1 /***************************************************************************
2 * Copyright (C) 2012 by Matthias Blaicher *
3 * Matthias Blaicher - matthias@blaicher.com *
5 * Copyright (C) 2011 by Broadcom Corporation *
6 * Evan Hunter - ehunter@broadcom.com *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
22 ***************************************************************************/
28 #include <helper/time_support.h>
29 #include <jtag/jtag.h>
30 #include "target/target.h"
31 #include "target/target_type.h"
32 #include "target/armv7m.h"
33 #include "target/cortex_m.h"
35 #include "helper/log.h"
36 #include "helper/types.h"
37 #include "rtos_chibios_stackings.h"
41 * @brief ChibiOS/RT memory signature record.
43 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
45 struct ChibiOS_chdebug
{
46 char ch_identifier
[4]; /**< @brief Always set to "main". */
47 uint8_t ch_zero
; /**< @brief Must be zero. */
48 uint8_t ch_size
; /**< @brief Size of this structure. */
49 uint16_t ch_version
; /**< @brief Encoded ChibiOS/RT version. */
50 uint8_t ch_ptrsize
; /**< @brief Size of a pointer. */
51 uint8_t ch_timesize
; /**< @brief Size of a @p systime_t. */
52 uint8_t ch_threadsize
; /**< @brief Size of a @p Thread struct. */
53 uint8_t cf_off_prio
; /**< @brief Offset of @p p_prio field. */
54 uint8_t cf_off_ctx
; /**< @brief Offset of @p p_ctx field. */
55 uint8_t cf_off_newer
; /**< @brief Offset of @p p_newer field. */
56 uint8_t cf_off_older
; /**< @brief Offset of @p p_older field. */
57 uint8_t cf_off_name
; /**< @brief Offset of @p p_name field. */
58 uint8_t cf_off_stklimit
; /**< @brief Offset of @p p_stklimit
60 uint8_t cf_off_state
; /**< @brief Offset of @p p_state field. */
61 uint8_t cf_off_flags
; /**< @brief Offset of @p p_flags field. */
62 uint8_t cf_off_refs
; /**< @brief Offset of @p p_refs field. */
63 uint8_t cf_off_preempt
; /**< @brief Offset of @p p_preempt
65 uint8_t cf_off_time
; /**< @brief Offset of @p p_time field. */
68 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
69 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
70 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
73 * @brief ChibiOS thread states.
75 const char *ChibiOS_thread_states
[] = {
76 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
77 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
81 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
83 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
84 * chars ought to be enough.
86 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
88 struct ChibiOS_params
{
89 const char *target_name
;
91 struct ChibiOS_chdebug
*signature
;
92 const struct rtos_register_stacking
*stacking_info
;
95 struct ChibiOS_params ChibiOS_params_list
[] = {
97 "cortex_m", /* target_name */
99 NULL
, /* stacking_info */
102 "hla_target", /* target_name */
104 NULL
, /* stacking_info */
107 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
109 static int ChibiOS_detect_rtos(struct target
*target
);
110 static int ChibiOS_create(struct target
*target
);
111 static int ChibiOS_update_threads(struct rtos
*rtos
);
112 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
113 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
115 struct rtos_type ChibiOS_rtos
= {
118 .detect_rtos
= ChibiOS_detect_rtos
,
119 .create
= ChibiOS_create
,
120 .update_threads
= ChibiOS_update_threads
,
121 .get_thread_reg_list
= ChibiOS_get_thread_reg_list
,
122 .get_symbol_list_to_lookup
= ChibiOS_get_symbol_list_to_lookup
,
125 enum ChibiOS_symbol_values
{
126 ChibiOS_VAL_rlist
= 0,
127 ChibiOS_VAL_ch_debug
= 1,
128 ChibiOS_VAL_chSysInit
= 2
131 static char *ChibiOS_symbol_list
[] = {
132 "rlist", /* Thread ready list*/
133 "ch_debug", /* Memory Signatur containing offsets of fields in rlist*/
134 "chSysInit", /* Necessary part of API, used for ChibiOS detection*/
138 static int ChibiOS_update_memory_signature(struct rtos
*rtos
)
141 struct ChibiOS_params
*param
;
142 struct ChibiOS_chdebug
*signature
;
144 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
146 /* Free existing memory description.*/
147 if (param
->signature
) {
148 free(param
->signature
);
149 param
->signature
= 0;
152 signature
= malloc(sizeof(*signature
));
154 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
158 retval
= target_read_buffer(rtos
->target
,
159 rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
,
161 (uint8_t *) signature
);
162 if (retval
!= ERROR_OK
) {
163 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
167 if (strncmp(signature
->ch_identifier
, "main", 4) != 0) {
168 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
172 if (signature
->ch_size
< sizeof(*signature
)) {
173 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
178 if (signature
->ch_size
> sizeof(*signature
)) {
179 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
180 " expected. Assuming compatibility...");
183 /* Convert endianness of version field */
184 const uint8_t *versionTarget
= (const uint8_t *)
185 &signature
->ch_version
;
186 signature
->ch_version
= rtos
->target
->endianness
== TARGET_LITTLE_ENDIAN
?
