1 // SPDX-License-Identifier: GPL-2.0-or-later
3 /***************************************************************************
4 * Copyright (C) 2011 by Broadcom Corporation *
5 * Evan Hunter - ehunter@broadcom.com *
6 ***************************************************************************/
12 #include <helper/time_support.h>
13 #include <jtag/jtag.h>
14 #include "target/target.h"
15 #include "target/target_type.h"
17 #include "helper/log.h"
18 #include "helper/types.h"
19 #include "rtos_standard_stackings.h"
20 #include "target/armv7m.h"
21 #include "target/cortex_m.h"
23 #define FREERTOS_MAX_PRIORITIES 63
25 /* FIXME: none of the _width parameters are actually observed properly!
26 * you WILL need to edit more if you actually attempt to target a 8/16/64
30 struct freertos_params
{
31 const char *target_name
;
32 const unsigned char thread_count_width
;
33 const unsigned char pointer_width
;
34 const unsigned char list_next_offset
;
35 const unsigned char list_width
;
36 const unsigned char list_elem_next_offset
;
37 const unsigned char list_elem_content_offset
;
38 const unsigned char thread_stack_offset
;
39 const unsigned char thread_name_offset
;
40 const struct rtos_register_stacking
*stacking_info_cm3
;
41 const struct rtos_register_stacking
*stacking_info_cm4f
;
42 const struct rtos_register_stacking
*stacking_info_cm4f_fpu
;
45 static const struct freertos_params freertos_params_list
[] = {
47 "cortex_m", /* target_name */
48 4, /* thread_count_width; */
49 4, /* pointer_width; */
50 16, /* list_next_offset; */
52 8, /* list_elem_next_offset; */
53 12, /* list_elem_content_offset */
54 0, /* thread_stack_offset; */
55 52, /* thread_name_offset; */
56 &rtos_standard_cortex_m3_stacking
, /* stacking_info */
57 &rtos_standard_cortex_m4f_stacking
,
58 &rtos_standard_cortex_m4f_fpu_stacking
,
61 "hla_target", /* target_name */
62 4, /* thread_count_width; */
63 4, /* pointer_width; */
64 16, /* list_next_offset; */
66 8, /* list_elem_next_offset; */
67 12, /* list_elem_content_offset */
68 0, /* thread_stack_offset; */
69 52, /* thread_name_offset; */
70 &rtos_standard_cortex_m3_stacking
, /* stacking_info */
71 &rtos_standard_cortex_m4f_stacking
,
72 &rtos_standard_cortex_m4f_fpu_stacking
,
75 "nds32_v3", /* target_name */
76 4, /* thread_count_width; */
77 4, /* pointer_width; */
78 16, /* list_next_offset; */
80 8, /* list_elem_next_offset; */
81 12, /* list_elem_content_offset */
82 0, /* thread_stack_offset; */
83 52, /* thread_name_offset; */
84 &rtos_standard_nds32_n1068_stacking
, /* stacking_info */
85 &rtos_standard_cortex_m4f_stacking
,
86 &rtos_standard_cortex_m4f_fpu_stacking
,
90 static bool freertos_detect_rtos(struct target
*target
);
91 static int freertos_create(struct target
*target
);
92 static int freertos_update_threads(struct rtos
*rtos
);
93 static int freertos_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
94 struct rtos_reg
**reg_list
, int *num_regs
);
95 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem
*symbol_list
[]);
97 struct rtos_type freertos_rtos
= {
100 .detect_rtos
= freertos_detect_rtos
,
101 .create
= freertos_create
,
102 .update_threads
= freertos_update_threads
,
103 .get_thread_reg_list
= freertos_get_thread_reg_list
,
104 .get_symbol_list_to_lookup
= freertos_get_symbol_list_to_lookup
,
107 enum freertos_symbol_values
{
108 FREERTOS_VAL_PX_CURRENT_TCB
= 0,
109 FREERTOS_VAL_PX_READY_TASKS_LISTS
= 1,
110 FREERTOS_VAL_X_DELAYED_TASK_LIST1
= 2,
111 FREERTOS_VAL_X_DELAYED_TASK_LIST2
= 3,
112 FREERTOS_VAL_PX_DELAYED_TASK_LIST
= 4,
113 FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST
= 5,
114 FREERTOS_VAL_X_PENDING_READY_LIST
= 6,
115 FREERTOS_VAL_X_TASKS_WAITING_TERMINATION
= 7,
116 FREERTOS_VAL_X_SUSPENDED_TASK_LIST
= 8,
117 FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
= 9,
118 FREERTOS_VAL_UX_TOP_USED_PRIORITY
= 10,
119 FREERTOS_VAL_X_SCHEDULER_RUNNING
= 11,
127 static const struct symbols freertos_symbol_list
[] = {
128 { "pxCurrentTCB", false },
129 { "pxReadyTasksLists", false },
130 { "xDelayedTaskList1", false },
131 { "xDelayedTaskList2", false },
132 { "pxDelayedTaskList", false },
133 { "pxOverflowDelayedTaskList", false },
134 { "xPendingReadyList", false },
