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rtos: Add FPU detection to ChibiOS/RT
[openocd.git] / 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, write to the *
20 * Free Software Foundation, Inc., *
21 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
22 ***************************************************************************/
23
24 #ifdef HAVE_CONFIG_H
25 #include "config.h"
26 #endif
27
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"
34 #include "rtos.h"
35 #include "helper/log.h"
36 #include "helper/types.h"
37 #include "rtos_chibios_stackings.h"
38
39
40 /**
41 * @brief ChibiOS/RT memory signature record.
42 *
43 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
44 */
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
59 field. */
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
64 field. */
65 uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
66 };
67
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)
71
72 /**
73 * @brief ChibiOS thread states.
74 */
75 const char *ChibiOS_thread_states[] = {
76 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
77 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
78 "FINAL"
79 };
80
81 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
82
83 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
84 * chars ought to be enough.
85 */
86 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
87
88 struct ChibiOS_params {
89 const char *target_name;
90
91 struct ChibiOS_chdebug *signature;
92 const struct rtos_register_stacking *stacking_info;
93 };
94
95 struct ChibiOS_params ChibiOS_params_list[] = {
96 {
97 "cortex_m3", /* target_name */
98 0,
99 NULL, /* stacking_info */
100 },
101 {
102 "stm32_stlink", /* target_name */
103 0,
104 NULL, /* stacking_info */
105 }
106 };
107 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
108
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[]);
114
115 struct rtos_type ChibiOS_rtos = {
116 .name = "ChibiOS",
117
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,
123 };
124
125 enum ChibiOS_symbol_values {
126 ChibiOS_VAL_rlist = 0,
127 ChibiOS_VAL_ch_debug = 1,
128 ChibiOS_VAL_chSysInit = 2
129 };
130
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*/
135 NULL
136 };
137
138 static int ChibiOS_update_memory_signature(struct rtos *rtos)
139 {
140 int retval;
141 struct ChibiOS_params *param;
142 struct ChibiOS_chdebug *signature;
143
144 param = (struct ChibiOS_params *) rtos->rtos_specific_params;
145
146 /* Free existing memory description.*/
147 if (param->signature) {
148 free(param->signature);
149 param->signature = 0;
150 }
151
152 signature = malloc(sizeof(*signature));
153 if (!signature) {
154 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
155 return -1;
156 }
157
158 retval = target_read_buffer(rtos->target,
159 rtos->symbols[ChibiOS_VAL_ch_debug].address,
160 sizeof(*signature),
161 (uint8_t *) signature);
162 if (retval != ERROR_OK) {
163 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
164 goto errfree;
165 }
166
167 if (strncmp(signature->ch_identifier, "main", 4) != 0) {
168 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
169 goto errfree;
170 }
171
172 if (signature->ch_size < sizeof(*signature)) {
173 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
174 "than expected");
175 goto errfree;
176 }
177
178 if (signature->ch_size > sizeof(*signature)) {
179 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
180 " expected. Assuming compatibility...");
181 }
182
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);
188
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));
193
194 param->signature = signature;
195 return 0;
196
197 errfree:
198 /* Error reading the ChibiOS memory structure */
199 free(signature);
200 param->signature = 0;
201 return -1;
202 }
203
204
205 static int ChibiOS_update_stacking(struct rtos *rtos)
206 {
207 /* Sometimes the stacking can not be determined only by looking at the
208 * target name but only a runtime.
209 *
210 * For example, this is the case for cortex-m4 targets and ChibiOS which
211 * only stack the FPU registers if it is enabled during ChibiOS build.
212 *
213 * Terminating which stacking is used is target depending.
214 *
215 * Assumptions:
216 * - Once ChibiOS is actually initialized, the stacking is fixed.
217 * - During startup code, the FPU might not be initialized and the
218 * detection might fail.
219 * - Since no threads are running during startup, the problem is solved
220 * by delaying stacking detection until there are more threads
221 * available than the current execution. In which case
222 * ChibiOS_get_thread_reg_list is called.
223 */
224 int retval;
225
226 if (!rtos->rtos_specific_params)
227 return -1;
228
229 struct ChibiOS_params *param;
230 param = (struct ChibiOS_params *) rtos->rtos_specific_params;
231
232 /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */
233 struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
234 if (is_armv7m(armv7m_target)) {
235 if (armv7m_target->fp_feature == FPv4_SP) {
236 /* Found ARM v7m target which includes a FPU */
237 uint32_t cpacr;
238
239 retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
240 if (retval != ERROR_OK) {
241 LOG_ERROR("Could not read CPACR register to check FPU state");
242 return -1;
243 }
244
245 /* Check if CP10 and CP11 are set to full access.
