X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Frtos%2FFreeRTOS.c;h=e8df030aad883d6b38780f66e099fbcd30395fd0;hp=2aa4565a352a4c06be63f58d0c0161feac154a68;hb=HEAD;hpb=3c6af518b3f0a9fb0e4b515b9e6f0fc93d8b9493

diff --git a/src/rtos/FreeRTOS.c b/src/rtos/FreeRTOS.c
index 2aa4565a35..e8df030aad 100644
--- a/src/rtos/FreeRTOS.c
+++ b/src/rtos/FreeRTOS.c
@@ -1,24 +1,10 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+
 /***************************************************************************
  *   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, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  ***************************************************************************/
 
-
 #ifdef HAVE_CONFIG_H
 #include "config.h"
 #endif
@@ -29,367 +15,459 @@
 #include "target/target_type.h"
 #include "rtos.h"
 #include "helper/log.h"
+#include "helper/types.h"
 #include "rtos_standard_stackings.h"
-
-#define FreeRTOS_STRUCT( int_type, ptr_type, list_prev_offset )
-
-
-struct FreeRTOS_params
-{
-	const char *                         target_name;
-	const unsigned char                  thread_count_width;
-	const unsigned char                  pointer_width;
-	const unsigned char                  list_next_offset;
-	const unsigned char                  list_width;
-	const unsigned char                  list_elem_next_offset;
-	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;
+#include "target/armv7m.h"
+#include "target/cortex_m.h"
+
+#define FREERTOS_MAX_PRIORITIES	63
+
+/* FIXME: none of the _width parameters are actually observed properly!
+ * you WILL need to edit more if you actually attempt to target a 8/16/64
+ * bit target!
+ */
+
+struct freertos_params {
+	const char *target_name;
+	const unsigned char thread_count_width;
+	const unsigned char pointer_width;
+	const unsigned char list_next_offset;
+	const unsigned char list_width;
+	const unsigned char list_elem_next_offset;
+	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_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[] =
-{
-		{ "cortex_m3",                      // target_name
-          4,                                // thread_count_width;
-          4,                                // pointer_width;
-          16,                               // list_next_offset;
-          20,                               // list_width;
-          8,                                // list_elem_next_offset;
-          12,                               // list_elem_content_offset
-          0,                                // thread_stack_offset;
-          52,                               // thread_name_offset;
-          &rtos_standard_Cortex_M3_stacking, // stacking_info
-		}
-
+static const struct freertos_params freertos_params_list[] = {
+	{
+	"cortex_m",			/* target_name */
+	4,						/* thread_count_width; */
+	4,						/* pointer_width; */
+	16,						/* list_next_offset; */
+	20,						/* list_width; */
+	8,						/* list_elem_next_offset; */
+	12,						/* list_elem_content_offset */
+	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 */
+	4,						/* thread_count_width; */
+	4,						/* pointer_width; */
+	16,						/* list_next_offset; */
+	20,						/* list_width; */
+	8,						/* list_elem_next_offset; */
+	12,						/* list_elem_content_offset */
+	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,
+	},
 };
 
-
-#define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
-
-static int 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_symbol_list_to_lookup(symbol_table_elem_t * symbol_list[]);
-
-
-
-
-struct rtos_type FreeRTOS_rtos =
-{
-	.name                       = "FreeRTOS",
-
-	.detect_rtos                = FreeRTOS_detect_rtos,
-	.create                     = FreeRTOS_create,
-	.update_threads            = FreeRTOS_update_threads,
-	.get_thread_reg_list        = FreeRTOS_get_thread_reg_list,
-	.get_symbol_list_to_lookup  = FreeRTOS_get_symbol_list_to_lookup,
+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,
+		struct rtos_reg **reg_list, int *num_regs);
+static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
+
+const struct rtos_type freertos_rtos = {
+	.name = "FreeRTOS",
+
+	.detect_rtos = freertos_detect_rtos,
+	.create = freertos_create,
+	.update_threads = freertos_update_threads,
+	.get_thread_reg_list = freertos_get_thread_reg_list,
+	.get_symbol_list_to_lookup = freertos_get_symbol_list_to_lookup,
 };
 