187 le_to_h_u32(versionTarget
) : be_to_h_u32(versionTarget
);
189 const uint16_t ch_version
= signature
->ch_version
;
190 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
191 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version
),
192 GET_CH_KERNEL_MINOR(ch_version
), GET_CH_KERNEL_PATCH(ch_version
));
194 /* Currently, we have the inherent assumption that all address pointers
195 * are 32 bit wide. */
196 if (signature
->ch_ptrsize
!= sizeof(uint32_t)) {
197 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
198 "width unequal to 32 bits!");
203 param
->signature
= signature
;
207 /* Error reading the ChibiOS memory structure */
209 param
->signature
= 0;
214 static int ChibiOS_update_stacking(struct rtos
*rtos
)
216 /* Sometimes the stacking can not be determined only by looking at the
217 * target name but only a runtime.
219 * For example, this is the case for cortex-m4 targets and ChibiOS which
220 * only stack the FPU registers if it is enabled during ChibiOS build.
222 * Terminating which stacking is used is target depending.
225 * - Once ChibiOS is actually initialized, the stacking is fixed.
226 * - During startup code, the FPU might not be initialized and the
227 * detection might fail.
228 * - Since no threads are running during startup, the problem is solved
229 * by delaying stacking detection until there are more threads
230 * available than the current execution. In which case
231 * ChibiOS_get_thread_reg_list is called.
235 if (!rtos
->rtos_specific_params
)
238 struct ChibiOS_params
*param
;
239 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
241 /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */
242 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
243 if (is_armv7m(armv7m_target
)) {
244 if (armv7m_target
->fp_feature
== FPv4_SP
) {
245 /* Found ARM v7m target which includes a FPU */
248 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
249 if (retval
!= ERROR_OK
) {
250 LOG_ERROR("Could not read CPACR register to check FPU state");
254 /* Check if CP10 and CP11 are set to full access.
