src/rtos/ChibiOS.c

   1 /***************************************************************************
   2  *   Copyright (C) 2012 by Matthias Blaicher                               *
   3  *   Matthias Blaicher - matthias@blaicher.com                             *
   4  *                                                                         *
   5  *   Copyright (C) 2011 by Broadcom Corporation                            *
   6  *   Evan Hunter - ehunter@broadcom.com                                    *
   7  *                                                                         *
   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.                                   *
  12  *                                                                         *
  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.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  20  ***************************************************************************/
  21
  22 #ifdef HAVE_CONFIG_H
  23 #include "config.h"
  24 #endif
  25
  26 #include <helper/time_support.h>
  27 #include <jtag/jtag.h>
  28 #include "target/target.h"
  29 #include "target/target_type.h"
  30 #include "target/armv7m.h"
  31 #include "target/cortex_m.h"
  32 #include "rtos.h"
  33 #include "helper/log.h"
  34 #include "helper/types.h"
  35 #include "rtos_chibios_stackings.h"
  36
  37 /**
  38  * @brief   ChibiOS/RT memory signature record.
  39  *
  40  * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
  41  */
  42 struct ChibiOS_chdebug {
  43         char      ch_identifier[4];       /**< @brief Always set to "main".       */
  44         uint8_t   ch_zero;                /**< @brief Must be zero.               */
  45         uint8_t   ch_size;                /**< @brief Size of this structure.     */
  46         uint16_t  ch_version;             /**< @brief Encoded ChibiOS/RT version. */
  47         uint8_t   ch_ptrsize;             /**< @brief Size of a pointer.          */
  48         uint8_t   ch_timesize;            /**< @brief Size of a @p systime_t.     */
  49         uint8_t   ch_threadsize;          /**< @brief Size of a @p Thread struct. */
  50         uint8_t   cf_off_prio;            /**< @brief Offset of @p p_prio field.  */
  51         uint8_t   cf_off_ctx;             /**< @brief Offset of @p p_ctx field.   */
  52         uint8_t   cf_off_newer;           /**< @brief Offset of @p p_newer field. */
  53         uint8_t   cf_off_older;           /**< @brief Offset of @p p_older field. */
  54         uint8_t   cf_off_name;            /**< @brief Offset of @p p_name field.  */
  55         uint8_t   cf_off_stklimit;        /**< @brief Offset of @p p_stklimit
  56                                                                                                 field.                        */
  57         uint8_t   cf_off_state;           /**< @brief Offset of @p p_state field. */
  58         uint8_t   cf_off_flags;           /**< @brief Offset of @p p_flags field. */
  59         uint8_t   cf_off_refs;            /**< @brief Offset of @p p_refs field.  */
  60         uint8_t   cf_off_preempt;         /**< @brief Offset of @p p_preempt
  61                                                                                                 field.                        */
  62         uint8_t   cf_off_time;            /**< @brief Offset of @p p_time field.  */
  63 };
  64
  65 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
  66 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
  67 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
  68
  69 /**
  70  * @brief ChibiOS thread states.
  71  */
  72 static const char * const ChibiOS_thread_states[] = {
  73         "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  74         "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
  75         "FINAL"
  76 };
  77
  78 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
  79
  80 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  81  * chars ought to be enough.
  82  */
  83 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  84
  85 struct ChibiOS_params {
  86         const char *target_name;
  87
  88         struct ChibiOS_chdebug *signature;
  89         const struct rtos_register_stacking *stacking_info;
  90 };
  91
  92 static struct ChibiOS_params ChibiOS_params_list[] = {
  93         {
  94         "cortex_m",                                                     /* target_name */
  95         0,
  96         NULL,                                                                   /* stacking_info */
  97         },
  98         {
  99         "hla_target",                                                   /* target_name */
 100         0,
 101         NULL,                                                                   /* stacking_info */
 102         }
 103 };
 104 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
 105
 106 static int ChibiOS_detect_rtos(struct target *target);
 107 static int ChibiOS_create(struct target *target);
 108 static int ChibiOS_update_threads(struct rtos *rtos);
 109 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
 110 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
 111
 112 struct rtos_type ChibiOS_rtos = {
 113         .name = "ChibiOS",
 114
 115         .detect_rtos = ChibiOS_detect_rtos,
 116         .create = ChibiOS_create,
 117         .update_threads = ChibiOS_update_threads,
 118         .get_thread_reg_list = ChibiOS_get_thread_reg_list,
 119         .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 120 };
 121
 122
 123 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
 124  * data structure ch. We declare both symbols as optional and later
 125  * use whatever is available.
