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, see <http://www.gnu.org/licenses/>. *
20 ***************************************************************************/
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"
33 #include "helper/log.h"
34 #include "helper/types.h"
35 #include "rtos_chibios_stackings.h"
38 * @brief ChibiOS/RT memory signature record.
40 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
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
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
62 uint8_t cf_off_time
; /**< @brief Offset of @p p_time field. */
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)
70 * @brief ChibiOS thread states.
72 static const char * const ChibiOS_thread_states
[] = { "READY", "CURRENT",
73 "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
74 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL"
77 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
79 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
80 * chars ought to be enough.
82 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
84 struct ChibiOS_params
{
85 const char *target_name
;
87 struct ChibiOS_chdebug
*signature
;
88 const struct rtos_register_stacking
*stacking_info
;
91 static struct ChibiOS_params ChibiOS_params_list
[] = {
93 "cortex_m", /* target_name */
95 NULL
, /* stacking_info */
98 "hla_target", /* target_name */
100 NULL
, /* stacking_info */
103 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
105 static bool ChibiOS_detect_rtos(struct target
*target
);
106 static int ChibiOS_create(struct target
*target
);
107 static int ChibiOS_update_threads(struct rtos
*rtos
);
108 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
109 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
111 struct rtos_type ChibiOS_rtos
= {
114 .detect_rtos
= ChibiOS_detect_rtos
,
115 .create
= ChibiOS_create
,
116 .update_threads
= ChibiOS_update_threads
,
117 .get_thread_reg_list
= ChibiOS_get_thread_reg_list
,
118 .get_symbol_list_to_lookup
= ChibiOS_get_symbol_list_to_lookup
,
122 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
123 * data structure ch. We declare both symbols as optional and later
124 * use whatever is available.
127 enum ChibiOS_symbol_values
{
128 ChibiOS_VAL_rlist
= 0,
130 ChibiOS_VAL_ch_debug
= 2
133 static symbol_table_elem_t ChibiOS_symbol_list
[] = {
134 { "rlist", 0, true}, /* Thread ready list */
135 { "ch", 0, true}, /* System data structure */
136 { "ch_debug", 0, false}, /* Memory Signature containing offsets of fields in rlist */
140 /* Offset of the rlist structure within the system data structure (ch) */
141 #define CH_RLIST_OFFSET 0x00
143 static int ChibiOS_update_memory_signature(struct rtos
*rtos
)
146 struct ChibiOS_params
*param
;
147 struct ChibiOS_chdebug
*signature
;
149 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
151 /* Free existing memory description.*/
152 if (param
->signature
) {
153 free(param
->signature
);
154 param
->signature
= 0;
157 signature
= malloc(sizeof(*signature
));
159 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
163 retval
= target_read_buffer(rtos
->target
,
164 rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
,
166 (uint8_t *) signature
);
167 if (retval
!= ERROR_OK
) {
168 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
172 if (strncmp(signature
->ch_identifier
, "main", 4) != 0) {
173 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
177 if (signature
->ch_size
< sizeof(*signature
)) {
178 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
183 if (signature
->ch_size
> sizeof(*signature
)) {
184 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
185 " expected. Assuming compatibility...");
188 /* Convert endianness of version field */
189 const uint8_t *versionTarget
= (const uint8_t *)
190 &signature
->ch_version
;
191 signature
->ch_version
= rtos
->target
->endianness
== TARGET_LITTLE_ENDIAN
?
192 le_to_h_u32(versionTarget
) : be_to_h_u32(versionTarget
);
194 const uint16_t ch_version
= signature
->ch_version
;
195 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
196 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version
),
197 GET_CH_KERNEL_MINOR(ch_version
), GET_CH_KERNEL_PATCH(ch_version
));
199 /* Currently, we have the inherent assumption that all address pointers
200 * are 32 bit wide. */
201 if (signature
->ch_ptrsize
!= sizeof(uint32_t)) {
202 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
203 "width unequal to 32 bits!");
208 param
->signature
= signature
;
212 /* Error reading the ChibiOS memory structure */
214 param
->signature
= 0;
219 static int ChibiOS_update_stacking(struct rtos
*rtos
)
221 /* Sometimes the stacking can not be determined only by looking at the
222 * target name but only a runtime.
224 * For example, this is the case for Cortex-M4 targets and ChibiOS which
225 * only stack the FPU registers if it is enabled during ChibiOS build.
227 * Terminating which stacking is used is target depending.
230 * - Once ChibiOS is actually initialized, the stacking is fixed.