-enum FreeRTOS_symbol_values
-{
-	FreeRTOS_VAL_pxCurrentTCB              = 0,
-	FreeRTOS_VAL_pxReadyTasksLists         = 1,
-	FreeRTOS_VAL_xDelayedTaskList1         = 2,
-	FreeRTOS_VAL_xDelayedTaskList2         = 3,
-	FreeRTOS_VAL_pxDelayedTaskList         = 4,
-	FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
-	FreeRTOS_VAL_xPendingReadyList         = 6,
-	FreeRTOS_VAL_xTasksWaitingTermination  = 7,
-	FreeRTOS_VAL_xSuspendedTaskList        = 8,
-	FreeRTOS_VAL_uxCurrentNumberOfTasks    = 9,
+enum freertos_symbol_values {
+	FREERTOS_VAL_PX_CURRENT_TCB = 0,
+	FREERTOS_VAL_PX_READY_TASKS_LISTS = 1,
+	FREERTOS_VAL_X_DELAYED_TASK_LIST1 = 2,
+	FREERTOS_VAL_X_DELAYED_TASK_LIST2 = 3,
+	FREERTOS_VAL_PX_DELAYED_TASK_LIST = 4,
+	FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST = 5,
+	FREERTOS_VAL_X_PENDING_READY_LIST = 6,
+	FREERTOS_VAL_X_TASKS_WAITING_TERMINATION = 7,
+	FREERTOS_VAL_X_SUSPENDED_TASK_LIST = 8,
+	FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS = 9,
+	FREERTOS_VAL_UX_TOP_USED_PRIORITY = 10,
+	FREERTOS_VAL_X_SCHEDULER_RUNNING = 11,
 };
 
-static char* FreeRTOS_symbol_list[] =
-{
-		"pxCurrentTCB",
-		"pxReadyTasksLists",
-		"xDelayedTaskList1",
-		"xDelayedTaskList2",
-		"pxDelayedTaskList",
-		"pxOverflowDelayedTaskList",
-		"xPendingReadyList",
-		"xTasksWaitingTermination",
-		"xSuspendedTaskList",
-		"uxCurrentNumberOfTasks",
-		NULL
+struct symbols {
+	const char *name;
+	bool optional;
 };
 
-#define FREERTOS_NUM_SYMBOLS (sizeof(FreeRTOS_symbol_list)/sizeof(char*))
+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 */
+	{ "xSchedulerRunning", false },
+	{ NULL, false }
+};
 
-// TODO:
-// this is not safe for little endian yet
-// may be problems reading if sizes are not 32 bit long integers.
-// test mallocs for failure
+/* TODO: */
+/* this is not safe for little endian yet */
+/* may be problems reading if sizes are not 32 bit long integers. */
+/* test mallocs for failure */
 
-static int FreeRTOS_update_threads( struct rtos *rtos )
+static int freertos_update_threads(struct rtos *rtos)
 {
-	int i = 0;
 	int retval;
-	int tasks_found = 0;
-	const struct FreeRTOS_params* param;
+	unsigned int tasks_found = 0;
+	const struct freertos_params *param;
 
-	if (rtos->rtos_specific_params == NULL )
-	{
+	if (!rtos->rtos_specific_params)
 		return -1;
-	}
 
-	param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
+	param = (const struct freertos_params *) rtos->rtos_specific_params;
 
-	if ( rtos->symbols == NULL )
-	{
-		LOG_OUTPUT("No symbols for FreeRTOS\r\n");
+	if (!rtos->symbols) {
+		LOG_ERROR("No symbols for FreeRTOS");
 		return -3;
 	}
 
-	if ( rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0 )
-	{
-		LOG_OUTPUT("Don't have the number of threads in FreeRTOS \r\n");
+	if (rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address == 0) {
+		LOG_ERROR("Don't have the number of threads in FreeRTOS");
 		return -2;
 	}
 
-	int thread_list_size = 0;
-	retval = target_read_buffer( rtos->target, rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address, param->thread_count_width, (uint8_t *)&thread_list_size);
+	uint32_t thread_list_size = 0;
+	retval = target_read_u32(rtos->target,
+			rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
+			&thread_list_size);
+	LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu32,
+										rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
+										thread_list_size);
 
-	if ( retval != ERROR_OK )
-	{
-		LOG_OUTPUT("Could not read FreeRTOS thread count from target\r\n");
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Could not read FreeRTOS thread count from target");
 		return retval;
 	}
 
+	/* wipe out previous thread details if any */
+	rtos_free_threadlist(rtos);
 