246 * In ChibiOS this is done in ResetHandler() in crt0.c */
247 if (cpacr & 0x00F00000) {
248 /* Found target with enabled FPU */
249 /* FIXME: Need to figure out how to specify the FPU registers */
250 LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
251 " are NOT supported");
252 return -1;
253 }
254 }
255
256 /* Found ARM v7m target with no or disabled FPU */
257 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
258 return 0;
259 }
260
261 return -1;
262 }
263
264 static int ChibiOS_update_threads(struct rtos *rtos)
265 {
266 int retval;
267 const struct ChibiOS_params *param;
268 int tasks_found = 0;
269 int rtos_valid = -1;
270
271 if (!rtos->rtos_specific_params)
272 return -1;
273
274 if (!rtos->symbols) {
275 LOG_ERROR("No symbols for ChibiOS");
276 return -3;
277 }
278
279 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
280 /* Update the memory signature saved in the target memory */
281 if (!param->signature) {
282 retval = ChibiOS_update_memory_signature(rtos);
283 if (retval != ERROR_OK) {
284 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
285 return retval;
286 }
287 }
288
289 /* wipe out previous thread details if any */
290 int j;
291 if (rtos->thread_details) {
292 for (j = 0; j < rtos->thread_count; j++) {
293 struct thread_detail *current_thread = &rtos->thread_details[j];
294 if (current_thread->display_str != NULL)
295 free(current_thread->display_str);
296 if (current_thread->thread_name_str != NULL)
297 free(current_thread->thread_name_str);
298 if (current_thread->extra_info_str != NULL)
299 free(current_thread->extra_info_str);
300 }
301 free(rtos->thread_details);
302 rtos->thread_details = NULL;
303 rtos->thread_count = 0;
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 uint32_t current;
310 uint32_t previous;
311 uint32_t older;
312
313 current = rlist;
314 previous = rlist;
315 while (1) {
316 retval = target_read_buffer(rtos->target,
317 current + param->signature->cf_off_newer,
318 param->signature->ch_ptrsize,
319 (uint8_t *)&current);
320 if (retval != ERROR_OK) {
321 LOG_ERROR("Could not read next ChibiOS thread");
322 return retval;
323 }
324 /* Could be NULL if the kernel is not initialized yet or if the
325 * registry is corrupted. */
326 if (current == 0) {
327 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
328
329 rtos_valid = 0;
330 break;
331 }
332 /* Fetch previous thread in the list as a integrity check. */
333 retval = target_read_buffer(rtos->target,
334 current + param->signature->cf_off_older,
335 param->signature->ch_ptrsize,
336 (uint8_t *)&older);
337 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
338 LOG_ERROR("ChibiOS registry integrity check failed, "
339 "double linked list violation");
340 rtos_valid = 0;
341 break;
342 }
343 /* Check for full iteration of the linked list. */
344 if (current == rlist)
345 break;
346 tasks_found++;
347 previous = current;
348 }
349 if (!rtos_valid) {
350 /* No RTOS, there is always at least the current execution, though */
351 LOG_INFO("Only showing current execution because of a broken "
352 "ChibiOS thread registry.");
353
354 const char tmp_thread_name[] = "Current Execution";
355 const char tmp_thread_extra_info[] = "No RTOS thread";
356
357 rtos->thread_details = (struct thread_detail *) malloc(
358 sizeof(struct thread_detail));
359 rtos->thread_details->threadid = 1;
360 rtos->thread_details->exists = true;
361 rtos->thread_details->display_str = NULL;
362
363 rtos->thread_details->extra_info_str = (char *) malloc(
364 sizeof(tmp_thread_extra_info));
365 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
366
367 rtos->thread_details->thread_name_str = (char *) malloc(
368 sizeof(tmp_thread_name));
369 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
370
371 rtos->current_thread = 1;
372 rtos->thread_count = 1;
373 return ERROR_OK;
374 }
375
376 /* create space for new thread details */
377 rtos->thread_details = (struct thread_detail *) malloc(
378 sizeof(struct thread_detail) * tasks_found);
379 if (!rtos->thread_details) {
380 LOG_ERROR("Could not allocate space for thread details");
381 return -1;
382 }
383
384 rtos->thread_count = tasks_found;
385 /* Loop through linked list. */
386 struct thread_detail *curr_thrd_details = rtos->thread_details;
387 while (curr_thrd_details < rtos->thread_details + tasks_found) {
388 uint32_t name_ptr = 0;
389 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
390
391 retval = target_read_buffer(rtos->target,
392 current + param->signature->cf_off_newer,
393 param->signature->ch_ptrsize,
394 (uint8_t *)&current);
