, "YIELD");
+ else if (state & ST_DEAD)
+ strcat(state_str, "DEAD");
+ else if (state & ST_WAIT)
+ strcat(state_str, "WAIT");
+ else if (state & ST_SUSPEND)
+ strcat(state_str, "SUSP");
+ else
+ strcat(state_str, "READY");
+ }
+ if (state & ST_SEM)
+ strcat(state_str, "|SEM");
+ if (state & ST_MTX)
+ strcat(state_str, "|MTX");
+ if (state & ST_SIG)
+ strcat(state_str, "|SIG");
+ if (state & ST_DLY)
+ strcat(state_str, "|DLY");
+ if ((state & ST_FLAG) || (state & ST_FLAG_ALL))
+ strcat(state_str, "|FLAG");
+ if (state & ST_FLAG_ALL)
+ strcat(state_str, "_ALL");
+ if (state & ST_MBOX)
+ strcat(state_str, "|MBOX");
+ if (state & ST_STP)
+ strcat(state_str, "|STP");
+
+ thread->extra_info_str = strdup(state_str);
+
+ rtos->thread_count = new_thread_count;
+ if (task == current_task)
+ rtos->current_thread = task;
+ return ERROR_OK;
+}
+
+static int rtkernel_verify_task(struct rtos *rtos, uint32_t task)
+{
+ int retval;
+ uint32_t magic;
+ retval = target_read_u32(rtos->target, task + rtos->symbols[sym___off_task2magic].address, &magic);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read task magic from target");
+ return retval;
+ }
+ if (magic != rtos->symbols[sym___val_task_magic].address) {
+ LOG_ERROR("Invalid task found (magic=0x%" PRIx32 ")", magic);
+ return ERROR_FAIL;
+ }
+ return retval;
+}
+
+static int rtkernel_update_threads(struct rtos *rtos)
+{
+ /* wipe out previous thread details if any */
+ /* do this first because rtos layer does not check our retval */
+ rtos_free_threadlist(rtos);
+ rtos->current_thread = 0;
+
+ if (!rtos->symbols) {
+ LOG_ERROR("No symbols for rt-kernel");
+ return -3;
+ }
+
+ /* read the current task */
+ uint32_t current_task;
+ int retval = target_read_u32(rtos->target,
+ rtos->symbols[sym_os_state].address + rtos->symbols[sym___off_os_state2current].address,
+ &current_task);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Error reading current task");
+ return retval;
+ }
+ LOG_DEBUG("current task is 0x%" PRIx32, current_task);
+
+ retval = rtkernel_verify_task(rtos, current_task);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Current task is invalid");
+ return retval;
+ }
+
+ /* loop through kernel task list */
+ uint32_t chain = rtos->symbols[sym_os_state].address + rtos->symbols[sym___off_os_state2chain].address;
+ LOG_DEBUG("chain start at 0x%" PRIx32, chain);
+
+ uint32_t next = chain;
+ for (;;) {
+ retval = target_read_u32(rtos->target, next, &next);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read rt-kernel data structure from target");
+ return retval;
+ }
+ LOG_DEBUG("next entry at 0x%" PRIx32, next);
+ if (next == chain) {
+ LOG_DEBUG("end of chain detected");
+ break;
+ }
+ uint32_t task = next - rtos->symbols[sym___off_task2chain].address;
+ LOG_DEBUG("found task at 0x%" PRIx32, task);
+
+ retval = rtkernel_verify_task(rtos, task);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Invalid task found");
+ return retval;
+ }
+
+ retval = rtkernel_add_task(rtos, task, current_task);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not add task to rtos system");
+ return retval;
+ }
+ }
+ return ERROR_OK;
+}
+
+static int rtkernel_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
+ struct rtos_reg **reg_list, int *num_regs)
+{
+ uint32_t stack_ptr = 0;
+
+ if (!rtos)
+ return -1;
+
+ if (thread_id == 0)
+ return -2;
+
+ if (!rtos->rtos_specific_params)
+ return -1;