231 * - During startup code, the FPU might not be initialized and the
232 * detection might fail.
233 * - Since no threads are running during startup, the problem is solved
234 * by delaying stacking detection until there are more threads
235 * available than the current execution. In which case
236 * ChibiOS_get_thread_reg_list is called.
240 if (!rtos
->rtos_specific_params
)
243 struct ChibiOS_params
*param
;
244 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
246 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4 */
247 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
248 if (is_armv7m(armv7m_target
)) {
249 if (armv7m_target
->fp_feature
!= FP_NONE
) {
250 /* Found ARM v7m target which includes a FPU */
253 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
254 if (retval
!= ERROR_OK
) {
255 LOG_ERROR("Could not read CPACR register to check FPU state");
259 /* Check if CP10 and CP11 are set to full access.
260 * In ChibiOS this is done in ResetHandler() in crt0.c */
261 if (cpacr
& 0x00F00000) {
262 LOG_DEBUG("Enabled FPU detected.");
263 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking_w_fpu
;
268 /* Found ARM v7m target with no or disabled FPU */
269 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking
;
276 static int ChibiOS_update_threads(struct rtos
*rtos
)
279 const struct ChibiOS_params
*param
;
283 if (!rtos
->rtos_specific_params
)
286 if (!rtos
->symbols
) {
287 LOG_ERROR("No symbols for ChibiOS");
291 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
292 /* Update the memory signature saved in the target memory */
293 if (!param
->signature
) {
294 retval
= ChibiOS_update_memory_signature(rtos
);
295 if (retval
!= ERROR_OK
) {
296 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
301 /* wipe out previous thread details if any */
302 rtos_free_threadlist(rtos
);
304 /* ChibiOS does not save the current thread count. We have to first
305 * parse the double linked thread list to check for errors and the number of
307 const uint32_t rlist
= rtos
->symbols
[ChibiOS_VAL_rlist
].address
?
308 rtos
->symbols
[ChibiOS_VAL_rlist
].address
:
309 rtos
->symbols
[ChibiOS_VAL_ch
].address
+ CH_RLIST_OFFSET
/* ChibiOS3 */;
310 const struct ChibiOS_chdebug
*signature
= param
->signature
;
318 retval
= target_read_u32(rtos
->target
,
319 current
+ signature
->cf_off_newer
, ¤t
);
320 if (retval
!= ERROR_OK
) {
321 LOG_ERROR("Could not read next ChibiOS thread");
324 /* Could be NULL if the kernel is not initialized yet or if the
325 * registry is corrupted. */
327 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
332 /* Fetch previous thread in the list as a integrity check. */
333 retval
= target_read_u32(rtos
->target
,
334 current
+ signature
->cf_off_older
, &older
);
335 if ((retval
!= ERROR_OK
) || (older
== 0) || (older
!= previous
)) {
336 LOG_ERROR("ChibiOS registry integrity check failed, "
337 "double linked list violation");
341 /* Check for full iteration of the linked list. */
342 if (current
== rlist
)
348 /* No RTOS, there is always at least the current execution, though */
349 LOG_INFO("Only showing current execution because of a broken "
350 "ChibiOS thread registry.");
352 const char tmp_thread_name
[] = "Current Execution";
353 const char tmp_thread_extra_info
[] = "No RTOS thread";
355 rtos
->thread_details
= malloc(
356 sizeof(struct thread_detail
));
357 rtos
->thread_details
->threadid
= 1;
358 rtos
->thread_details
->exists
= true;
360 rtos
->thread_details
->extra_info_str
= malloc(
361 sizeof(tmp_thread_extra_info
));
362 strcpy(rtos
->thread_details
->extra_info_str
, tmp_thread_extra_info
);
364 rtos
->thread_details
->thread_name_str
= malloc(
365 sizeof(tmp_thread_name
));
366 strcpy(rtos
->thread_details
->thread_name_str
, tmp_thread_name
);
368 rtos
->current_thread
= 1;
369 rtos
->thread_count
= 1;
373 /* create space for new thread details */
374 rtos
->thread_details
= malloc(
375 sizeof(struct thread_detail
) * tasks_found
);
376 if (!rtos
->thread_details
) {
377 LOG_ERROR("Could not allocate space for thread details");
381 rtos
->thread_count
= tasks_found
;
382 /* Loop through linked list. */
383 struct thread_detail
