X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Frtos%2FFreeRTOS.c;h=9d89974cce64078c1e37f2a78215cd8b26297bb2;hp=57307d5f24c7e53619b489d05302fd56c042f8f5;hb=d92adf8abf6257c2d58ba409731f4d7fa5aa6b5f;hpb=e6907e6d7e4cfc108d03d05dc2686f989ba7213d diff --git a/src/rtos/FreeRTOS.c b/src/rtos/FreeRTOS.c index 57307d5f24..9d89974cce 100644 --- a/src/rtos/FreeRTOS.c +++ b/src/rtos/FreeRTOS.c @@ -13,9 +13,7 @@ * 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 @@ -30,6 +28,10 @@ #include "helper/log.h" #include "helper/types.h" #include "rtos_standard_stackings.h" +#include "target/armv7m.h" +#include "target/cortex_m.h" + + #define FREERTOS_MAX_PRIORITIES 63 @@ -45,10 +47,12 @@ struct FreeRTOS_params { const unsigned char list_elem_content_offset; const unsigned char thread_stack_offset; const unsigned char thread_name_offset; - const struct rtos_register_stacking *stacking_info; + const struct rtos_register_stacking *stacking_info_cm3; + const struct rtos_register_stacking *stacking_info_cm4f; + const struct rtos_register_stacking *stacking_info_cm4f_fpu; }; -const struct FreeRTOS_params FreeRTOS_params_list[] = { +static const struct FreeRTOS_params FreeRTOS_params_list[] = { { "cortex_m", /* target_name */ 4, /* thread_count_width; */ @@ -60,6 +64,8 @@ const struct FreeRTOS_params FreeRTOS_params_list[] = { 0, /* thread_stack_offset; */ 52, /* thread_name_offset; */ &rtos_standard_Cortex_M3_stacking, /* stacking_info */ + &rtos_standard_Cortex_M4F_stacking, + &rtos_standard_Cortex_M4F_FPU_stacking, }, { "hla_target", /* target_name */ @@ -72,6 +78,8 @@ const struct FreeRTOS_params FreeRTOS_params_list[] = { 0, /* thread_stack_offset; */ 52, /* thread_name_offset; */ &rtos_standard_Cortex_M3_stacking, /* stacking_info */ + &rtos_standard_Cortex_M4F_stacking, + &rtos_standard_Cortex_M4F_FPU_stacking, }, { "nds32_v3", /* target_name */ @@ -84,15 +92,18 @@ const struct FreeRTOS_params FreeRTOS_params_list[] = { 0, /* thread_stack_offset; */ 52, /* thread_name_offset; */ &rtos_standard_NDS32_N1068_stacking, /* stacking_info */ + &rtos_standard_Cortex_M4F_stacking, + &rtos_standard_Cortex_M4F_FPU_stacking, }, }; #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params))) -static int FreeRTOS_detect_rtos(struct target *target); +static bool FreeRTOS_detect_rtos(struct target *target); static int FreeRTOS_create(struct target *target); static int FreeRTOS_update_threads(struct rtos *rtos); -static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list); +static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, + struct rtos_reg **reg_list, int *num_regs); static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]); struct rtos_type FreeRTOS_rtos = { @@ -119,19 +130,24 @@ enum FreeRTOS_symbol_values { FreeRTOS_VAL_uxTopUsedPriority = 10, }; -static char *FreeRTOS_symbol_list[] = { - "pxCurrentTCB", - "pxReadyTasksLists", - "xDelayedTaskList1", - "xDelayedTaskList2", - "pxDelayedTaskList", - "pxOverflowDelayedTaskList", - "xPendingReadyList", - "xTasksWaitingTermination", - "xSuspendedTaskList", - "uxCurrentNumberOfTasks", - "uxTopUsedPriority", - NULL +struct symbols { + const char *name; + bool optional; +}; + +static const struct symbols FreeRTOS_symbol_list[] = { + { "pxCurrentTCB", false }, + { "pxReadyTasksLists", false }, + { "xDelayedTaskList1", false }, + { "xDelayedTaskList2", false }, + { "pxDelayedTaskList", false }, + { "pxOverflowDelayedTaskList", false }, + { "xPendingReadyList", false }, + { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */ + { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */ + { "uxCurrentNumberOfTasks", false }, + { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */ + { NULL, false } }; /* TODO: */ @@ -166,6 +182,9 @@ static int FreeRTOS_update_threads(struct rtos *rtos) rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address, param->thread_count_width, (uint8_t *)&thread_list_size); + LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %d\r\n", + rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address, + thread_list_size); if (retval != ERROR_OK) { LOG_ERROR("Could not read FreeRTOS thread count from target"); @@ -184,6 +203,9 @@ static int FreeRTOS_update_threads(struct rtos *rtos) LOG_ERROR("Error reading current thread in FreeRTOS thread list"); return retval; } + LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n", + rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address, + rtos->current_thread); if ((thread_list_size == 0) || (rtos->current_thread == 0)) { /* Either : No RTOS threads - there is always at least the current execution though */ @@ -200,7 +222,6 @@ static int FreeRTOS_update_threads(struct rtos *rtos) } rtos->thread_details->threadid = 1; rtos->thread_details->exists = true; - rtos->thread_details->display_str = NULL; rtos->thread_details->extra_info_str = NULL; rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str)); strcpy(rtos->thread_details->thread_name_str, tmp_str); @@ -220,6 +241,10 @@ static int FreeRTOS_update_threads(struct rtos *rtos) } /* Find out how many lists are needed to be read from pxReadyTasksLists, */ + if (rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address == 0) { + LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around"); + return ERROR_FAIL; + } int64_t max_used_priority = 0; retval = target_read_buffer(rtos->target, rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address, @@ -227,6 +252,9 @@ static int FreeRTOS_update_threads(struct rtos *rtos) (uint8_t *)&max_used_priority); if (retval != ERROR_OK) return retval; + LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRId64 "\r\n", + rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address, + max_used_priority); if (max_used_priority > FREERTOS_MAX_PRIORITIES) { LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "", max_used_priority); @@ -267,6 +295,8 @@ static int FreeRTOS_update_threads(struct rtos *rtos) free(list_of_lists); return retval; } + LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64 ", value %" PRId64 "\r\n", + i, list_of_lists[i], list_thread_count); if (list_thread_count == 0) continue; @@ -283,6 +313,8 @@ static int FreeRTOS_update_threads(struct rtos *rtos) free(list_of_lists); return retval; } + LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n", + i, list_of_lists[i] + param->list_next_offset, list_elem_ptr); while ((list_thread_count > 0) && (list_elem_ptr != 0) && (list_elem_ptr != prev_list_elem_ptr) && @@ -298,6 +330,9 @@ static int FreeRTOS_update_threads(struct rtos *rtos) free(list_of_lists); return retval; } + LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n", + list_elem_ptr + param->list_elem_content_offset, + rtos->thread_details[tasks_found].threadid); /* get thread name */ @@ -315,6 +350,9 @@ static int FreeRTOS_update_threads(struct rtos *rtos) return retval; } tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00'; + LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value \"%s\"\r\n", + rtos->thread_details[tasks_found].threadid + param->thread_name_offset, + tmp_str); if (tmp_str[0] == '\x00') strcpy(tmp_str, "No Name"); @@ -322,11 +360,10 @@ static int FreeRTOS_update_threads(struct rtos *rtos) rtos->thread_details[tasks_found].thread_name_str = malloc(strlen(tmp_str)+1); strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str); - rtos->thread_details[tasks_found].display_str = NULL; rtos->thread_details[tasks_found].exists = true; if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) { - char running_str[] = "Running"; + char running_str[] = "State: Running"; rtos->thread_details[tasks_found].extra_info_str = malloc( sizeof(running_str)); strcpy(rtos->thread_details[tasks_found].extra_info_str, @@ -348,6 +385,9 @@ static int FreeRTOS_update_threads(struct rtos *rtos) free(list_of_lists); return retval; } + LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n", + prev_list_elem_ptr + param->list_elem_next_offset, + list_elem_ptr); } } @@ -356,13 +396,13 @@ static int FreeRTOS_update_threads(struct rtos *rtos) return 0; } -static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list) +static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, + struct rtos_reg **reg_list, int *num_regs) { int retval; const struct FreeRTOS_params *param; int64_t stack_ptr = 0; - *hex_reg_list = NULL; if (rtos == NULL) return -1; @@ -383,18 +423,61 @@ static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, ch LOG_ERROR("Error reading stack frame from FreeRTOS thread"); return retval; } + LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n", + thread_id + param->thread_stack_offset, + stack_ptr); + + /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */ + int cm4_fpu_enabled = 0; + struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target); + if (is_armv7m(armv7m_target)) { + if (armv7m_target->fp_feature == FPv4_SP) { + /* 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; + } - return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list); + /* Check if CP10 and CP11 are set to full access. */ + if (cpacr & 0x00F00000) { + /* Found target with enabled FPU */ + cm4_fpu_enabled = 1; + } + } + } + + if (cm4_fpu_enabled == 1) { + /* Read the LR to decide between stacking with or without FPU */ + uint32_t LR_svc = 0; + retval = target_read_buffer(rtos->target, + stack_ptr + 0x20, + param->pointer_width, + (uint8_t *)&LR_svc); + if (retval != ERROR_OK) { + LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n"); + return retval; + } + if ((LR_svc & 0x10) == 0) + return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs); + else + return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs); + } else + return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs); } static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]) { unsigned int i; - *symbol_list = malloc( - sizeof(symbol_table_elem_t) * ARRAY_SIZE(FreeRTOS_symbol_list)); + *symbol_list = calloc( + ARRAY_SIZE(FreeRTOS_symbol_list), sizeof(symbol_table_elem_t)); - for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++) - (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i]; + for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++) { + (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i].name; + (*symbol_list)[i].optional = FreeRTOS_symbol_list[i].optional; + } return 0; } @@ -446,14 +529,14 @@ static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_i #endif -static int FreeRTOS_detect_rtos(struct target *target) +static bool FreeRTOS_detect_rtos(struct target *target) { if ((target->rtos->symbols != NULL) && (target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) { /* looks like FreeRTOS */ - return 1; + return true; } - return 0; + return false; } static int FreeRTOS_create(struct target *target)