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rtos: add support for uC/OS-III
[openocd.git] / src / rtos / uCOS-III.c
1 /***************************************************************************
2 * Copyright (C) 2016 by Square, Inc. *
3 * Steven Stallion <stallion@squareup.com> *
4 * *
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. *
9 * *
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. *
14 * *
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 ***************************************************************************/
18
19 #ifdef HAVE_CONFIG_H
20 #include "config.h"
21 #endif
22
23 #include <helper/time_support.h>
24 #include <jtag/jtag.h>
25 #include "target/target.h"
26 #include "target/target_type.h"
27 #include "rtos.h"
28 #include "helper/log.h"
29 #include "helper/types.h"
30 #include "rtos/rtos_ucos_iii_stackings.h"
31
32 #ifndef UCOS_III_MAX_STRLEN
33 #define UCOS_III_MAX_STRLEN 64
34 #endif
35
36 #ifndef UCOS_III_MAX_THREADS
37 #define UCOS_III_MAX_THREADS 256
38 #endif
39
40 struct uCOS_III_params {
41 const char *target_name;
42 const unsigned char pointer_width;
43 symbol_address_t thread_stack_offset;
44 symbol_address_t thread_name_offset;
45 symbol_address_t thread_state_offset;
46 symbol_address_t thread_priority_offset;
47 symbol_address_t thread_prev_offset;
48 symbol_address_t thread_next_offset;
49 bool thread_offsets_updated;
50 size_t threadid_start;
51 const struct rtos_register_stacking *stacking_info;
52 size_t num_threads;
53 symbol_address_t threads[];
54 };
55
56 static const struct uCOS_III_params uCOS_III_params_list[] = {
57 {
58 "cortex_m", /* target_name */
59 sizeof(uint32_t), /* pointer_width */
60 0, /* thread_stack_offset */
61 0, /* thread_name_offset */
62 0, /* thread_state_offset */
63 0, /* thread_priority_offset */
64 0, /* thread_prev_offset */
65 0, /* thread_next_offset */
66 false, /* thread_offsets_updated */
67 1, /* threadid_start */
68 &rtos_uCOS_III_Cortex_M_stacking, /* stacking_info */
69 0, /* num_threads */
70 },
71 };
72
73 static const char * const uCOS_III_symbol_list[] = {
74 "OSRunning",
75 "OSTCBCurPtr",
76 "OSTaskDbgListPtr",
77 "OSTaskQty",
78
79 /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
80 "openocd_OS_TCB_StkPtr_offset",
81 "openocd_OS_TCB_NamePtr_offset",
82 "openocd_OS_TCB_TaskState_offset",
83 "openocd_OS_TCB_Prio_offset",
84 "openocd_OS_TCB_DbgPrevPtr_offset",
85 "openocd_OS_TCB_DbgNextPtr_offset",
86 NULL
87 };
88
89 enum uCOS_III_symbol_values {
90 uCOS_III_VAL_OSRunning,
91 uCOS_III_VAL_OSTCBCurPtr,
92 uCOS_III_VAL_OSTaskDbgListPtr,
93 uCOS_III_VAL_OSTaskQty,
94
95 /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
96 uCOS_III_VAL_OS_TCB_StkPtr_offset,
97 uCOS_III_VAL_OS_TCB_NamePtr_offset,
98 uCOS_III_VAL_OS_TCB_TaskState_offset,
99 uCOS_III_VAL_OS_TCB_Prio_offset,
100 uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
101 uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
102 };
103
104 static const char * const uCOS_III_thread_state_list[] = {
105 "Ready",
106 "Delay",
107 "Pend",
108 "Pend Timeout",
109 "Suspended",
110 "Delay Suspended",
111 "Pend Suspended",
112 "Pend Timeout Suspended",
113 };
114
115 static int uCOS_III_find_or_create_thread(struct rtos *rtos, symbol_address_t thread_address,
116 threadid_t *threadid)
117 {
118 struct uCOS_III_params *params = rtos->rtos_specific_params;
119 size_t thread_index;