-	// wipe out previous thread details if any
-	if ( rtos->thread_details != NULL )
-	{
-		int j;
-		for( j = 0; j < rtos->thread_count; j++ )
-		{
-			if ( rtos->thread_details[j].display_str != NULL )
-			{
-				free( rtos->thread_details[j].display_str );
-				rtos->thread_details[j].display_str = NULL;
-			}
-			if ( rtos->thread_details[j].thread_name_str != NULL )
-			{
-				free( rtos->thread_details[j].thread_name_str );
-				rtos->thread_details[j].thread_name_str = NULL;
-			}
-			if ( rtos->thread_details[j].extra_info_str != NULL )
-			{
-				free( rtos->thread_details[j].extra_info_str );
-				rtos->thread_details[j].extra_info_str = NULL;
-			}
-		}
-		free( rtos->thread_details );
-		rtos->thread_details = NULL;
+	/* read the current thread */
+	uint32_t pointer_casts_are_bad;
+	retval = target_read_u32(rtos->target,
+			rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
+			&pointer_casts_are_bad);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Error reading current thread in FreeRTOS thread list");
+		return retval;
 	}
-
-
-	// read the current thread
-	retval = target_read_buffer( rtos->target, rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address, param->pointer_width, (uint8_t *)&rtos->current_thread );
-	if ( retval != ERROR_OK )
-	{
-		LOG_OUTPUT("Error reading current thread in FreeRTOS thread list\r\n");
+	rtos->current_thread = pointer_casts_are_bad;
+	LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64,
+										rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
+										rtos->current_thread);
+
+	/* read scheduler running */
+	uint32_t scheduler_running;
+	retval = target_read_u32(rtos->target,
+			rtos->symbols[FREERTOS_VAL_X_SCHEDULER_RUNNING].address,
+			&scheduler_running);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Error reading FreeRTOS scheduler state");
 		return retval;
 	}
-
-	if ( ( thread_list_size  == 0 ) || ( rtos->current_thread == 0 ) )
-	{
-		// Either : No RTOS threads - there is always at least the current execution though
-		// OR     : No current thread - all threads suspended - show the current execution of idling
+	LOG_DEBUG("FreeRTOS: Read xSchedulerRunning at 0x%" PRIx64 ", value 0x%" PRIx32,
+										rtos->symbols[FREERTOS_VAL_X_SCHEDULER_RUNNING].address,
+										scheduler_running);
+
+	if ((thread_list_size  == 0) || (rtos->current_thread == 0) || (scheduler_running != 1)) {
+		/* Either : No RTOS threads - there is always at least the current execution though */
+		/* OR     : No current thread - all threads suspended - show the current execution
+		 * of idling */
 		char tmp_str[] = "Current Execution";
 		thread_list_size++;
 		tasks_found++;
-		rtos->thread_details = (struct thread_detail*) malloc( sizeof( struct thread_detail ) * thread_list_size );
-		rtos->thread_details->threadid = 1;
+		rtos->thread_details = malloc(
+				sizeof(struct thread_detail) * thread_list_size);
+		if (!rtos->thread_details) {
+			LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
+			return ERROR_FAIL;
+		}
+		rtos->current_thread = 1;
+		rtos->thread_details->threadid = rtos->current_thread;
 		rtos->thread_details->exists = true;
-		rtos->thread_details->display_str = NULL;
 		rtos->thread_details->extra_info_str = NULL;
-		rtos->thread_details->thread_name_str = (char*) malloc( sizeof(tmp_str) );
-		strcpy( rtos->thread_details->thread_name_str, tmp_str );
-
+		rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
+		strcpy(rtos->thread_details->thread_name_str, tmp_str);
 
-		if ( thread_list_size == 1 )
-		{
+		if (thread_list_size == 1) {
 			rtos->thread_count = 1;
 			return ERROR_OK;
 		}
-	}
-	else
-	{
-		// create space for new thread details
-		rtos->thread_details = (struct thread_detail*) malloc( sizeof( struct thread_detail ) * thread_list_size );
+	} else {
+		/* create space for new thread details */
+		rtos->thread_details = malloc(
+				sizeof(struct thread_detail) * thread_list_size);
+		if (!rtos->thread_details) {
+			LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
+			return ERROR_FAIL;
+		}
 	}
 