255 * In ChibiOS this is done in ResetHandler() in crt0.c */
256 if (cpacr
& 0x00F00000) {
257 /* Found target with enabled FPU */
258 /* FIXME: Need to figure out how to specify the FPU registers */
259 LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
260 " are NOT supported");
265 /* Found ARM v7m target with no or disabled FPU */
266 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking
;
273 static int ChibiOS_update_threads(struct rtos
*rtos
)
276 const struct ChibiOS_params
*param
;
280 if (!rtos
->rtos_specific_params
)
283 if (!rtos
->symbols
) {
284 LOG_ERROR("No symbols for ChibiOS");
288 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
289 /* Update the memory signature saved in the target memory */
290 if (!param
->signature
) {
291 retval
= ChibiOS_update_memory_signature(rtos
);
292 if (retval
!= ERROR_OK
) {
293 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
298 /* wipe out previous thread details if any */
300 if (rtos
->thread_details
) {
301 for (j
= 0; j
< rtos
->thread_count
; j
++) {
302 struct thread_detail
*current_thread
= &rtos
->thread_details
[j
];
303 if (current_thread
->display_str
!= NULL
)
304 free(current_thread
->display_str
);
305 if (current_thread
->thread_name_str
!= NULL
)
306 free(current_thread
->thread_name_str
);
307 if (current_thread
->extra_info_str
!= NULL
)
308 free(current_thread
->extra_info_str
);
310 free(rtos
->thread_details
);
311 rtos
->thread_details
= NULL
;
312 rtos
->thread_count
= 0;
314 /* ChibiOS does not save the current thread count. We have to first
315 * parse the double linked thread list to check for errors and the number of
317 const uint32_t rlist
= rtos
->symbols
[ChibiOS_VAL_rlist
].address
;
318 const struct ChibiOS_chdebug
*signature
= param
->signature
;
326 retval
= target_read_u32(rtos
->target
,
327 current
+ signature
->cf_off_newer
, ¤t
);
328 if (retval
!= ERROR_OK
) {
329 LOG_ERROR("Could not read next ChibiOS thread");
332 /* Could be NULL if the kernel is not initialized yet or if the
333 * registry is corrupted. */
335 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
340 /* Fetch previous thread in the list as a integrity check. */
341 retval
= target_read_u32(rtos
->target
,
342 current
+ signature
->cf_off_older
, &older
);
343 if ((retval
!= ERROR_OK
) || (older
== 0) || (older
!= previous
)) {
344 LOG_ERROR("ChibiOS registry integrity check failed, "
345 "double linked list violation");
349 /* Check for full iteration of the linked list. */
350 if (current
== rlist
)
356 /* No RTOS, there is always at least the current execution, though */
357 LOG_INFO("Only showing current execution because of a broken "
358 "ChibiOS thread registry.");
360 const char tmp_thread_name
[] = "Current Execution";
361 const char tmp_thread_extra_info
[] = "No RTOS thread";
363 rtos
->thread_details
= (struct thread_detail
*) malloc(
364 sizeof(struct thread_detail
));
365 rtos
->thread_details
->threadid
= 1;
366 rtos
->thread_details
->exists
= true;
367 rtos
->thread_details
->display_str
= NULL
;
369 rtos
->thread_details
->extra_info_str
= (char *) malloc(
370 sizeof(tmp_thread_extra_info
));
371 strcpy(rtos
->thread_details
->extra_info_str
, tmp_thread_extra_info
);
373 rtos
->thread_details
->thread_name_str
= (char *) malloc(
374 sizeof(tmp_thread_name
));
375 strcpy(rtos
->thread_details
->thread_name_str
, tmp_thread_name
);
377 rtos
->current_thread
= 1;
378 rtos
->thread_count
= 1;
382 /* create space for new thread details */
383 rtos
->thread_details
= (struct thread_detail
*) malloc(
384 sizeof(struct thread_detail
) * tasks_found
);
385 if (!rtos
->thread_details
) {
386 LOG_ERROR("Could not allocate space for thread details");
390 rtos
->thread_count
= tasks_found
;
391 /* Loop through linked list. */
392 struct thread_detail
*curr_thrd_details
= rtos
->thread_details
;
393 while (curr_thrd_details
< rtos
->thread_details
+ tasks_found
) {
394 uint32_t name_ptr
= 0;
395 char tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
];
397 retval
= target_read_u32(rtos