+
+ const struct rtkernel_params *param = rtos->rtos_specific_params;
+
+ /* Read the stack pointer */
+ int retval = target_read_u32(rtos->target, thread_id + rtos->symbols[sym___off_task2stack].address, &stack_ptr);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Error reading stack pointer from rtkernel thread");
+ return retval;
+ }
+ LOG_DEBUG("stack pointer at 0x%" PRIx64 ", value 0x%" PRIx32,
+ thread_id + rtos->symbols[sym___off_task2stack].address,
+ stack_ptr);
+
+ /* Adjust stack pointer to ignore non-standard BASEPRI register stacking */
+ stack_ptr += 4;
+
+ /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4F */
+ bool cm4_fpu_enabled = false;
+ 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. */
+ if (cpacr & 0x00F00000) {
+ /* Found target with enabled FPU */
+ cm4_fpu_enabled = true;
+ }
+ }
+ }
+
+ if (!cm4_fpu_enabled) {
+ LOG_DEBUG("cm3 stacking");
+ return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs);
+ }
+
+ /* Read the LR to decide between stacking with or without FPU */
+ uint32_t lr_svc;
+ retval = target_read_u32(rtos->target, stack_ptr + 0x20, &lr_svc);
+ if (retval != ERROR_OK) {
+ LOG_OUTPUT("Error reading stack frame from rtkernel thread\r\n");
+ return retval;
+ }
+
+ if ((lr_svc & 0x10) == 0) {
+ LOG_DEBUG("cm4f_fpu stacking");
+ return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs);
+ }
+
+ LOG_DEBUG("cm4f stacking");
+ return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs);
+}
+
+static int rtkernel_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
+{
+ *symbol_list = calloc(ARRAY_SIZE(rtkernel_symbol_list), sizeof(struct symbol_table_elem));
+ if (!*symbol_list)
+ return ERROR_FAIL;
+
+ for (size_t i = 0; i < ARRAY_SIZE(rtkernel_symbol_list); i++) {
+ (*symbol_list)[i].symbol_name = rtkernel_symbol_list[i].name;
+ (*symbol_list)[i].optional = rtkernel_symbol_list[i].optional;
+ }
+
+ return ERROR_OK;
+}
+
+static bool rtkernel_detect_rtos(struct target *target)
+{
+ return (target->rtos->symbols) &&
+ (target->rtos->symbols[sym___off_os_state2chain].address != 0);
+}
+
+static int rtkernel_create(struct target *target)
+{
+ for (size_t i = 0; i < ARRAY_SIZE(rtkernel_params_list); i++) {
+ if (strcmp(rtkernel_params_list[i].target_name, target->type->name) == 0) {
+ target->rtos->rtos_specific_params = (void *)&rtkernel_params_list[i];
+ return 0;
+ }
+ }
+
+ LOG_ERROR("Could not find target in rt-kernel compatibility list");
+ return -1;
+}
+
+const struct rtos_type rtkernel_rtos = {
+ .name = "rtkernel",
+
+ .detect_rtos = rtkernel_detect_rtos,
+ .create = rtkernel_create,
+ .update_threads = rtkernel_update_threads,
+ .get_thread_reg_list = rtkernel_get_thread_reg_list,
+ .get_symbol_list_to_lookup = rtkernel_get_symbol_list_to_lookup,
+};
diff --git a/src/rtos/rtos.c b/src/rtos/rtos.c
index dfa158d..bcd556a 100644
--- a/src/rtos/rtos.c
+++ b/src/rtos/rtos.c
@@ -29,6 +29,7 @@ extern struct rtos_type nuttx_rtos;
extern struct rtos_type hwthread_rtos;
extern struct rtos_type riot_rtos;
extern struct rtos_type zephyr_rtos;
+extern struct rtos_type rtkernel_rtos;
static struct rtos_type *rtos_types[] = {
&threadx_rtos,
@@ -43,6 +44,7 @@ static struct rtos_type *rtos_types[] = {
&nuttx_rtos,
&riot_rtos,
&zephyr_rtos,
+ &rtkernel_rtos,
/* keep this as last, as it always matches with rtos auto */
&hwthread_rtos,
NULL
generated by cgit v1.1 at 2024-09-28 12:08:01 +0000