+	/* Find out how many lists are needed to be read from pxReadyTasksLists, */
+	if (rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address == 0) {
+		LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
+		return ERROR_FAIL;
+	}
+	uint32_t top_used_priority = 0;
+	retval = target_read_u32(rtos->target,
+			rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
+			&top_used_priority);
+	if (retval != ERROR_OK)
+		return retval;
+	LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu32,
+										rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
+										top_used_priority);
+	if (top_used_priority > FREERTOS_MAX_PRIORITIES) {
+		LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32,
+			top_used_priority);
+		return ERROR_FAIL;
+	}
 
-	// Unfortunately, we can't know how many lists there are for pxReadyTasksLists,
-	// So figure it out via other variables
-	int num_ready_task_lists = (rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address - rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address) / param->list_width;
-
-
-	symbol_address_t* list_of_lists = (symbol_address_t *)malloc( sizeof( symbol_address_t ) * ( num_ready_task_lists + 5 ) );
-
-	int num_lists;
-	for( num_lists = 0; num_lists < num_ready_task_lists; num_lists++ )
-	{
-		list_of_lists[num_lists] =  rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address + num_lists * param->list_width;
+	/* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
+	 * in old FreeRTOS versions (before V7.5.3)
+	 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
+	 * in newer FreeRTOS versions.
+	 * Here we restore the original configMAX_PRIORITIES value */
+	unsigned int config_max_priorities = top_used_priority + 1;
+
+	symbol_address_t *list_of_lists =
+		malloc(sizeof(symbol_address_t) * (config_max_priorities + 5));
+	if (!list_of_lists) {
+		LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities);
+		return ERROR_FAIL;
 	}
 
-	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
-	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
-	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
-	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
+	unsigned int num_lists;
+	for (num_lists = 0; num_lists < config_max_priorities; num_lists++)
+		list_of_lists[num_lists] = rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address +
+			num_lists * param->list_width;
 
+	list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST1].address;
+	list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST2].address;
+	list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_PENDING_READY_LIST].address;
+	list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_SUSPENDED_TASK_LIST].address;
+	list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION].address;
 
-	for( i = 0; i < num_lists; i++ )
-	{
-		if ( list_of_lists[i] == 0 )
-		{
+	for (unsigned int i = 0; i < num_lists; i++) {
+		if (list_of_lists[i] == 0)
 			continue;
-		}
 
-		// Read the number of threads in this list
-		int64_t list_thread_count = 0;
-		retval = target_read_buffer( rtos->target, list_of_lists[i], param->thread_count_width, (uint8_t *)&list_thread_count);
-		if ( retval != ERROR_OK )
-		{
-			LOG_OUTPUT("Error reading number of threads in FreeRTOS thread list\r\n");
+		/* Read the number of threads in this list */
+		uint32_t list_thread_count = 0;
+		retval = target_read_u32(rtos->target,
+				list_of_lists[i],
+				&list_thread_count);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
+			free(list_of_lists);
 			return retval;
 		}
+		LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64 ", value %" PRIu32,
+										i, list_of_lists[i], list_thread_count);
 
-		if ( list_thread_count == 0 )
-		{
+		if (list_thread_count == 0)
 			continue;
-		}
 
-		// Read the location of first list item
-		uint64_t prev_list_elem_ptr = -1;
-		uint64_t list_elem_ptr = 0;
-		retval = target_read_buffer( rtos->target, list_of_lists[i] + param->list_next_offset, param->pointer_width, (uint8_t *)&list_elem_ptr);
-		if ( retval != ERROR_OK )
-		{
-			LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
+		/* Read the location of first list item */
+		uint32_t prev_list_elem_ptr = -1;
+		uint32_t list_elem_ptr = 0;
+		retval = target_read_u32(rtos->target,
+				list_of_lists[i] + param->list_next_offset,
+				&list_elem_ptr);
+		if (retval != ERROR_OK) {
+			LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
+			free(list_of_lists);
 			return retval;
 		}
-
-
-		while ( (list_thread_count > 0) && ( list_elem_ptr != 0) && ( list_elem_ptr != prev_list_elem_ptr ) && ( tasks_found < thread_list_size ) )
-		{
-			// Get the location of the thread structure.
-			rtos->thread_details[tasks_found].threadid = 0;
-			retval = target_read_buffer( rtos->target, list_elem_ptr + param->list_elem_content_offset, param->pointer_width, (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
-			if ( retval != ERROR_OK )
-			{
-				LOG_OUTPUT("Error reading thread list item object in FreeRTOS thread list\r\n");
+		LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64 ", value 0x%" PRIx32,
+										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) &&
+				(tasks_found < thread_list_size)) {
+			/* Get the location of the thread structure. */
+			retval = target_read_u32(rtos->target,
+					list_elem_ptr + param->list_elem_content_offset,
+					&pointer_casts_are_bad);
+			if (retval != ERROR_OK) {
+				LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
+				free(list_of_lists);
 				return retval;
 			}
+			rtos->thread_details[tasks_found].threadid = pointer_casts_are_bad;
+			LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32 ", value 0x%" PRIx64,
+										list_elem_ptr + param->list_elem_content_offset,
+										rtos->thread_details[tasks_found].threadid);
 
