X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Frtos%2FChibiOS.c;h=2d8866439a5f1a295ed7df88de4ce4c965bb35b1;hp=2148e91d5277002910a326f9b3089c6d6d573e86;hb=4b115487487829759f65509b250d9ae597f6c676;hpb=517ba0690dcc9e859a05df2113ce32401a5ab254 diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c index 2148e91d52..2d8866439a 100644 --- 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 . * ***************************************************************************/ #ifdef HAVE_CONFIG_H @@ -36,7 +34,6 @@ #include "helper/types.h" #include "rtos_chibios_stackings.h" - /** * @brief ChibiOS/RT memory signature record. * @@ -72,7 +69,7 @@ struct ChibiOS_chdebug { /** * @brief ChibiOS thread states. */ -const char *ChibiOS_thread_states[] = { +static const char * const ChibiOS_thread_states[] = { "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE", "FINAL" @@ -92,7 +89,7 @@ struct ChibiOS_params { const struct rtos_register_stacking *stacking_info; }; -struct ChibiOS_params ChibiOS_params_list[] = { +static struct ChibiOS_params ChibiOS_params_list[] = { { "cortex_m", /* target_name */ 0, @@ -122,19 +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 char *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; @@ -216,7 +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. @@ -238,7 +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) { @@ -254,11 +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; } } @@ -296,25 +300,14 @@ static int ChibiOS_update_threads(struct rtos *rtos) } /* wipe out previous thread details if any */ - int j; - if (rtos->thread_details) { - for (j = 0; j < rtos->thread_count; j++) { - struct thread_detail *current_thread = &rtos->thread_details[j]; - if (current_thread->display_str != NULL) - free(current_thread->display_str); - if (current_thread->thread_name_str != NULL) - free(current_thread->thread_name_str); - if (current_thread->extra_info_str != NULL) - free(current_thread->extra_info_str); - } - free(rtos->thread_details); - rtos->thread_details = NULL; - rtos->thread_count = 0; - } + 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; + 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; @@ -360,17 +353,17 @@ static int ChibiOS_update_threads(struct rtos *rtos) const char tmp_thread_name[] = "Current Execution"; const char tmp_thread_extra_info[] = "No RTOS thread"; - rtos->thread_details = (struct thread_detail *) malloc( + rtos->thread_details = malloc( sizeof(struct thread_detail)); rtos->thread_details->threadid = 1; rtos->thread_details->exists = true; rtos->thread_details->display_str = NULL; - rtos->thread_details->extra_info_str = (char *) malloc( + 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 = (char *) malloc( + rtos->thread_details->thread_name_str = malloc( sizeof(tmp_thread_name)); strcpy(rtos->thread_details->thread_name_str, tmp_thread_name); @@ -380,7 +373,7 @@ static int ChibiOS_update_threads(struct rtos *rtos) } /* create space for new thread details */ - rtos->thread_details = (struct thread_detail *) malloc( + rtos->thread_details = malloc( sizeof(struct thread_detail) * tasks_found); if (!rtos->thread_details) { LOG_ERROR("Could not allocate space for thread details"); @@ -429,7 +422,7 @@ static int ChibiOS_update_threads(struct rtos *rtos) if (tmp_str[0] == '\x00') strcpy(tmp_str, "No Name"); - curr_thrd_details->thread_name_str = (char *)malloc( + curr_thrd_details->thread_name_str = malloc( strlen(tmp_str) + 1); strcpy(curr_thrd_details->thread_name_str, tmp_str); @@ -450,7 +443,7 @@ static int ChibiOS_update_threads(struct rtos *rtos) else state_desc = "Unknown state"; - curr_thrd_details->extra_info_str = (char *)malloc(strlen( + curr_thrd_details->extra_info_str = malloc(strlen( state_desc)+1); strcpy(curr_thrd_details->extra_info_str, state_desc); @@ -510,25 +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 = (symbol_table_elem_t *) 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; } @@ -552,6 +544,6 @@ static int ChibiOS_create(struct target *target) return -1; } - target->rtos->rtos_specific_params = &ChibiOS_params_list[i]; + target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i]; return 0; }