135 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
136 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
137 { "uxCurrentNumberOfTasks", false },
138 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
139 { "xSchedulerRunning", false },
144 /* this is not safe for little endian yet */
145 /* may be problems reading if sizes are not 32 bit long integers. */
146 /* test mallocs for failure */
148 static int freertos_update_threads(struct rtos
*rtos
)
151 unsigned int tasks_found
= 0;
152 const struct freertos_params
*param
;
154 if (!rtos
->rtos_specific_params
)
157 param
= (const struct freertos_params
*) rtos
->rtos_specific_params
;
159 if (!rtos
->symbols
) {
160 LOG_ERROR("No symbols for FreeRTOS");
164 if (rtos
->symbols
[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
].address
== 0) {
165 LOG_ERROR("Don't have the number of threads in FreeRTOS");
169 uint32_t thread_list_size
= 0;
170 retval
= target_read_u32(rtos
->target
,
171 rtos
->symbols
[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
].address
,
173 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64
", value %" PRIu32
,
174 rtos
->symbols
[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
].address
,
177 if (retval
!= ERROR_OK
) {
178 LOG_ERROR("Could not read FreeRTOS thread count from target");
182 /* wipe out previous thread details if any */
183 rtos_free_threadlist(rtos
);
185 /* read the current thread */
186 uint32_t pointer_casts_are_bad
;
187 retval
= target_read_u32(rtos
->target
,
188 rtos
->symbols
[FREERTOS_VAL_PX_CURRENT_TCB
].address
,
189 &pointer_casts_are_bad
);
190 if (retval
!= ERROR_OK
) {
191 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
194 rtos
->current_thread
= pointer_casts_are_bad
;
195 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64
", value 0x%" PRIx64
,
196 rtos
->symbols
[FREERTOS_VAL_PX_CURRENT_TCB
].address
,
197 rtos
->current_thread
);
199 /* read scheduler running */
200 uint32_t scheduler_running
;
201 retval
= target_read_u32(rtos
->target
,
202 rtos
->symbols
[FREERTOS_VAL_X_SCHEDULER_RUNNING
].address
,
204 if (retval
!= ERROR_OK
) {
205 LOG_ERROR("Error reading FreeRTOS scheduler state");
208 LOG_DEBUG("FreeRTOS: Read xSchedulerRunning at 0x%" PRIx64
", value 0x%" PRIx32
,
209 rtos
->symbols
[FREERTOS_VAL_X_SCHEDULER_RUNNING
].address
,
212 if ((thread_list_size
== 0) || (rtos
->current_thread
== 0) || (scheduler_running
!= 1)) {
213 /* Either : No RTOS threads - there is always at least the current execution though */
214 /* OR : No current thread - all threads suspended - show the current execution
216 char tmp_str
[] = "Current Execution";
219 rtos
->thread_details
= malloc(
220 sizeof(struct thread_detail
) * thread_list_size
);
221 if (!rtos
->thread_details
) {
222 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
225 rtos
->current_thread
= 1;
226 rtos
->thread_details
->threadid
= rtos
->current_thread
;
227 rtos
->thread_details
->exists
= true;
228 rtos
->thread_details
->extra_info_str
= NULL
;
229 rtos
->thread_details
->thread_name_str
= malloc(sizeof(tmp_str
));
230 strcpy(rtos
->thread_details
->thread_name_str
, tmp_str
);
232 if (thread_list_size
== 1) {
233 rtos
->thread_count
= 1;
237 /* create space for new thread details */
238 rtos
->thread_details
= malloc(
239 sizeof(struct thread_detail
) * thread_list_size
);
240 if (!rtos
->thread_details
) {
241 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
246 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
247 if (rtos
->symbols
[FREERTOS_VAL_UX_TOP_USED_PRIORITY
].address
== 0) {
248 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
251 uint32_t top_used_priority
= 0;
252 retval
= target_read_u32(rtos
->target
,
253 rtos
->symbols
[FREERTOS_VAL_UX_TOP_USED_PRIORITY
].address
,
255 if (retval
!= ERROR_OK
)
257 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64
", value %" PRIu32
,
258 rtos
->symbols
[FREERTOS_VAL_UX_TOP_USED_PRIORITY
].address
,
260 if (top_used_priority
> FREERTOS_MAX_PRIORITIES
) {
261 LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32
,
266 /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
267 * in old FreeRTOS versions (before V7.5.3)
268 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
269 * in newer FreeRTOS versions.