-
-			// get thread name
+			/* get thread name */
 
 			#define FREERTOS_THREAD_NAME_STR_SIZE (200)
 			char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 
-			// Read the thread name
-			retval = target_read_buffer( rtos->target, rtos->thread_details[tasks_found].threadid + param->thread_name_offset, FREERTOS_THREAD_NAME_STR_SIZE, (uint8_t *)&tmp_str);
-			if ( retval != ERROR_OK )
-			{
-				LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
+			/* Read the thread name */
+			retval = target_read_buffer(rtos->target,
+					rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
+					FREERTOS_THREAD_NAME_STR_SIZE,
+					(uint8_t *)&tmp_str);
+			if (retval != ERROR_OK) {
+				LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
+				free(list_of_lists);
 				return retval;
 			}
 			tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
+			LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value '%s'",
+										rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
+										tmp_str);
 
-			if ( tmp_str[0] == '\x00' )
-			{
-				strcpy(tmp_str,"No Name");
-			}
+			if (tmp_str[0] == '\x00')
+				strcpy(tmp_str, "No Name");
 
-			rtos->thread_details[tasks_found].thread_name_str = (char*)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].thread_name_str =
+				malloc(strlen(tmp_str)+1);
+			strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
 			rtos->thread_details[tasks_found].exists = true;
 
-			if ( rtos->thread_details[tasks_found].threadid == rtos->current_thread )
-			{
-				char running_str[] = "Running";
-				rtos->thread_details[tasks_found].extra_info_str = (char*) malloc( sizeof(running_str) );
-				strcpy( rtos->thread_details[tasks_found].extra_info_str, running_str );
-			}
-			else
-			{
+			if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
+				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,
+					running_str);
+			} else
 				rtos->thread_details[tasks_found].extra_info_str = NULL;
-			}
-
 
 			tasks_found++;
 			list_thread_count--;
+			rtos->thread_count = tasks_found;
 
 			prev_list_elem_ptr = list_elem_ptr;
 			list_elem_ptr = 0;
-			retval = target_read_buffer( rtos->target, prev_list_elem_ptr + param->list_elem_next_offset, param->pointer_width, (uint8_t *)&list_elem_ptr);
-			if ( retval != ERROR_OK )
-			{
-				LOG_OUTPUT("Error reading next thread item location in FreeRTOS thread list\r\n");
+			retval = target_read_u32(rtos->target,
+					prev_list_elem_ptr + param->list_elem_next_offset,
+					&list_elem_ptr);
+			if (retval != ERROR_OK) {
+				LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
+				free(list_of_lists);
 				return retval;
 			}
+			LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32 ", value 0x%" PRIx32,
+										prev_list_elem_ptr + param->list_elem_next_offset,
+										list_elem_ptr);
 		}
-
-
 	}
-	free( list_of_lists );
-	rtos->thread_count = tasks_found;
+
+	free(list_of_lists);
 	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;
+	const struct freertos_params *param;
 	int64_t stack_ptr = 0;
 
-
-	*hex_reg_list = NULL;
-	if ( rtos == NULL )
-	{
+	if (!rtos)
 		return -1;
-	}
 
-	if ( thread_id == 0 )
-	{
+	if (thread_id == 0)
 		return -2;
-	}
 
-	if (rtos->rtos_specific_params == NULL )
-	{
+	if (!rtos->rtos_specific_params)
 		return -1;
-	}
 
-	param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
+	param = (const struct freertos_params *) rtos->rtos_specific_params;
 