*curr_thrd_details
= rtos
->thread_details
;
384 while (curr_thrd_details
< rtos
->thread_details
+ tasks_found
) {
385 uint32_t name_ptr
= 0;
386 char tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
];
388 retval
= target_read_u32(rtos
->target
,
389 current
+ signature
->cf_off_newer
, ¤t
);
390 if (retval
!= ERROR_OK
) {
391 LOG_ERROR("Could not read next ChibiOS thread");
395 /* Check for full iteration of the linked list. */
396 if (current
== rlist
)
399 /* Save the thread pointer */
400 curr_thrd_details
->threadid
= current
;
402 /* read the name pointer */
403 retval
= target_read_u32(rtos
->target
,
404 current
+ signature
->cf_off_name
, &name_ptr
);
405 if (retval
!= ERROR_OK
) {
406 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
410 /* Read the thread name */
411 retval
= target_read_buffer(rtos
->target
, name_ptr
,
412 CHIBIOS_THREAD_NAME_STR_SIZE
,
413 (uint8_t *)&tmp_str
);
414 if (retval
!= ERROR_OK
) {
415 LOG_ERROR("Error reading thread name from ChibiOS target");
418 tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
- 1] = '\x00';
420 if (tmp_str
[0] == '\x00')
421 strcpy(tmp_str
, "No Name");
423 curr_thrd_details
->thread_name_str
= malloc(
424 strlen(tmp_str
) + 1);
425 strcpy(curr_thrd_details
->thread_name_str
, tmp_str
);
429 const char *state_desc
;
431 retval
= target_read_u8(rtos
->target
,
432 current
+ signature
->cf_off_state
, &threadState
);
433 if (retval
!= ERROR_OK
) {
434 LOG_ERROR("Error reading thread state from ChibiOS target");
439 if (threadState
< CHIBIOS_NUM_STATES
)
440 state_desc
= ChibiOS_thread_states
[threadState
];
442 state_desc
= "Unknown";
444 curr_thrd_details
->extra_info_str
= malloc(strlen(
446 sprintf(curr_thrd_details
->extra_info_str
, "State: %s", state_desc
);
448 curr_thrd_details
->exists
= true;
453 uint32_t current_thrd
;
454 /* NOTE: By design, cf_off_name equals readylist_current_offset */
455 retval
= target_read_u32(rtos
->target
,
456 rlist
+ signature
->cf_off_name
,
458 if (retval
!= ERROR_OK
) {
459 LOG_ERROR("Could not read current Thread from ChibiOS target");
462 rtos
->current_thread
= current_thrd
;
467 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
470 const struct ChibiOS_params
*param
;
471 uint32_t stack_ptr
= 0;
473 *hex_reg_list
= NULL
;
474 if ((rtos
== NULL
) || (thread_id
== 0) ||
475 (rtos
->rtos_specific_params
== NULL
))
478 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
480 if (!param
->signature
)
483 /* Update stacking if it can only be determined from runtime information */
484 if ((param
->stacking_info
== 0) &&
485 (ChibiOS_update_stacking(rtos
) != ERROR_OK
)) {
486 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos
->target
->type
->name
);
490 /* Read the stack pointer */
491 retval
= target_read_u32(rtos
->target
,
492 thread_id
+ param
->signature
->cf_off_ctx
, &stack_ptr
);
493 if (retval
!= ERROR_OK
) {
494 LOG_ERROR("Error reading stack frame from ChibiOS thread");
498 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info
, stack_ptr
, hex_reg_list
);
501 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
503 *symbol_list
= malloc(sizeof(ChibiOS_symbol_list
));
505 if (*symbol_list
== NULL
)
508 memcpy(*symbol_list
, ChibiOS_symbol_list
, sizeof(ChibiOS_symbol_list
));
512 static bool ChibiOS_detect_rtos(struct target
*target
)
514 if ((target
->rtos
->symbols
!= NULL
) &&
515 ((target
->rtos
->symbols
[ChibiOS_VAL_rlist
].address
!= 0) ||
516 (target
->rtos
->symbols
[ChibiOS_VAL_ch
].address
!= 0))) {
518 if (target
->rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
== 0) {
519 LOG_INFO("It looks like the target may be running ChibiOS "
520 "without ch_debug.");
524 /* looks like ChibiOS with memory map enabled.*/
531 static int ChibiOS_create(struct target
*target
)
534 while ((i
< CHIBIOS_NUM_PARAMS
) &&
535 (0 != strcmp(ChibiOS_params_list
[i
].target_name
, target
->type
->name
))) {
538 if (i
>= CHIBIOS_NUM_PARAMS
) {
539 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
540 "list", target
->type
->name
);
544 target
->rtos
->rtos_specific_params
= (void *) &ChibiOS_params_list
[i
];
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