1 /***************************************************************************
2 * Copyright (C) 2011 by Broadcom Corporation *
3 * Evan Hunter - ehunter@broadcom.com *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
23 #include <helper/time_support.h>
24 #include <jtag/jtag.h>
25 #include "target/target.h"
26 #include "target/target_type.h"
28 #include "helper/log.h"
29 #include "helper/types.h"
30 #include "rtos_standard_stackings.h"
31 #include "target/armv7m.h"
32 #include "target/cortex_m.h"
36 #define FREERTOS_MAX_PRIORITIES 63
38 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
40 /* FIXME: none of the _width parameters are actually observed properly!
41 * you WILL need to edit more if you actually attempt to target a 8/16/64
45 struct FreeRTOS_params
{
46 const char *target_name
;
47 const unsigned char thread_count_width
;
48 const unsigned char pointer_width
;
49 const unsigned char list_next_offset
;
50 const unsigned char list_width
;
51 const unsigned char list_elem_next_offset
;
52 const unsigned char list_elem_content_offset
;
53 const unsigned char thread_stack_offset
;
54 const unsigned char thread_name_offset
;
55 const struct rtos_register_stacking
*stacking_info_cm3
;
56 const struct rtos_register_stacking
*stacking_info_cm4f
;
57 const struct rtos_register_stacking
*stacking_info_cm4f_fpu
;
60 static const struct FreeRTOS_params FreeRTOS_params_list
[] = {
62 "cortex_m", /* target_name */
63 4, /* thread_count_width; */
64 4, /* pointer_width; */
65 16, /* list_next_offset; */
67 8, /* list_elem_next_offset; */
68 12, /* list_elem_content_offset */
69 0, /* thread_stack_offset; */
70 52, /* thread_name_offset; */
71 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
72 &rtos_standard_Cortex_M4F_stacking
,
73 &rtos_standard_Cortex_M4F_FPU_stacking
,
76 "hla_target", /* target_name */
77 4, /* thread_count_width; */
78 4, /* pointer_width; */
79 16, /* list_next_offset; */
81 8, /* list_elem_next_offset; */
82 12, /* list_elem_content_offset */
83 0, /* thread_stack_offset; */
84 52, /* thread_name_offset; */
85 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
86 &rtos_standard_Cortex_M4F_stacking
,
87 &rtos_standard_Cortex_M4F_FPU_stacking
,
90 "nds32_v3", /* target_name */
91 4, /* thread_count_width; */
92 4, /* pointer_width; */
93 16, /* list_next_offset; */
95 8, /* list_elem_next_offset; */
96 12, /* list_elem_content_offset */
97 0, /* thread_stack_offset; */
98 52, /* thread_name_offset; */
99 &rtos_standard_NDS32_N1068_stacking
, /* stacking_info */
100 &rtos_standard_Cortex_M4F_stacking
,
101 &rtos_standard_Cortex_M4F_FPU_stacking
,
105 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
107 static bool FreeRTOS_detect_rtos(struct target
*target
);
108 static int FreeRTOS_create(struct target
*target
);
109 static int FreeRTOS_update_threads(struct rtos
*rtos
);
110 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
111 struct rtos_reg
**reg_list
, int *num_regs
);
112 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
114 struct rtos_type FreeRTOS_rtos
= {
117 .detect_rtos
= FreeRTOS_detect_rtos
,
118 .create
= FreeRTOS_create
,
119 .update_threads
= FreeRTOS_update_threads
,
120 .get_thread_reg_list
= FreeRTOS_get_thread_reg_list
,
121 .get_symbol_list_to_lookup
= FreeRTOS_get_symbol_list_to_lookup
,
124 enum FreeRTOS_symbol_values
{
125 FreeRTOS_VAL_pxCurrentTCB
= 0,
126 FreeRTOS_VAL_pxReadyTasksLists
= 1,
127 FreeRTOS_VAL_xDelayedTaskList1
= 2,
128 FreeRTOS_VAL_xDelayedTaskList2
= 3,
129 FreeRTOS_VAL_pxDelayedTaskList
= 4,
130 FreeRTOS_VAL_pxOverflowDelayedTaskList
= 5,
131 FreeRTOS_VAL_xPendingReadyList
= 6,
132 FreeRTOS_VAL_xTasksWaitingTermination
= 7,
133 FreeRTOS_VAL_xSuspendedTaskList
= 8,
134 FreeRTOS_VAL_uxCurrentNumberOfTasks
= 9,
135 FreeRTOS_VAL_uxTopUsedPriority
= 10,
143 static const struct symbols FreeRTOS_symbol_list
[] = {