120
121 for (thread_index = 0; thread_index < params->num_threads; thread_index++)
122 if (params->threads[thread_index] == thread_address)
123 goto found;
124
125 if (params->num_threads == UCOS_III_MAX_THREADS) {
126 LOG_WARNING("uCOS-III: too many threads; increase UCOS_III_MAX_THREADS");
127 return ERROR_FAIL;
128 }
129
130 params->threads[thread_index] = thread_address;
131 params->num_threads++;
132 found:
133 *threadid = thread_index + params->threadid_start;
134 return ERROR_OK;
135 }
136
137 static int uCOS_III_find_thread_address(struct rtos *rtos, threadid_t threadid,
138 symbol_address_t *thread_address)
139 {
140 struct uCOS_III_params *params = rtos->rtos_specific_params;
141 size_t thread_index;
142
143 thread_index = threadid - params->threadid_start;
144 if (thread_index >= params->num_threads) {
145 LOG_ERROR("uCOS-III: failed to find thread address");
146 return ERROR_FAIL;
147 }
148
149 *thread_address = params->threads[thread_index];
150 return ERROR_OK;
151 }
152
153 static int uCOS_III_find_last_thread_address(struct rtos *rtos, symbol_address_t *thread_address)
154 {
155 struct uCOS_III_params *params = rtos->rtos_specific_params;
156 int retval;
157
158 /* read the thread list head */
159 symbol_address_t thread_list_address = 0;
160
161 retval = target_read_memory(rtos->target,
162 rtos->symbols[uCOS_III_VAL_OSTaskDbgListPtr].address,
163 params->pointer_width,
164 1,
165 (void *)&thread_list_address);
166 if (retval != ERROR_OK) {
167 LOG_ERROR("uCOS-III: failed to read thread list address");
168 return retval;
169 }
170
171 /* advance to end of thread list */
172 do {
173 *thread_address = thread_list_address;
174
175 retval = target_read_memory(rtos->target,
176 thread_list_address + params->thread_next_offset,
177 params->pointer_width,
178 1,
179 (void *)&thread_list_address);
180 if (retval != ERROR_OK) {
181 LOG_ERROR("uCOS-III: failed to read next thread address");
182 return retval;
183 }
184 } while (thread_list_address != 0);
185
186 return ERROR_OK;
187 }
188
189 static int uCOS_III_update_thread_offsets(struct rtos *rtos)
190 {
191 struct uCOS_III_params *params = rtos->rtos_specific_params;
192
193 if (params->thread_offsets_updated)
194 return ERROR_OK;
195
196 const struct thread_offset_map {
197 enum uCOS_III_symbol_values symbol_value;
198 symbol_address_t *thread_offset;
199 } thread_offset_maps[] = {
200 {
201 uCOS_III_VAL_OS_TCB_StkPtr_offset,
202 &params->thread_stack_offset,
203 },
204 {
205 uCOS_III_VAL_OS_TCB_NamePtr_offset,
206 &params->thread_name_offset,
207 },
208 {
209 uCOS_III_VAL_OS_TCB_TaskState_offset,
210 &params->thread_state_offset,
211 },
212 {
213 uCOS_III_VAL_OS_TCB_Prio_offset,
214 &params->thread_priority_offset,
215 },
216 {
217 uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
218 &params->thread_prev_offset,
219 },
220 {
221 uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
222 &params->thread_next_offset,
223 },
224 };
225
226 for (size_t i = 0; i < ARRAY_SIZE(thread_offset_maps); i++) {
227 const struct thread_offset_map *thread_offset_map = &thread_offset_maps[i];
228
229 int retval = target_read_memory(rtos->target,
230 rtos->symbols[thread_offset_map->symbol_value].address,
231 params->pointer_width,
232 1,
233 (void *)thread_offset_map->thread_offset);
234 if (retval != ERROR_OK) {
235 LOG_ERROR("uCOS-III: failed to read thread offset");
236 return retval;
237 }
