rtos: removed chSysInit from detection of ChibiOS (#121)

[openocd.git] / src / rtos / ChibiOS.c

diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c
index 46fdca323fcdf7ec1bb3bb80288a0d4c427931b4..2d8866439a5f1a295ed7df88de4ce4c965bb35b1 100644 (file)
--- a/src/rtos/ChibiOS.c
+++ b/src/rtos/ChibiOS.c
@@ -16,9 +16,7 @@
  *   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, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  ***************************************************************************/
 
 #ifdef HAVE_CONFIG_H
@@ -91,7 +89,7 @@ struct ChibiOS_params {
        const struct rtos_register_stacking *stacking_info;
 };
 
-static const struct ChibiOS_params ChibiOS_params_list[] = {
+static struct ChibiOS_params ChibiOS_params_list[] = {
        {
        "cortex_m",                                                     /* target_name */
        0,
@@ -121,19 +119,28 @@ struct rtos_type ChibiOS_rtos = {
        .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_debug = 1,
-       ChibiOS_VAL_chSysInit = 2
+       ChibiOS_VAL_ch = 1,
+       ChibiOS_VAL_ch_debug = 2
 };
 
-static const char * const ChibiOS_symbol_list[] = {
-       "rlist",                /* Thread ready list*/
-       "ch_debug",             /* Memory Signatur containing offsets of fields in rlist*/
-       "chSysInit",    /* Necessary part of API, used for ChibiOS detection*/
-       NULL
+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;
@@ -215,7 +222,7 @@ 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
+        * 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.
@@ -237,7 +244,7 @@ static int ChibiOS_update_stacking(struct rtos *rtos)
        struct ChibiOS_params *param;
        param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 
-       /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4  */
+       /* 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 == FPv4_SP) {
@@ -253,11 +260,9 @@ static int ChibiOS_update_stacking(struct rtos *rtos)
                        /* Check if CP10 and CP11 are set to full access.
                         * In ChibiOS this is done in ResetHandler() in crt0.c */
                        if (cpacr & 0x00F00000) {
-                               /* Found target with enabled FPU */
-                               /* FIXME: Need to figure out how to specify the FPU registers */
-                               LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
-                                                 " are NOT supported");
-                               return -1;
+                               LOG_DEBUG("Enabled FPU detected.");
+                               param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
+                               return 0;
                        }
                }
 
@@ -300,7 +305,9 @@ static int ChibiOS_update_threads(struct rtos *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;
+       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;
@@ -496,25 +503,24 @@ static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, cha
 
 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 {
-       unsigned int i;
-       *symbol_list = malloc(
-                       sizeof(symbol_table_elem_t) * ARRAY_SIZE(ChibiOS_symbol_list));
+       *symbol_list = malloc(sizeof(ChibiOS_symbol_list));
 
-       for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
-               (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
+       if (*symbol_list == NULL)
+               return ERROR_FAIL;
 
+       memcpy(*symbol_list, ChibiOS_symbol_list, sizeof(ChibiOS_symbol_list));
        return 0;
 }
 
 static int ChibiOS_detect_rtos(struct target *target)
 {
        if ((target->rtos->symbols != NULL) &&
-                       (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
-                       (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
+                       ((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 is running ChibiOS without "
-                                       "ch_debug.");
+                       LOG_INFO("It looks like the target may be running ChibiOS "
+                                       "without ch_debug.");
                        return 0;
                }