144 { "pxCurrentTCB", false },
145 { "pxReadyTasksLists", false },
146 { "xDelayedTaskList1", false },
147 { "xDelayedTaskList2", false },
148 { "pxDelayedTaskList", false },
149 { "pxOverflowDelayedTaskList", false },
150 { "xPendingReadyList", false },
151 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
152 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
153 { "uxCurrentNumberOfTasks", false },
154 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
159 /* this is not safe for little endian yet */
160 /* may be problems reading if sizes are not 32 bit long integers. */
161 /* test mallocs for failure */
163 static int FreeRTOS_update_threads(struct rtos
*rtos
)
166 unsigned int tasks_found
= 0;
167 const struct FreeRTOS_params
*param
;
169 if (rtos
->rtos_specific_params
== NULL
)
172 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
174 if (rtos
->symbols
== NULL
) {
175 LOG_ERROR("No symbols for FreeRTOS");
179 if (rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
== 0) {
180 LOG_ERROR("Don't have the number of threads in FreeRTOS");
184 uint32_t thread_list_size
= 0;
185 retval
= target_read_u32(rtos
->target
,
186 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
188 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64
", value %" PRIu32
,
189 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
192 if (retval
!= ERROR_OK
) {
193 LOG_ERROR("Could not read FreeRTOS thread count from target");
197 /* wipe out previous thread details if any */
198 rtos_free_threadlist(rtos
);
200 /* read the current thread */
201 uint32_t pointer_casts_are_bad
;
202 retval
= target_read_u32(rtos
->target
,
203 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
204 &pointer_casts_are_bad
);
205 if (retval
!= ERROR_OK
) {
206 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
209 rtos
->current_thread
= pointer_casts_are_bad
;
210 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64
", value 0x%" PRIx64
,
211 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
212 rtos
->current_thread
);
214 if ((thread_list_size
== 0) || (rtos
->current_thread
== 0)) {
215 /* Either : No RTOS threads - there is always at least the current execution though */
216 /* OR : No current thread - all threads suspended - show the current execution
218 char tmp_str
[] = "Current Execution";
221 rtos
->thread_details
= malloc(
222 sizeof(struct thread_detail
) * thread_list_size
);
223 if (!rtos
->thread_details
) {
224 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
227 rtos
->thread_details
->threadid
= 1;
228 rtos
->thread_details
->exists
= true;
229 rtos
->thread_details
->extra_info_str
= NULL
;
230 rtos
->thread_details
->thread_name_str
= malloc(sizeof(tmp_str
));
231 strcpy(rtos
->thread_details
->thread_name_str
, tmp_str
);
233 if (thread_list_size
== 1) {
234 rtos
->thread_count
= 1;
238 /* create space for new thread details */
239 rtos
->thread_details
= malloc(
240 sizeof(struct thread_detail
) * thread_list_size
);
241 if (!rtos
->thread_details
) {
242 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
247 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
248 if (rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
== 0) {
249 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
252 uint32_t top_used_priority
= 0;
253 retval
= target_read_u32(rtos
->target
,
254 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
256 if (retval
!= ERROR_OK
)
258 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64
", value %" PRIu32
,
259 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
261 if (top_used_priority
> FREERTOS_MAX_PRIORITIES
) {
262 LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32
,
267 /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
268 * in old FreeRTOS versions (before V7.5.3)
269 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
270 * in newer FreeRTOS versions.
