+++ /dev/null
-/***************************************************************************
- * Copyright (C) 2012 by Matthias Blaicher *
- * Matthias Blaicher - matthias@blaicher.com *
- * *
- * Copyright (C) 2011 by Broadcom Corporation *
- * Evan Hunter - ehunter@broadcom.com *
- * *
- * This program is free software; you can redistribute it and/or modify *
- * it under the terms of the GNU General Public License as published by *
- * the Free Software Foundation; either version 2 of the License, or *
- * (at your option) any later version. *
- * *
- * This program is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU General Public License for more details. *
- * *
- * You should have received a copy of the GNU General Public License *
- * along with this program. If not, see <http://www.gnu.org/licenses/>. *
- ***************************************************************************/
-
-#ifdef HAVE_CONFIG_H
-#include "config.h"
-#endif
-
-#include <helper/time_support.h>
-#include <jtag/jtag.h>
-#include "target/target.h"
-#include "target/target_type.h"
-#include "target/armv7m.h"
-#include "target/cortex_m.h"
-#include "rtos.h"
-#include "helper/log.h"
-#include "helper/types.h"
-#include "rtos_chibios_stackings.h"
-
-/**
- * @brief ChibiOS/RT memory signature record.
- *
- * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
- */
-struct ChibiOS_chdebug {
- char ch_identifier[4]; /**< @brief Always set to "main". */
- uint8_t ch_zero; /**< @brief Must be zero. */
- uint8_t ch_size; /**< @brief Size of this structure. */
- uint16_t ch_version; /**< @brief Encoded ChibiOS/RT version. */
- uint8_t ch_ptrsize; /**< @brief Size of a pointer. */
- uint8_t ch_timesize; /**< @brief Size of a @p systime_t. */
- uint8_t ch_threadsize; /**< @brief Size of a @p Thread struct. */
- uint8_t cf_off_prio; /**< @brief Offset of @p p_prio field. */
- uint8_t cf_off_ctx; /**< @brief Offset of @p p_ctx field. */
- uint8_t cf_off_newer; /**< @brief Offset of @p p_newer field. */
- uint8_t cf_off_older; /**< @brief Offset of @p p_older field. */
- uint8_t cf_off_name; /**< @brief Offset of @p p_name field. */
- uint8_t cf_off_stklimit; /**< @brief Offset of @p p_stklimit
- field. */
- uint8_t cf_off_state; /**< @brief Offset of @p p_state field. */
- uint8_t cf_off_flags; /**< @brief Offset of @p p_flags field. */
- uint8_t cf_off_refs; /**< @brief Offset of @p p_refs field. */
- uint8_t cf_off_preempt; /**< @brief Offset of @p p_preempt
- field. */
- uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
-};
-
-#define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
-#define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
-#define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
-
-/**
- * @brief ChibiOS thread states.
- */
-static const char * const ChibiOS_thread_states[] = { "READY", "CURRENT",
-"WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
-"WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL"
-};
-
-#define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
-
-/* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
- * chars ought to be enough.
- */
-#define CHIBIOS_THREAD_NAME_STR_SIZE (64)
-
-struct ChibiOS_params {
- const char *target_name;
-
- struct ChibiOS_chdebug *signature;
- const struct rtos_register_stacking *stacking_info;
-};
-
-static struct ChibiOS_params ChibiOS_params_list[] = {
- {
- "cortex_m", /* target_name */
- 0,
- NULL, /* stacking_info */
- },
- {
- "hla_target", /* target_name */
- 0,
- NULL, /* stacking_info */
- }
-};
-#define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
-
-static bool ChibiOS_detect_rtos(struct target *target);
-static int ChibiOS_create(struct target *target);
-static int ChibiOS_update_threads(struct rtos *rtos);
-static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
- struct rtos_reg **reg_list, int *num_regs);
-static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
-
-struct rtos_type ChibiOS_rtos = {
- .name = "ChibiOS",
-
- .detect_rtos = ChibiOS_detect_rtos,
- .create = ChibiOS_create,
- .update_threads = ChibiOS_update_threads,
- .get_thread_reg_list = ChibiOS_get_thread_reg_list,
- .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
-};
-
-
-/* In ChibiOS/RT 3.0 the rlist structure has become part of a system
- * data structure ch. We declare both symbols as optional and later
- * use whatever is available.