270 * Here we restore the original configMAX_PRIORITIES value */
271 unsigned int config_max_priorities
= top_used_priority
+ 1;
273 symbol_address_t
*list_of_lists
=
274 malloc(sizeof(symbol_address_t
) * (config_max_priorities
+ 5));
275 if (!list_of_lists
) {
276 LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities
);
280 unsigned int num_lists
;
281 for (num_lists
= 0; num_lists
< config_max_priorities
; num_lists
++)
282 list_of_lists
[num_lists
] = rtos
->symbols
[FREERTOS_VAL_PX_READY_TASKS_LISTS
].address
+
283 num_lists
* param
->list_width
;
285 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_DELAYED_TASK_LIST1
].address
;
286 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_DELAYED_TASK_LIST2
].address
;
287 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_PENDING_READY_LIST
].address
;
288 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_SUSPENDED_TASK_LIST
].address
;
289 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION
].address
;
291 for (unsigned int i
= 0; i
< num_lists
; i
++) {
292 if (list_of_lists
[i
] == 0)
295 /* Read the number of threads in this list */
296 uint32_t list_thread_count
= 0;
297 retval
= target_read_u32(rtos
->target
,
300 if (retval
!= ERROR_OK
) {
301 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
305 LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64
", value %" PRIu32
,
306 i
, list_of_lists
[i
], list_thread_count
);
308 if (list_thread_count
== 0)
311 /* Read the location of first list item */
312 uint32_t prev_list_elem_ptr
= -1;
313 uint32_t list_elem_ptr
= 0;
314 retval
= target_read_u32(rtos
->target
,
315 list_of_lists
[i
] + param
->list_next_offset
,
317 if (retval
!= ERROR_OK
) {
318 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
322 LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64
", value 0x%" PRIx32
,
323 i
, list_of_lists
[i
] + param
->list_next_offset
, list_elem_ptr
);
325 while ((list_thread_count
> 0) && (list_elem_ptr
!= 0) &&
326 (list_elem_ptr
!= prev_list_elem_ptr
) &&
327 (tasks_found
< thread_list_size
)) {
328 /* Get the location of the thread structure. */
329 rtos
->thread_details
[tasks_found
].threadid
= 0;
330 retval
= target_read_u32(rtos
->target
,
331 list_elem_ptr
+ param
->list_elem_content_offset
,
332 &pointer_casts_are_bad
);
333 if (retval
!= ERROR_OK
) {
334 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
338 rtos
->thread_details
[tasks_found
].threadid
= pointer_casts_are_bad
;
339 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32
", value 0x%" PRIx64
,
340 list_elem_ptr
+ param
->list_elem_content_offset
,
341 rtos
->thread_details
[tasks_found
].threadid
);
343 /* get thread name */
345 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
346 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
348 /* Read the thread name */
349 retval
= target_read_buffer(rtos
->target
,
350 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
351 FREERTOS_THREAD_NAME_STR_SIZE
,
352 (uint8_t *)&tmp_str
);
353 if (retval
!= ERROR_OK
) {
354 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
358 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
359 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64
", value '%s'",
360 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
363 if (tmp_str
[0] == '\x00')
364 strcpy(tmp_str
, "No Name");
366 rtos
->thread_details
[tasks_found
].thread_name_str
=
367 malloc(strlen(tmp_str
)+1);
368 strcpy(rtos
->thread_details
[tasks_found
].thread_name_str
, tmp_str
);
369 rtos
->thread_details
[tasks_found
].exists
= true;
371 if (rtos
->thread_details
[tasks_found
].threadid
== rtos
->current_thread
) {
372 char running_str
[] = "State: Running";
373 rtos
->thread_details
[tasks_found
].extra_info_str
= malloc(
374 sizeof(running_str
));
375 strcpy(rtos
->thread_details
[tasks_found
].extra_info_str
,
378 rtos
->thread_details
[tasks_found
].extra_info_str
= NULL
;
383 prev_list_elem_ptr
= list_elem_ptr
;
385 retval
= target_read_u32(rtos
->target
,
386 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
388 if (retval
!= ERROR_OK
) {