271 * Here we restore the original configMAX_PRIORITIES value */
272 unsigned int config_max_priorities
= top_used_priority
+ 1;
274 symbol_address_t
*list_of_lists
=
275 malloc(sizeof(symbol_address_t
) * (config_max_priorities
+ 5));
276 if (!list_of_lists
) {
277 LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities
);
281 unsigned int num_lists
;
282 for (num_lists
= 0; num_lists
< config_max_priorities
; num_lists
++)
283 list_of_lists
[num_lists
] = rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
+
284 num_lists
* param
->list_width
;
286 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList1
].address
;
287 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList2
].address
;
288 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xPendingReadyList
].address
;
289 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xSuspendedTaskList
].address
;
290 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xTasksWaitingTermination
].address
;
292 for (unsigned int i
= 0; i
< num_lists
; i
++) {
293 if (list_of_lists
[i
] == 0)
296 /* Read the number of threads in this list */
297 uint32_t list_thread_count
= 0;
298 retval
= target_read_u32(rtos
->target
,
301 if (retval
!= ERROR_OK
) {
302 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
306 LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64
", value %" PRIu32
,
307 i
, list_of_lists
[i
], list_thread_count
);
309 if (list_thread_count
== 0)
312 /* Read the location of first list item */
313 uint32_t prev_list_elem_ptr
= -1;
314 uint32_t list_elem_ptr
= 0;
315 retval
= target_read_u32(rtos
->target
,
316 list_of_lists
[i
] + param
->list_next_offset
,
318 if (retval
!= ERROR_OK
) {
319 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
323 LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64
", value 0x%" PRIx32
,
324 i
, list_of_lists
[i
] + param
->list_next_offset
, list_elem_ptr
);
326 while ((list_thread_count
> 0) && (list_elem_ptr
!= 0) &&
327 (list_elem_ptr
!= prev_list_elem_ptr
) &&
328 (tasks_found
< thread_list_size
)) {
329 /* Get the location of the thread structure. */
330 rtos
->thread_details
[tasks_found
].threadid
= 0;
331 retval
= target_read_u32(rtos
->target
,
332 list_elem_ptr
+ param
->list_elem_content_offset
,
333 &pointer_casts_are_bad
);
334 if (retval
!= ERROR_OK
) {
335 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
339 rtos
->thread_details
[tasks_found
].threadid
= pointer_casts_are_bad
;
340 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32
", value 0x%" PRIx64
,
341 list_elem_ptr
+ param
->list_elem_content_offset
,
342 rtos
->thread_details
[tasks_found
].threadid
);
344 /* get thread name */
346 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
347 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
349 /* Read the thread name */
350 retval
= target_read_buffer(rtos
->target
,
351 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
352 FREERTOS_THREAD_NAME_STR_SIZE
,
353 (uint8_t *)&tmp_str
);
354 if (retval
!= ERROR_OK
) {
355 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
359 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
360 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64
", value '%s'",
361 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
364 if (tmp_str
[0] == '\x00')
365 strcpy(tmp_str
, "No Name");
367 rtos
->thread_details
[tasks_found
].thread_name_str
=
368 malloc(strlen(tmp_str
)+1);
369 strcpy(rtos
->thread_details
[tasks_found
].thread_name_str
, tmp_str
);
370 rtos
->thread_details
[tasks_found
].exists
= true;
372 if (rtos
->thread_details
[tasks_found
].threadid
== rtos
->current_thread
) {
373 char running_str
[] = "State: Running";
374 rtos
->thread_details
[tasks_found
].extra_info_str
= malloc(
375 sizeof(running_str
));
376 strcpy(rtos
->thread_details
[tasks_found
].extra_info_str
,
379 rtos
->thread_details
[tasks_found
].extra_info_str
= NULL
;
384 prev_list_elem_ptr
= list_elem_ptr
;
386 retval
= target_read_u32(rtos
->target
,
387 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
389 if (retval
!= ERROR_OK
) {
390 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
394 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32
", value 0x%" PRIx32
,
395 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
401 rtos
->thread_count
= tasks_found
;
405 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
406 struct rtos_reg
**reg_list
, int *num_regs
)
409 const struct FreeRTOS_params
*param
;
410 int64_t stack_ptr
= 0;
418 if (rtos
->rtos_specific_params
== NULL
)
421 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
423 /* Read the stack pointer */
424 uint32_t pointer_casts_are_bad
;
425 retval
= target_read_u32(rtos
->target
,
426 thread_id
+ param
->thread_stack_offset
,
427 &pointer_casts_are_bad
);
428 if (retval
!= ERROR_OK
) {
429 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
432 stack_ptr
= pointer_casts_are_bad
;
433 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64
", value 0x%" PRIx64
,
434 thread_id
+ param
->thread_stack_offset
,
437 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
438 int cm4_fpu_enabled
= 0;
439 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
440 if (is_armv7m(armv7m_target
)) {
441 if (armv7m_target
->fp_feature
== FPv4_SP
) {
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(symbol_table_elem_t
*symbol_list
[])
480 *symbol_list
= calloc(
481 ARRAY_SIZE(FreeRTOS_symbol_list
), sizeof(symbol_table_elem_t
));
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
== NULL
)
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
!= NULL
) &&
541 (target
->rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
!= 0)) {
542 /* looks like FreeRTOS */
548 static int FreeRTOS_create(struct target
*target
)
551 while ((i
< FREERTOS_NUM_PARAMS
) &&
552 (0 != strcmp(FreeRTOS_params_list
[i
].target_name
, target
->type
->name
))) {
555 if (i
>= FREERTOS_NUM_PARAMS
) {
556 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
560 target
->rtos
->rtos_specific_params
= (void *) &FreeRTOS_params_list
[i
];
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