->target
,
398 current
+ signature
->cf_off_newer
, ¤t
);
399 if (retval
!= ERROR_OK
) {
400 LOG_ERROR("Could not read next ChibiOS thread");
404 /* Check for full iteration of the linked list. */
405 if (current
== rlist
)
408 /* Save the thread pointer */
409 curr_thrd_details
->threadid
= current
;
411 /* read the name pointer */
412 retval
= target_read_u32(rtos
->target
,
413 current
+ signature
->cf_off_name
, &name_ptr
);
414 if (retval
!= ERROR_OK
) {
415 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
419 /* Read the thread name */
420 retval
= target_read_buffer(rtos
->target
, name_ptr
,
421 CHIBIOS_THREAD_NAME_STR_SIZE
,
422 (uint8_t *)&tmp_str
);
423 if (retval
!= ERROR_OK
) {
424 LOG_ERROR("Error reading thread name from ChibiOS target");
427 tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
- 1] = '\x00';
429 if (tmp_str
[0] == '\x00')
430 strcpy(tmp_str
, "No Name");
432 curr_thrd_details
->thread_name_str
= (char *)malloc(
433 strlen(tmp_str
) + 1);
434 strcpy(curr_thrd_details
->thread_name_str
, tmp_str
);
438 const char *state_desc
;
440 retval
= target_read_u8(rtos
->target
,
441 current
+ signature
->cf_off_state
, &threadState
);
442 if (retval
!= ERROR_OK
) {
443 LOG_ERROR("Error reading thread state from ChibiOS target");
448 if (threadState
< CHIBIOS_NUM_STATES
)
449 state_desc
= ChibiOS_thread_states
[threadState
];
451 state_desc
= "Unknown state";
453 curr_thrd_details
->extra_info_str
= (char *)malloc(strlen(
455 strcpy(curr_thrd_details
->extra_info_str
, state_desc
);
457 curr_thrd_details
->exists
= true;
458 curr_thrd_details
->display_str
= NULL
;
463 uint32_t current_thrd
;
464 /* NOTE: By design, cf_off_name equals readylist_current_offset */
465 retval
= target_read_u32(rtos
->target
,
466 rlist
+ signature
->cf_off_name
,
468 if (retval
!= ERROR_OK
) {
469 LOG_ERROR("Could not read current Thread from ChibiOS target");
472 rtos
->current_thread
= current_thrd
;
477 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
480 const struct ChibiOS_params
*param
;
481 uint32_t stack_ptr
= 0;
483 *hex_reg_list
= NULL
;
484 if ((rtos
== NULL
) || (thread_id
== 0) ||
485 (rtos
->rtos_specific_params
== NULL
))
488 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
490 if (!param
->signature
)
493 /* Update stacking if it can only be determined from runtime information */
494 if ((param
->stacking_info
== 0) &&
495 (ChibiOS_update_stacking(rtos
) != ERROR_OK
)) {
496 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos
->target
->type
->name
);
500 /* Read the stack pointer */
501 retval
= target_read_u32(rtos
->target
,
502 thread_id
+ param
->signature
->cf_off_ctx
, &stack_ptr
);
503 if (retval
!= ERROR_OK
) {
504 LOG_ERROR("Error reading stack frame from ChibiOS thread");
508 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info
, stack_ptr
, hex_reg_list
);
511 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
514 *symbol_list
= (symbol_table_elem_t
*) malloc(
515 sizeof(symbol_table_elem_t
) * ARRAY_SIZE(ChibiOS_symbol_list
));
517 for (i
= 0; i
< ARRAY_SIZE(ChibiOS_symbol_list
); i
++)
518 (*symbol_list
)[i
].symbol_name
= ChibiOS_symbol_list
[i
];
523 static int ChibiOS_detect_rtos(struct target
*target
)
525 if ((target
->rtos
->symbols
!= NULL
) &&
526 (target
->rtos
->symbols
[ChibiOS_VAL_rlist
].address
!= 0) &&
527 (target
->rtos
->symbols
[ChibiOS_VAL_chSysInit
].address
!= 0)) {
529 if (target
->rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
== 0) {
530 LOG_INFO("It looks like the target is running ChibiOS without "
535 /* looks like ChibiOS with memory map enabled.*/
542 static int ChibiOS_create(struct target
*target
)
545 while ((i
< CHIBIOS_NUM_PARAMS
) &&
546 (0 != strcmp(ChibiOS_params_list
[i
].target_name
, target
->type
->name
))) {
549 if (i
>= CHIBIOS_NUM_PARAMS
) {
550 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
551 "list", target
->type
->name
);
555 target
->rtos
->rtos_specific_params
= (void *) &ChibiOS_params_list
[i
];
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