X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Frtos%2FFreeRTOS.c;h=e8df030aad883d6b38780f66e099fbcd30395fd0;hp=2c4791745b3b9aba607eb2bd918b8a20d6116210;hb=HEAD;hpb=fe11baeebb4e238d4bdc47382edb68d3b4156fd3

diff --git a/src/rtos/FreeRTOS.c b/src/rtos/FreeRTOS.c
index 2c4791745b..e8df030aad 100644
--- a/src/rtos/FreeRTOS.c
+++ b/src/rtos/FreeRTOS.c
@@ -1,21 +1,8 @@
+// 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
@@ -28,11 +15,19 @@
 #include "target/target_type.h"
 #include "rtos.h"
 #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
 
-#define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
+/* 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 {
+struct freertos_params {
 	const char *target_name;
 	const unsigned char thread_count_width;
 	const unsigned char pointer_width;
@@ -42,12 +37,14 @@ 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_m3",			/* target_name */
+	"cortex_m",			/* target_name */
 	4,						/* thread_count_width; */
 	4,						/* pointer_width; */
 	16,						/* list_next_offset; */
@@ -56,146 +53,166 @@ const struct FreeRTOS_params FreeRTOS_params_list[] = {
 	12,						/* list_elem_content_offset */
 	0,						/* thread_stack_offset; */
 	52,						/* thread_name_offset; */
-	&rtos_standard_Cortex_M3_stacking,	/* stacking_info */
-	}
+	&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[]);
+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[]);
 
-struct rtos_type FreeRTOS_rtos = {
+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,
+	.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,
-	FreeRTOS_VAL_uxTopUsedPriority = 10,
+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",
-	"uxTopUsedPriority",
-	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 */
 
-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");
+		LOG_ERROR("Could not read FreeRTOS thread count from target");
 		return retval;
 	}
 
 	/* 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;
-	}
+	rtos_free_threadlist(rtos);
 
 	/* read the current thread */
-	retval = target_read_buffer(rtos->target,
-			rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
-			param->pointer_width,
-			(uint8_t *)&rtos->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;
+	}
+	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_OUTPUT("Error reading current thread in FreeRTOS thread list\r\n");
+		LOG_ERROR("Error reading FreeRTOS scheduler state");
 		return retval;
 	}
+	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)) {
+	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(
+		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->thread_details->threadid = 1;
+		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));
+		rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
 		strcpy(rtos->thread_details->thread_name_str, tmp_str);
 
 		if (thread_list_size == 1) {
@@ -204,7 +221,7 @@ static int FreeRTOS_update_threads(struct rtos *rtos)
 		}
 	} else {
 		/* create space for new thread details */
-		rtos->thread_details = (struct thread_detail *) malloc(
+		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);
@@ -213,78 +230,100 @@ static int FreeRTOS_update_threads(struct rtos *rtos)
 	}
 
 	/* Find out how many lists are needed to be read from pxReadyTasksLists, */
-	int64_t max_used_priority = 0;
-	retval = target_read_buffer(rtos->target,
-			rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
-			param->pointer_width,
-			(uint8_t *)&max_used_priority);
+	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;
+	}
+
+	/* 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 =
-		(symbol_address_t *)malloc(sizeof(symbol_address_t) *
-			(max_used_priority+1 + 5));
+		malloc(sizeof(symbol_address_t) * (config_max_priorities + 5));
 	if (!list_of_lists) {
-		LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
+		LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities);
 		return ERROR_FAIL;
 	}
 
-	int num_lists;
-	for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
-		list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].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_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_xSuspendedTaskList].address;
-	list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
+	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++) {
+	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,
+		uint32_t list_thread_count = 0;
+		retval = target_read_u32(rtos->target,
 				list_of_lists[i],
-				param->thread_count_width,
-				(uint8_t *)&list_thread_count);
+				&list_thread_count);
 		if (retval != ERROR_OK) {
-			LOG_OUTPUT("Error reading number of threads in FreeRTOS thread list\r\n");
+			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)
 			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,
+		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,
-				param->pointer_width,
-				(uint8_t *)&list_elem_ptr);
+				&list_elem_ptr);
 		if (retval != ERROR_OK) {
-			LOG_OUTPUT(
-				"Error reading first thread item location in FreeRTOS thread list\r\n");
+			LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
+			free(list_of_lists);
 			return retval;
 		}
+		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. */
-			rtos->thread_details[tasks_found].threadid = 0;
-			retval = target_read_buffer(rtos->target,
+			retval = target_read_u32(rtos->target,
 					list_elem_ptr + param->list_elem_content_offset,
-					param->pointer_width,
-					(uint8_t *)&(rtos->thread_details[tasks_found].threadid));
+					&pointer_casts_are_bad);
 			if (retval != ERROR_OK) {
-				LOG_OUTPUT(
-					"Error reading thread list item object in FreeRTOS thread list\r\n");
+				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 */
 
@@ -297,24 +336,26 @@ static int FreeRTOS_update_threads(struct rtos *rtos)
 					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");
+				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");
 
 			rtos->thread_details[tasks_found].thread_name_str =
-				(char *)malloc(strlen(tmp_str)+1);
+				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";
-				rtos->thread_details[tasks_found].extra_info_str = (char *) malloc(
+				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);
@@ -323,91 +364,137 @@ static int FreeRTOS_update_threads(struct rtos *rtos)
 
 			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,
+			retval = target_read_u32(rtos->target,
 					prev_list_elem_ptr + param->list_elem_next_offset,
-					param->pointer_width,
-					(uint8_t *)&list_elem_ptr);
+					&list_elem_ptr);
 			if (retval != ERROR_OK) {
-				LOG_OUTPUT(
-					"Error reading next thread item location in FreeRTOS thread list\r\n");
+				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;
 	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)
 		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,
+	uint32_t pointer_casts_are_bad;
+	retval = target_read_u32(rtos->target,
 			thread_id + param->thread_stack_offset,
-			param->pointer_width,
-			(uint8_t *)&stack_ptr);
+			&pointer_casts_are_bad);
 	if (retval != ERROR_OK) {
-		LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
+		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;
 }
 
 #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)
 		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];
@@ -418,7 +505,7 @@ static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_i
 			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");
+		LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 		return retval;
 	}
 	tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
@@ -426,35 +513,31 @@ static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_i
 	if (tmp_str[0] == '\x00')
 		strcpy(tmp_str, "No Name");
 
-	*info = (char *)malloc(strlen(tmp_str)+1);
+	*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)) {
+	if ((target->rtos->symbols) &&
+			(target->rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address != 0)) {
 		/* looks like FreeRTOS */
-		return 1;
+		return true;
 	}
-	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 compatibility 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;
 }