- */
-
-enum ChibiOS_symbol_values {
- ChibiOS_VAL_rlist = 0,
- ChibiOS_VAL_ch = 1,
- ChibiOS_VAL_ch_debug = 2
-};
-
-static symbol_table_elem_t ChibiOS_symbol_list[] = {
- { "rlist", 0, true}, /* Thread ready list */
- { "ch", 0, true}, /* System data structure */
- { "ch_debug", 0, false}, /* Memory Signature containing offsets of fields in rlist */
- { NULL, 0, false}
-};
-
-/* Offset of the rlist structure within the system data structure (ch) */
-#define CH_RLIST_OFFSET 0x00
-
-static int ChibiOS_update_memory_signature(struct rtos *rtos)
-{
- int retval;
- struct ChibiOS_params *param;
- struct ChibiOS_chdebug *signature;
-
- param = (struct ChibiOS_params *) rtos->rtos_specific_params;
-
- /* Free existing memory description.*/
- if (param->signature) {
- free(param->signature);
- param->signature = 0;
- }
-
- signature = malloc(sizeof(*signature));
- if (!signature) {
- LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
- return -1;
- }
-
- retval = target_read_buffer(rtos->target,
- rtos->symbols[ChibiOS_VAL_ch_debug].address,
- sizeof(*signature),
- (uint8_t *) signature);
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
- goto errfree;
- }
-
- if (strncmp(signature->ch_identifier, "main", 4) != 0) {
- LOG_ERROR("Memory signature identifier does not contain magic bytes.");
- goto errfree;
- }
-
- if (signature->ch_size < sizeof(*signature)) {
- LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
- "than expected");
- goto errfree;
- }
-
- if (signature->ch_size > sizeof(*signature)) {
- LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
- " expected. Assuming compatibility...");
- }
-
- /* Convert endianness of version field */
- const uint8_t *versionTarget = (const uint8_t *)
- &signature->ch_version;
- signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
- le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
-
- const uint16_t ch_version = signature->ch_version;
- LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
- "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
- GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
-
- /* Currently, we have the inherent assumption that all address pointers
- * are 32 bit wide. */
- if (signature->ch_ptrsize != sizeof(uint32_t)) {
- LOG_ERROR("ChibiOS/RT target memory signature claims an address "
- "width unequal to 32 bits!");
- free(signature);
- return -1;
- }
-
- param->signature = signature;
- return 0;
-
-errfree:
- /* Error reading the ChibiOS memory structure */
- free(signature);
- param->signature = 0;
- return -1;
-}
-
-
-static int ChibiOS_update_stacking(struct rtos *rtos)
-{
- /* Sometimes the stacking can not be determined only by looking at the
- * target name but only a runtime.
- *
- * For example, this is the case for Cortex-M4 targets and ChibiOS which
- * only stack the FPU registers if it is enabled during ChibiOS build.
- *
- * Terminating which stacking is used is target depending.
- *
- * Assumptions:
- * - Once ChibiOS is actually initialized, the stacking is fixed.
- * - During startup code, the FPU might not be initialized and the
- * detection might fail.
- * - Since no threads are running during startup, the problem is solved
- * by delaying stacking detection until there are more threads
- * available than the current execution. In which case
- * ChibiOS_get_thread_reg_list is called.