 126  */
 127
 128 enum ChibiOS_symbol_values {
 129         ChibiOS_VAL_rlist = 0,
 130         ChibiOS_VAL_ch = 1,
 131         ChibiOS_VAL_ch_debug = 2
 132 };
 133
 134 static symbol_table_elem_t ChibiOS_symbol_list[] = {
 135         { "rlist", 0, true},            /* Thread ready list */
 136         { "ch", 0, true},                       /* System data structure */
 137         { "ch_debug", 0, false},        /* Memory Signature containing offsets of fields in rlist */
 138         { NULL, 0, false}
 139 };
 140
 141 /* Offset of the rlist structure within the system data structure (ch) */
 142 #define CH_RLIST_OFFSET 0x00
 143
 144 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 145 {
 146         int retval;
 147         struct ChibiOS_params *param;
 148         struct ChibiOS_chdebug *signature;
 149
 150         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 151
 152         /* Free existing memory description.*/
 153         if (param->signature) {
 154                 free(param->signature);
 155                 param->signature = 0;
 156         }
 157
 158         signature = malloc(sizeof(*signature));
 159         if (!signature) {
 160                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 161                 return -1;
 162         }
 163
 164         retval = target_read_buffer(rtos->target,
 165                                                                 rtos->symbols[ChibiOS_VAL_ch_debug].address,
 166                                                                 sizeof(*signature),
 167                                                                 (uint8_t *) signature);
 168         if (retval != ERROR_OK) {
 169                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 170                 goto errfree;
 171         }
 172
 173         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 174                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 175                 goto errfree;
 176         }
 177
 178         if (signature->ch_size < sizeof(*signature)) {
 179                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 180                                 "than expected");
 181                 goto errfree;
 182         }
 183
 184         if (signature->ch_size > sizeof(*signature)) {
 185                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 186                                         " expected. Assuming compatibility...");
 187         }
 188
 189         /* Convert endianness of version field */
 190         const uint8_t *versionTarget = (const uint8_t *)
 191                                                                                 &signature->ch_version;
 192         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 193                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 194
 195         const uint16_t ch_version = signature->ch_version;
 196         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 197                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 198                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 199
 200         /* Currently, we have the inherent assumption that all address pointers
 201          * are 32 bit wide. */
 202         if (signature->ch_ptrsize != sizeof(uint32_t)) {
 203                 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
 204                                   "width unequal to 32 bits!");
 205                 free(signature);
 206                 return -1;
 207         }
 208
 209         param->signature = signature;
 210         return 0;
 211
 212 errfree:
 213         /* Error reading the ChibiOS memory structure */
 214         free(signature);
 215         param->signature = 0;
 216         return -1;
 217 }
 218
 219
 220 static int ChibiOS_update_stacking(struct rtos *rtos)
 221 {
 222         /* Sometimes the stacking can not be determined only by looking at the
 223          * target name but only a runtime.
 224          *
 225          * For example, this is the case for Cortex-M4 targets and ChibiOS which
 226          * only stack the FPU registers if it is enabled during ChibiOS build.
 227          *
 228          * Terminating which stacking is used is target depending.
 229          *
 230          * Assumptions:
 231          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 232          *  - During startup code, the FPU might not be initialized and the
 233          *    detection might fail.
 234          *  - Since no threads are running during startup, the problem is solved
 235          *    by delaying stacking detection until there are more threads
 236          *    available than the current execution. In which case
 237          *    ChibiOS_get_thread_reg_list is called.
 238          */
 239         int retval;
 240
 241         if (!rtos->rtos_specific_params)
 242                 return -1;
 243
 244         struct ChibiOS_params *param;
 245         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 246
 247         /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4  */
 248         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 249         if (is_armv7m(armv7m_target)) {
 250                 if (armv7m_target->fp_feature == FPv4_SP) {
 251                         /* Found ARM v7m target which includes a FPU */
 252                         uint32_t cpacr;
 253
 254                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 255                         if (retval != ERROR_OK) {
 256                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 257                                 return -1;
 258                         }
 259
 260                         /* Check if CP10 and CP11 are set to full access.