238 }
239
240 params->thread_offsets_updated = true;
241 return ERROR_OK;
242 }
243
244 static int uCOS_III_detect_rtos(struct target *target)
245 {
246 return target->rtos->symbols != NULL &&
247 target->rtos->symbols[uCOS_III_VAL_OSRunning].address != 0;
248 }
249
250 static int uCOS_III_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv)
251 {
252 struct uCOS_III_params *params = target->rtos->rtos_specific_params;
253
254 params->thread_offsets_updated = false;
255 params->num_threads = 0;
256
257 return ERROR_OK;
258 }
259
260 static int uCOS_III_create(struct target *target)
261 {
262 struct uCOS_III_params *params;
263
264 for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_params_list); i++)
265 if (strcmp(uCOS_III_params_list[i].target_name, target->type->name) == 0) {
266 params = malloc(sizeof(*params) +
267 UCOS_III_MAX_THREADS * sizeof(*params->threads));
268 if (params == NULL) {
269 LOG_ERROR("uCOS-III: out of memory");
270 return ERROR_FAIL;
271 }
272
273 memcpy(params, &uCOS_III_params_list[i], sizeof(uCOS_III_params_list[i]));
274 target->rtos->rtos_specific_params = (void *)params;
275
276 target_register_reset_callback(uCOS_III_reset_handler, NULL);
277
278 return ERROR_OK;
279 }
280
281 LOG_ERROR("uCOS-III: target not supported: %s", target->type->name);
282 return ERROR_FAIL;
283 }
284
285 static int uCOS_III_update_threads(struct rtos *rtos)
286 {
287 struct uCOS_III_params *params = rtos->rtos_specific_params;
288 int retval;
289
290 /* free previous thread details */
291 rtos_free_threadlist(rtos);
292
293 /* verify RTOS is running */
294 uint8_t rtos_running;
295
296 retval = target_read_u8(rtos->target,
297 rtos->symbols[uCOS_III_VAL_OSRunning].address,
298 &rtos_running);
299 if (retval != ERROR_OK) {
300 LOG_ERROR("uCOS-III: failed to read RTOS running");
301 return retval;
302 }
303
304 if (!rtos_running) {
305 rtos->thread_details = calloc(1, sizeof(struct thread_detail));
306 if (rtos->thread_details == NULL) {
307 LOG_ERROR("uCOS-III: out of memory");
308 return ERROR_FAIL;
309 }
310
311 rtos->thread_count = 1;
312 rtos->thread_details->threadid = 0;
313 rtos->thread_details->exists = true;
314 rtos->current_thread = 0;
315
316 return ERROR_OK;
317 }
318
319 /* update thread offsets */
320 retval = uCOS_III_update_thread_offsets(rtos);
321 if (retval != ERROR_OK) {
322 LOG_ERROR("uCOS-III: failed to update thread offsets");
323 return retval;
324 }
325
326 /* read current thread address */
327 symbol_address_t current_thread_address = 0;
328
329 retval = target_read_memory(rtos->target,
330 rtos->symbols[uCOS_III_VAL_OSTCBCurPtr].address,
331 params->pointer_width,
332 1,
333 (void *)&current_thread_address);
334 if (retval != ERROR_OK) {
335 LOG_ERROR("uCOS-III: failed to read current thread address");
336 return retval;
337 }
338
339 /* read number of tasks */
340 retval = target_read_u16(rtos->target,
341 rtos->symbols[uCOS_III_VAL_OSTaskQty].address,
342 (void *)&rtos->thread_count);
343 if (retval != ERROR_OK) {
344 LOG_ERROR("uCOS-III: failed to read thread count");
345 return retval;
346 }
347
348 rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
349 if (rtos->thread_details == NULL) {
350 LOG_ERROR("uCOS-III: out of memory");
351 return ERROR_FAIL;
352 }
353
354 /*
355 * uC/OS-III adds tasks in LIFO order; advance to the end of the
356 * list and work backwards to preserve the intended order.