389 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
393 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32
", value 0x%" PRIx32
,
394 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
400 rtos
->thread_count
= tasks_found
;
404 static int freertos_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
405 struct rtos_reg
**reg_list
, int *num_regs
)
408 const struct freertos_params
*param
;
409 int64_t stack_ptr
= 0;
417 if (!rtos
->rtos_specific_params
)
420 param
= (const struct freertos_params
*) rtos
->rtos_specific_params
;
422 /* Read the stack pointer */
423 uint32_t pointer_casts_are_bad
;
424 retval
= target_read_u32(rtos
->target
,
425 thread_id
+ param
->thread_stack_offset
,
426 &pointer_casts_are_bad
);
427 if (retval
!= ERROR_OK
) {
428 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
431 stack_ptr
= pointer_casts_are_bad
;
432 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64
", value 0x%" PRIx64
,
433 thread_id
+ param
->thread_stack_offset
,
436 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
437 int cm4_fpu_enabled
= 0;
438 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
439 if (is_armv7m(armv7m_target
)) {
440 if ((armv7m_target
->fp_feature
== FPV4_SP
) || (armv7m_target
->fp_feature
== FPV5_SP
) ||
441 (armv7m_target
->fp_feature
== FPV5_DP
)) {
442 /* Found ARM v7m target which includes a FPU */
445 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
446 if (retval
!= ERROR_OK
) {
447 LOG_ERROR("Could not read CPACR register to check FPU state");
451 /* Check if CP10 and CP11 are set to full access. */
452 if (cpacr
& 0x00F00000) {
453 /* Found target with enabled FPU */
459 if (cm4_fpu_enabled
== 1) {
460 /* Read the LR to decide between stacking with or without FPU */
462 retval
= target_read_u32(rtos
->target
,
465 if (retval
!= ERROR_OK
) {
466 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread");
469 if ((lr_svc
& 0x10) == 0)
470 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f_fpu
, stack_ptr
, reg_list
, num_regs
);
472 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f
, stack_ptr
, reg_list
, num_regs
);
474 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm3
, stack_ptr
, reg_list
, num_regs
);
477 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem
*symbol_list
[])
480 *symbol_list
= calloc(
481 ARRAY_SIZE(freertos_symbol_list
), sizeof(struct symbol_table_elem
));
483 for (i
= 0; i
< ARRAY_SIZE(freertos_symbol_list
); i
++) {
484 (*symbol_list
)[i
].symbol_name
= freertos_symbol_list
[i
].name
;
485 (*symbol_list
)[i
].optional
= freertos_symbol_list
[i
].optional
;
493 static int freertos_set_current_thread(struct rtos
*rtos
, threadid_t thread_id
)
498 static int freertos_get_thread_ascii_info(struct rtos
*rtos
, threadid_t thread_id
, char **info
)
501 const struct freertos_params
*param
;
509 if (!rtos
->rtos_specific_params
)
512 param
= (const struct freertos_params
*) rtos
->rtos_specific_params
;
514 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
515 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
517 /* Read the thread name */
518 retval
= target_read_buffer(rtos
->target
,
519 thread_id
+ param
->thread_name_offset
,
520 FREERTOS_THREAD_NAME_STR_SIZE
,
521 (uint8_t *)&tmp_str
);
522 if (retval
!= ERROR_OK
) {
523 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
526 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
528 if (tmp_str
[0] == '\x00')
529 strcpy(tmp_str
, "No Name");
531 *info
= malloc(strlen(tmp_str
)+1);
532 strcpy(*info
, tmp_str
);
538 static bool freertos_detect_rtos(struct target
*target
)
540 if ((target
->rtos
->symbols
) &&
541 (target
->rtos
->symbols
[FREERTOS_VAL_PX_READY_TASKS_LISTS
].address
!= 0)) {
542 /* looks like FreeRTOS */
548 static int freertos_create(struct target
*target
)
550 for (unsigned int i
= 0; i
< ARRAY_SIZE(freertos_params_list
); i
++)
551 if (strcmp(freertos_params_list
[i
].target_name
, target
->type
->name
) == 0) {
552 target
->rtos
->rtos_specific_params
= (void *)&freertos_params_list
[i
];
556 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
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