 261                          * In ChibiOS this is done in ResetHandler() in crt0.c */
 262                         if (cpacr & 0x00F00000) {
 263                                 LOG_DEBUG("Enabled FPU detected.");
 264                                 param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
 265                                 return 0;
 266                         }
 267                 }
 268
 269                 /* Found ARM v7m target with no or disabled FPU */
 270                 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
 271                 return 0;
 272         }
 273
 274         return -1;
 275 }
 276
 277 static int ChibiOS_update_threads(struct rtos *rtos)
 278 {
 279         int retval;
 280         const struct ChibiOS_params *param;
 281         int tasks_found = 0;
 282         int rtos_valid = -1;
 283
 284         if (!rtos->rtos_specific_params)
 285                 return -1;
 286
 287         if (!rtos->symbols) {
 288                 LOG_ERROR("No symbols for ChibiOS");
 289                 return -3;
 290         }
 291
 292         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 293         /* Update the memory signature saved in the target memory */
 294         if (!param->signature) {
 295                 retval = ChibiOS_update_memory_signature(rtos);
 296                 if (retval != ERROR_OK) {
 297                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 298                         return retval;
 299                 }
 300         }
 301
 302         /* wipe out previous thread details if any */
 303         rtos_free_threadlist(rtos);
 304
 305         /* ChibiOS does not save the current thread count. We have to first
 306          * parse the double linked thread list to check for errors and the number of
 307          * threads. */
 308         const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
 309                 rtos->symbols[ChibiOS_VAL_rlist].address :
 310                 rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 311         const struct ChibiOS_chdebug *signature = param->signature;
 312         uint32_t current;
 313         uint32_t previous;
 314         uint32_t older;
 315
 316         current = rlist;
 317         previous = rlist;
 318         while (1) {
 319                 retval = target_read_u32(rtos->target,
 320                                                                  current + signature->cf_off_newer, &current);
 321                 if (retval != ERROR_OK) {
 322                         LOG_ERROR("Could not read next ChibiOS thread");
 323                         return retval;
 324                 }
 325                 /* Could be NULL if the kernel is not initialized yet or if the
 326                  * registry is corrupted. */
 327                 if (current == 0) {
 328                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 329
 330                         rtos_valid = 0;
 331                         break;
 332                 }
 333                 /* Fetch previous thread in the list as a integrity check. */
 334                 retval = target_read_u32(rtos->target,
 335                                                                  current + signature->cf_off_older, &older);
 336                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 337                         LOG_ERROR("ChibiOS registry integrity check failed, "
 338                                                 "double linked list violation");
 339                         rtos_valid = 0;
 340                         break;
 341                 }
 342                 /* Check for full iteration of the linked list. */
 343                 if (current == rlist)
 344                         break;
 345                 tasks_found++;
 346                 previous = current;
 347         }
 348         if (!rtos_valid) {
 349                 /* No RTOS, there is always at least the current execution, though */
 350                 LOG_INFO("Only showing current execution because of a broken "
 351                                 "ChibiOS thread registry.");
 352
 353                 const char tmp_thread_name[] = "Current Execution";
 354                 const char tmp_thread_extra_info[] = "No RTOS thread";
 355
 356                 rtos->thread_details = malloc(
 357                                 sizeof(struct thread_detail));
 358                 rtos->thread_details->threadid = 1;
 359                 rtos->thread_details->exists = true;
 360                 rtos->thread_details->display_str = NULL;
 361
 362                 rtos->thread_details->extra_info_str = malloc(
 363                                 sizeof(tmp_thread_extra_info));
 364                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 365
 366                 rtos->thread_details->thread_name_str = malloc(
 367                                 sizeof(tmp_thread_name));
 368                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 369
 370                 rtos->current_thread = 1;
 371                 rtos->thread_count = 1;
 372                 return ERROR_OK;
 373         }
 374
 375         /* create space for new thread details */
 376         rtos->thread_details = malloc(
 377                         sizeof(struct thread_detail) * tasks_found);
 378         if (!rtos->thread_details) {
 379                 LOG_ERROR("Could not allocate space for thread details");
 380                 return -1;
 381         }
 382
 383         rtos->thread_count = tasks_found;
 384         /* Loop through linked list. */
 385         struct thread_detail *curr_thrd_details = rtos->thread_details;
 386         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 387                 uint32_t name_ptr = 0;
 388                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 389
 390                 retval = target_read_u32(rtos->target,
 391                                                                  current + signature->cf_off_newer, &current);
 392                 if (retval != ERROR_OK) {
 393                         LOG_ERROR("Could not read next ChibiOS thread");
 394                         return -6;
 395                 }
 396