- */
- int retval;
-
- if (!rtos->rtos_specific_params)
- return -1;
-
- struct ChibiOS_params *param;
- param = (struct ChibiOS_params *) rtos->rtos_specific_params;
-
- /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4 */
- struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
- if (is_armv7m(armv7m_target)) {
- if (armv7m_target->fp_feature != FP_NONE) {
- /* Found ARM v7m target which includes a FPU */
- uint32_t cpacr;
-
- retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read CPACR register to check FPU state");
- return -1;
- }
-
- /* Check if CP10 and CP11 are set to full access.
- * In ChibiOS this is done in ResetHandler() in crt0.c */
- if (cpacr & 0x00F00000) {
- LOG_DEBUG("Enabled FPU detected.");
- param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
- return 0;
- }
- }
-
- /* Found ARM v7m target with no or disabled FPU */
- param->stacking_info = &rtos_chibios_arm_v7m_stacking;
- return 0;
- }
-
- return -1;
-}
-
-static int ChibiOS_update_threads(struct rtos *rtos)
-{
- int retval;
- const struct ChibiOS_params *param;
- int tasks_found = 0;
- int rtos_valid = -1;
-
- if (!rtos->rtos_specific_params)
- return -1;
-
- if (!rtos->symbols) {
- LOG_ERROR("No symbols for ChibiOS");
- return -3;
- }
-
- param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
- /* Update the memory signature saved in the target memory */
- if (!param->signature) {
- retval = ChibiOS_update_memory_signature(rtos);
- if (retval != ERROR_OK) {
- LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
- return retval;
- }
- }
-
- /* wipe out previous thread details if any */
- rtos_free_threadlist(rtos);
-
- /* ChibiOS does not save the current thread count. We have to first
- * parse the double linked thread list to check for errors and the number of
- * threads. */
- const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
- rtos->symbols[ChibiOS_VAL_rlist].address :
- rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
- const struct ChibiOS_chdebug *signature = param->signature;
- uint32_t current;
- uint32_t previous;
- uint32_t older;
-
- current = rlist;
- previous = rlist;
- while (1) {
- retval = target_read_u32(rtos->target,
- current + signature->cf_off_newer, ¤t);
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read next ChibiOS thread");
- return retval;
- }
- /* Could be NULL if the kernel is not initialized yet or if the
- * registry is corrupted. */
- if (current == 0) {
- LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
-
- rtos_valid = 0;
- break;
- }
- /* Fetch previous thread in the list as a integrity check. */
- retval = target_read_u32(rtos->target,
- current + signature->cf_off_older, &older);
- if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
- LOG_ERROR("ChibiOS registry integrity check failed, "
- "double linked list violation");
- rtos_valid = 0;
- break;
- }
- /* Check for full iteration of the linked list. */
- if (current == rlist)
- break;
- tasks_found++;
- previous = current;
- }
- if (!rtos_valid) {
- /* No RTOS, there is always at least the current execution, though */
- LOG_INFO("Only showing current execution because of a broken "
- "ChibiOS thread registry.");
-
- const char tmp_thread_name[] = "Current Execution";
- const char tmp_thread_extra_info[] = "No RTOS thread";
-
- rtos->thread_details = malloc(
- sizeof(struct thread_detail));
- rtos->thread_details->threadid = 1;
- rtos->thread_details->exists = true;
-
- rtos->thread_details->extra_info_str = malloc(
- sizeof(tmp_thread_extra_info));
- strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
-
- rtos->thread_details->thread_name_str = malloc(
- sizeof(tmp_thread_name));
- strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
-
- rtos->current_thread = 1;
- rtos->thread_count = 1;
- return ERROR_OK;
- }
-
- /* create space for new thread details */
- rtos->thread_details = malloc(
- sizeof(struct thread_detail) * tasks_found);
- if (!rtos->thread_details) {
- LOG_ERROR("Could not allocate space for thread details");
- return -1;
- }
-
- rtos->thread_count = tasks_found;
- /* Loop through linked list. */
- struct thread_detail *curr_thrd_details = rtos->thread_details;
- while (curr_thrd_details < rtos->thread_details + tasks_found) {
- uint32_t name_ptr = 0;