-	// Read the stack pointer
-	retval = target_read_buffer( rtos->target, thread_id + param->thread_stack_offset, param->pointer_width, (uint8_t*)&stack_ptr);
-	if ( retval != ERROR_OK )
-	{
-		LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
+	/* Read the stack pointer */
+	uint32_t pointer_casts_are_bad;
+	retval = target_read_u32(rtos->target,
+			thread_id + param->thread_stack_offset,
+			&pointer_casts_are_bad);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Error reading stack frame from FreeRTOS thread");
 		return retval;
 	}
+	stack_ptr = pointer_casts_are_bad;
+	LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64,
+										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) || (armv7m_target->fp_feature == FPV5_SP) ||
+				(armv7m_target->fp_feature == FPV5_DP)) {
+			/* 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_u32(rtos->target,
+				stack_ptr + 0x20,
+				&lr_svc);
+		if (retval != ERROR_OK) {
+			LOG_OUTPUT("Error reading stack frame from FreeRTOS thread");
+			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[])
+static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
 {
 	unsigned int i;
-	*symbol_list = (symbol_table_elem_t *) malloc( sizeof( symbol_table_elem_t ) * FREERTOS_NUM_SYMBOLS );
+	*symbol_list = calloc(
+			ARRAY_SIZE(freertos_symbol_list), sizeof(struct symbol_table_elem));
 
-	for( i = 0; i < FREERTOS_NUM_SYMBOLS; 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;
@@ -397,85 +475,69 @@ static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t * symbol_list[
 
 #if 0
 
-static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
+static int freertos_set_current_thread(struct rtos *rtos, threadid_t thread_id)
 {
 	return 0;
 }
 
-
-
-static int FreeRTOS_get_thread_ascii_info( struct rtos*   rtos, threadid_t   thread_id, char ** info )
+static int freertos_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
 {
 	int retval;
-	const struct FreeRTOS_params* param;
+	const struct freertos_params *param;
 
-	if ( rtos == NULL )
-	{
+	if (!rtos)
 		return -1;
-	}
 
-	if ( thread_id == 0 )
-	{
+	if (thread_id == 0)
 		return -2;
-	}
 
-	if (rtos->rtos_specific_params == NULL )
-	{
+	if (!rtos->rtos_specific_params)
 		return -3;
-	}
 
-	param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
+	param = (const struct freertos_params *) rtos->rtos_specific_params;
 
 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 	char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 
-	// Read the thread name
-	retval = target_read_buffer( rtos->target, thread_id + param->thread_name_offset, FREERTOS_THREAD_NAME_STR_SIZE, (uint8_t *)&tmp_str);
-	if ( retval != ERROR_OK )
-	{
-		LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
+	/* Read the thread name */
+	retval = target_read_buffer(rtos->target,
+			thread_id + param->thread_name_offset,
+			FREERTOS_THREAD_NAME_STR_SIZE,
+			(uint8_t *)&tmp_str);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 		return retval;
 	}
 	tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 
-	if ( tmp_str[0] == '\x00' )
-	{
-		strcpy(tmp_str,"No Name");
-	}
+	if (tmp_str[0] == '\x00')
+		strcpy(tmp_str, "No Name");
 
-	*info = (char*)malloc( strlen(tmp_str)+1 );
-	strcpy( *info, tmp_str );
+	*info = malloc(strlen(tmp_str)+1);
+	strcpy(*info, tmp_str);
 	return 0;
 }
 
 #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;
+	if ((target->rtos->symbols) &&
+			(target->rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address != 0)) {
+		/* looks like FreeRTOS */
+		return true;
 	}
-	return 0;
-	return 0;
+	return false;
 }
 
-
-static int FreeRTOS_create( struct target* target )
+static int freertos_create(struct target *target)
 {
-	int i = 0;
-	while ( ( i < FREERTOS_NUM_PARAMS ) && ( 0 != strcmp( FreeRTOS_params_list[i].target_name, target->type->name ) ) )
-	{
-		i++;
-	}
-	if ( i >= FREERTOS_NUM_PARAMS )
-	{
-		LOG_OUTPUT("Could not find target in FreeRTOS compatability list\r\n");
-		return -1;
-	}
+	for (unsigned int i = 0; i < ARRAY_SIZE(freertos_params_list); i++)
+		if (strcmp(freertos_params_list[i].target_name, target->type->name) == 0) {
+			target->rtos->rtos_specific_params = (void *)&freertos_params_list[i];
+			return 0;
+		}
 
-	target->rtos->rtos_specific_params = (void*) &FreeRTOS_params_list[i];
-	return 0;
+	LOG_ERROR("Could not find target in FreeRTOS compatibility list");
+	return -1;
 }