 397                 /* Check for full iteration of the linked list. */
 398                 if (current == rlist)
 399                         break;
 400
 401                 /* Save the thread pointer */
 402                 curr_thrd_details->threadid = current;
 403
 404                 /* read the name pointer */
 405                 retval = target_read_u32(rtos->target,
 406                                                                  current + signature->cf_off_name, &name_ptr);
 407                 if (retval != ERROR_OK) {
 408                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 409                         return retval;
 410                 }
 411
 412                 /* Read the thread name */
 413                 retval = target_read_buffer(rtos->target, name_ptr,
 414                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 415                                                                         (uint8_t *)&tmp_str);
 416                 if (retval != ERROR_OK) {
 417                         LOG_ERROR("Error reading thread name from ChibiOS target");
 418                         return retval;
 419                 }
 420                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 421
 422                 if (tmp_str[0] == '\x00')
 423                         strcpy(tmp_str, "No Name");
 424
 425                 curr_thrd_details->thread_name_str = malloc(
 426                                 strlen(tmp_str) + 1);
 427                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 428
 429                 /* State info */
 430                 uint8_t threadState;
 431                 const char *state_desc;
 432
 433                 retval = target_read_u8(rtos->target,
 434                                                                 current + signature->cf_off_state, &threadState);
 435                 if (retval != ERROR_OK) {
 436                         LOG_ERROR("Error reading thread state from ChibiOS target");
 437                         return retval;
 438                 }
 439
 440
 441                 if (threadState < CHIBIOS_NUM_STATES)
 442                         state_desc = ChibiOS_thread_states[threadState];
 443                 else
 444                         state_desc = "Unknown state";
 445
 446                 curr_thrd_details->extra_info_str = malloc(strlen(
 447                                         state_desc)+1);
 448                 strcpy(curr_thrd_details->extra_info_str, state_desc);
 449
 450                 curr_thrd_details->exists = true;
 451                 curr_thrd_details->display_str = NULL;
 452
 453                 curr_thrd_details++;
 454         }
 455
 456         uint32_t current_thrd;
 457         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 458         retval = target_read_u32(rtos->target,
 459                                                          rlist + signature->cf_off_name,
 460                                                          &current_thrd);
 461         if (retval != ERROR_OK) {
 462                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 463                 return retval;
 464         }
 465         rtos->current_thread = current_thrd;
 466
 467         return 0;
 468 }
 469
 470 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 471 {
 472         int retval;
 473         const struct ChibiOS_params *param;
 474         uint32_t stack_ptr = 0;
 475
 476         *hex_reg_list = NULL;
 477         if ((rtos == NULL) || (thread_id == 0) ||
 478                         (rtos->rtos_specific_params == NULL))
 479                 return -1;
 480
 481         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 482
 483         if (!param->signature)
 484                 return -1;
 485
 486         /* Update stacking if it can only be determined from runtime information */
 487         if ((param->stacking_info == 0) &&
 488                 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
 489                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 490                 return -1;
 491         }
 492
 493         /* Read the stack pointer */
 494         retval = target_read_u32(rtos->target,
 495                                                          thread_id + param->signature->cf_off_ctx, &stack_ptr);
 496         if (retval != ERROR_OK) {
 497                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 498                 return retval;
 499         }
 500
 501         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 502 }
 503
 504 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 505 {
 506         *symbol_list = malloc(sizeof(ChibiOS_symbol_list));
 507
 508         if (*symbol_list == NULL)
 509                 return ERROR_FAIL;
 510
 511         memcpy(*symbol_list, ChibiOS_symbol_list, sizeof(ChibiOS_symbol_list));
 512         return 0;
 513 }
 514
 515 static int ChibiOS_detect_rtos(struct target *target)
 516 {
 517         if ((target->rtos->symbols != NULL) &&
 518                         ((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
 519                          (target->rtos->symbols[ChibiOS_VAL_ch].address != 0))) {
 520
 521                 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
 522                         LOG_INFO("It looks like the target may be running ChibiOS "
 523                                         "without ch_debug.");
 524                         return 0;
 525                 }
 526
 527                 /* looks like ChibiOS with memory map enabled.*/
 528                 return 1;
 529         }
 530
 531         return 0;
 532 }
 533
 534 static int ChibiOS_create(struct target *target)
 535 {
 536         int i = 0;
 537         while ((i < CHIBIOS_NUM_PARAMS) &&
 538                         (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
 539                 i++;
 540         }
 541         if (i >= CHIBIOS_NUM_PARAMS) {
 542                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 543                                 "list", target->type->name);
 544                 return -1;
 545         }
 546
 547         target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
 548         return 0;
 549 }