357 */
358 symbol_address_t thread_address = 0;
359
360 retval = uCOS_III_find_last_thread_address(rtos, &thread_address);
361 if (retval != ERROR_OK) {
362 LOG_ERROR("uCOS-III: failed to find last thread address");
363 return retval;
364 }
365
366 for (int i = 0; i < rtos->thread_count; i++) {
367 struct thread_detail *thread_detail = &rtos->thread_details[i];
368 char thread_str_buffer[UCOS_III_MAX_STRLEN + 1];
369
370 /* find or create new threadid */
371 retval = uCOS_III_find_or_create_thread(rtos,
372 thread_address,
373 &thread_detail->threadid);
374 if (retval != ERROR_OK) {
375 LOG_ERROR("uCOS-III: failed to find or create thread");
376 return retval;
377 }
378
379 if (thread_address == current_thread_address)
380 rtos->current_thread = thread_detail->threadid;
381
382 thread_detail->exists = true;
383
384 /* read thread name */
385 symbol_address_t thread_name_address = 0;
386
387 retval = target_read_memory(rtos->target,
388 thread_address + params->thread_name_offset,
389 params->pointer_width,
390 1,
391 (void *)&thread_name_address);
392 if (retval != ERROR_OK) {
393 LOG_ERROR("uCOS-III: failed to name address");
394 return retval;
395 }
396
397 retval = target_read_buffer(rtos->target,
398 thread_name_address,
399 sizeof(thread_str_buffer),
400 (void *)thread_str_buffer);
401 if (retval != ERROR_OK) {
402 LOG_ERROR("uCOS-III: failed to read thread name");
403 return retval;
404 }
405
406 thread_str_buffer[sizeof(thread_str_buffer) - 1] = '\0';
407 thread_detail->thread_name_str = strdup(thread_str_buffer);
408
409 /* read thread extra info */
410 uint8_t thread_state;
411 uint8_t thread_priority;
412
413 retval = target_read_u8(rtos->target,
414 thread_address + params->thread_state_offset,
415 &thread_state);
416 if (retval != ERROR_OK) {
417 LOG_ERROR("uCOS-III: failed to read thread state");
418 return retval;
419 }
420
421 retval = target_read_u8(rtos->target,
422 thread_address + params->thread_priority_offset,
423 &thread_priority);
424 if (retval != ERROR_OK) {
425 LOG_ERROR("uCOS-III: failed to read thread priority");
426 return retval;
427 }
428
429 const char *thread_state_str;
430
431 if (thread_state < ARRAY_SIZE(uCOS_III_thread_state_list))
432 thread_state_str = uCOS_III_thread_state_list[thread_state];
433 else
434 thread_state_str = "Unknown";
435
436 snprintf(thread_str_buffer, sizeof(thread_str_buffer), "State: %s, Priority: %d",
437 thread_state_str, thread_priority);
438 thread_detail->extra_info_str = strdup(thread_str_buffer);
439
440 /* read previous thread address */
441 retval = target_read_memory(rtos->target,
442 thread_address + params->thread_prev_offset,
443 params->pointer_width,
444 1,
445 (void *)&thread_address);
446 if (retval != ERROR_OK) {
447 LOG_ERROR("uCOS-III: failed to read previous thread address");
448 return retval;
449 }
450 }
451
452 return ERROR_OK;
453 }
454
455 static int uCOS_III_get_thread_reg_list(struct rtos *rtos, threadid_t threadid, char **hex_reg_list)
456 {
457 struct uCOS_III_params *params = rtos->rtos_specific_params;
458 int retval;
459
460 /* find thread address for threadid */
461 symbol_address_t thread_address = 0;
462
463 retval = uCOS_III_find_thread_address(rtos, threadid, &thread_address);
464 if (retval != ERROR_OK) {
465 LOG_ERROR("uCOS-III: failed to find thread address");
466 return retval;
467 }
468
469 /* read thread stack address */
470 symbol_address_t stack_address = 0;
471
472 retval = target_read_memory(rtos->target,
473 thread_address + params->thread_stack_offset,
474 params->pointer_width,
475 1,
476 (void *)&stack_address);
477 if (retval != ERROR_OK) {
478 LOG_ERROR("uCOS-III: failed to read stack address");
479 return retval;
480 }
481
482 return rtos_generic_stack_read(rtos->target,
483 params->stacking_info,
484 stack_address,
485 hex_reg_list);
486 }
487
488 static int uCOS_III_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
489 {
490 *symbol_list = calloc(ARRAY_SIZE(uCOS_III_symbol_list), sizeof(symbol_table_elem_t));
491 if (*symbol_list == NULL) {
492 LOG_ERROR("uCOS-III: out of memory");
493 return ERROR_FAIL;
494 }
495
496 for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_symbol_list); i++)
497 (*symbol_list)[i].symbol_name = uCOS_III_symbol_list[i];
498
499 return ERROR_OK;
500 }
501
502 const struct rtos_type uCOS_III_rtos = {
503 .name = "uCOS-III",
504 .detect_rtos = uCOS_III_detect_rtos,
505 .create = uCOS_III_create,
506 .update_threads = uCOS_III_update_threads,
507 .get_thread_reg_list = uCOS_III_get_thread_reg_list,
508 .get_symbol_list_to_lookup = uCOS_III_get_symbol_list_to_lookup,
509 };
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