395 if (retval != ERROR_OK) {
396 LOG_ERROR("Could not read next ChibiOS thread");
397 return -6;
398 }
399
400 /* Check for full iteration of the linked list. */
401 if (current == rlist)
402 break;
403
404 /* Save the thread pointer */
405 curr_thrd_details->threadid = current;
406
407 /* read the name pointer */
408 retval = target_read_buffer(rtos->target,
409 current + param->signature->cf_off_name,
410 param->signature->ch_ptrsize,
411 (uint8_t *)&name_ptr);
412 if (retval != ERROR_OK) {
413 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
414 return retval;
415 }
416
417 /* Read the thread name */
418 retval = target_read_buffer(rtos->target, name_ptr,
419 CHIBIOS_THREAD_NAME_STR_SIZE,
420 (uint8_t *)&tmp_str);
421 if (retval != ERROR_OK) {
422 LOG_ERROR("Error reading thread name from ChibiOS target");
423 return retval;
424 }
425 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
426
427 if (tmp_str[0] == '\x00')
428 strcpy(tmp_str, "No Name");
429
430 curr_thrd_details->thread_name_str = (char *)malloc(
431 strlen(tmp_str) + 1);
432 strcpy(curr_thrd_details->thread_name_str, tmp_str);
433
434 /* State info */
435 uint8_t threadState;
436 const char *state_desc;
437
438 retval = target_read_buffer(rtos->target,
439 current + param->signature->cf_off_state,
440 1, &threadState);
441 if (retval != ERROR_OK) {
442 LOG_ERROR("Error reading thread state from ChibiOS target");
443 return retval;
444 }
445
446
447 if (threadState < CHIBIOS_NUM_STATES)
448 state_desc = ChibiOS_thread_states[threadState];
449 else
450 state_desc = "Unknown state";
451
452 curr_thrd_details->extra_info_str = (char *)malloc(strlen(
453 state_desc)+1);
454 strcpy(curr_thrd_details->extra_info_str, state_desc);
455
456 curr_thrd_details->exists = true;
457 curr_thrd_details->display_str = NULL;
458
459 curr_thrd_details++;
460 }
461 /* NOTE: By design, cf_off_name equals readylist_current_offset */
462 retval = target_read_buffer(rtos->target,
463 rlist + param->signature->cf_off_name,
464 param->signature->ch_ptrsize,
465 (uint8_t *)&rtos->current_thread);
466 if (retval != ERROR_OK) {
467 LOG_ERROR("Could not read current Thread from ChibiOS target");
468 return retval;
469 }
470
471 return 0;
472 }
473
474 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
475 {
476 int retval;
477 const struct ChibiOS_params *param;
478 int64_t stack_ptr = 0;
479
480 *hex_reg_list = NULL;
481 if ((rtos == NULL) || (thread_id == 0) ||
482 (rtos->rtos_specific_params == NULL))
483 return -1;
484
485 param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
486
487 if (!param->signature)
488 return -1;
489
490 /* Update stacking if it can only be determined from runtime information */
491 if ((param->stacking_info == 0) &&
492 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
493 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
494 return -1;
495 }
496
497 /* Read the stack pointer */
498 retval = target_read_buffer(rtos->target,
499 thread_id + param->signature->cf_off_ctx,
500 param->signature->ch_ptrsize,
501 (uint8_t *)&stack_ptr);
502 if (retval != ERROR_OK) {
503 LOG_ERROR("Error reading stack frame from ChibiOS thread");
504 return retval;
505 }
506
507 return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
508 }
509
510 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
511 {
512 unsigned int i;
513 *symbol_list = (symbol_table_elem_t *) malloc(
514 sizeof(symbol_table_elem_t) * ARRAY_SIZE(ChibiOS_symbol_list));
515
516 for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
517 (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
518
519 return 0;
520 }
521
522 static int ChibiOS_detect_rtos(struct target *target)
523 {
524 if ((target->rtos->symbols != NULL) &&
525 (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
526 (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
527
528 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
529 LOG_INFO("It looks like the target is running ChibiOS without "
530 "ch_debug.");
531 return 0;
532 }
533
534 /* looks like ChibiOS with memory map enabled.*/
535 return 1;
536 }
537
538 return 0;
539 }
540
541 static int ChibiOS_create(struct target *target)
542 {
543 int i = 0;
544 while ((i < CHIBIOS_NUM_PARAMS) &&
545 (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
546 i++;
547 }
548 if (i >= CHIBIOS_NUM_PARAMS) {
549 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
550 "list", target->type->name);
551 return -1;
552 }
553
554 target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
555 return 0;
556 }
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