- char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
-
- retval = target_read_u32(rtos->target,
- current + signature->cf_off_newer, ¤t);
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read next ChibiOS thread");
- return -6;
- }
-
- /* Check for full iteration of the linked list. */
- if (current == rlist)
- break;
-
- /* Save the thread pointer */
- curr_thrd_details->threadid = current;
-
- /* read the name pointer */
- retval = target_read_u32(rtos->target,
- current + signature->cf_off_name, &name_ptr);
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read ChibiOS thread name pointer from target");
- return retval;
- }
-
- /* Read the thread name */
- retval = target_read_buffer(rtos->target, name_ptr,
- CHIBIOS_THREAD_NAME_STR_SIZE,
- (uint8_t *)&tmp_str);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading thread name from ChibiOS target");
- return retval;
- }
- tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
-
- if (tmp_str[0] == '\x00')
- strcpy(tmp_str, "No Name");
-
- curr_thrd_details->thread_name_str = malloc(
- strlen(tmp_str) + 1);
- strcpy(curr_thrd_details->thread_name_str, tmp_str);
-
- /* State info */
- uint8_t threadState;
- const char *state_desc;
-
- retval = target_read_u8(rtos->target,
- current + signature->cf_off_state, &threadState);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading thread state from ChibiOS target");
- return retval;
- }
-
-
- if (threadState < CHIBIOS_NUM_STATES)
- state_desc = ChibiOS_thread_states[threadState];
- else
- state_desc = "Unknown";
-
- curr_thrd_details->extra_info_str = malloc(strlen(
- state_desc)+8);
- sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc);
-
- curr_thrd_details->exists = true;
-
- curr_thrd_details++;
- }
-
- uint32_t current_thrd;
- /* NOTE: By design, cf_off_name equals readylist_current_offset */
- retval = target_read_u32(rtos->target,
- rlist + signature->cf_off_name,
- ¤t_thrd);
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read current Thread from ChibiOS target");
- return retval;
- }
- rtos->current_thread = current_thrd;
-
- return 0;
-}
-
-static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
- struct rtos_reg **reg_list, int *num_regs)
-{
- int retval;
- const struct ChibiOS_params *param;
- uint32_t stack_ptr = 0;
-
- if ((rtos == NULL) || (thread_id == 0) ||
- (rtos->rtos_specific_params == NULL))
- return -1;
-
- param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
-
- if (!param->signature)
- return -1;
-
- /* Update stacking if it can only be determined from runtime information */
- if ((param->stacking_info == 0) &&
- (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
- LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
- return -1;
- }
-
- /* Read the stack pointer */
- retval = target_read_u32(rtos->target,
- thread_id + param->signature->cf_off_ctx, &stack_ptr);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading stack frame from ChibiOS thread");
- return retval;
- }
-
- return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, reg_list, num_regs);
-}
-
-static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
-{
- *symbol_list = malloc(sizeof(ChibiOS_symbol_list));
-
- if (*symbol_list == NULL)
- return ERROR_FAIL;
-
- memcpy(*symbol_list, ChibiOS_symbol_list, sizeof(ChibiOS_symbol_list));
- return 0;
-}
-
-static bool ChibiOS_detect_rtos(struct target *target)
-{
- if ((target->rtos->symbols != NULL) &&
- ((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
- (target->rtos->symbols[ChibiOS_VAL_ch].address != 0))) {
-
- if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
- LOG_INFO("It looks like the target may be running ChibiOS "
- "without ch_debug.");
- return false;
- }
-
- /* looks like ChibiOS with memory map enabled.*/
- return true;
- }
-
- return false;
-}
-
-static int ChibiOS_create(struct target *target)
-{
- int i = 0;
- while ((i < CHIBIOS_NUM_PARAMS) &&
- (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
- i++;
- }
- if (i >= CHIBIOS_NUM_PARAMS) {
- LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
- "list", target->type->name);
- return -1;
- }
-
- target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
- return 0;
-}
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