--- /dev/null
+/***************************************************************************
+ * Copyright (C) 2012 by Matthias Blaicher *
+ * Matthias Blaicher - matthias@blaicher.com *
+ * *
+ * 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
+
+#include <helper/time_support.h>
+#include <jtag/jtag.h>
+#include "target/target.h"
+#include "target/target_type.h"
+#include "rtos.h"
+#include "helper/log.h"
+#include "rtos_chibios_stackings.h"
+
+
+/**
+ * @brief ChibiOS/RT memory signature record.
+ *
+ * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
+ */
+struct ChibiOS_chdebug {
+ char ch_identifier[4]; /**< @brief Always set to "main". */
+ uint8_t ch_zero; /**< @brief Must be zero. */
+ uint8_t ch_size; /**< @brief Size of this structure. */
+ uint16_t ch_version; /**< @brief Encoded ChibiOS/RT version. */
+ uint8_t ch_ptrsize; /**< @brief Size of a pointer. */
+ uint8_t ch_timesize; /**< @brief Size of a @p systime_t. */
+ uint8_t ch_threadsize; /**< @brief Size of a @p Thread struct. */
+ uint8_t cf_off_prio; /**< @brief Offset of @p p_prio field. */
+ uint8_t cf_off_ctx; /**< @brief Offset of @p p_ctx field. */
+ uint8_t cf_off_newer; /**< @brief Offset of @p p_newer field. */
+ uint8_t cf_off_older; /**< @brief Offset of @p p_older field. */
+ uint8_t cf_off_name; /**< @brief Offset of @p p_name field. */
+ uint8_t cf_off_stklimit; /**< @brief Offset of @p p_stklimit
+ field. */
+ uint8_t cf_off_state; /**< @brief Offset of @p p_state field. */
+ uint8_t cf_off_flags; /**< @brief Offset of @p p_flags field. */
+ uint8_t cf_off_refs; /**< @brief Offset of @p p_refs field. */
+ uint8_t cf_off_preempt; /**< @brief Offset of @p p_preempt
+ field. */
+ uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
+};
+
+#define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
+#define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
+#define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
+
+/**
+ * @brief ChibiOS thread states.
+ */
+const char *ChibiOS_thread_states[] = {
+ "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
+ "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
+ "FINAL"
+};
+
+#define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
+
+/* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
+ * chars ought to be enough.
+ */
+#define CHIBIOS_THREAD_NAME_STR_SIZE (64)
+
+struct ChibiOS_params {
+ const char *target_name;
+
+ struct ChibiOS_chdebug *signature;
+ const struct rtos_register_stacking *stacking_info;
+};
+
+struct ChibiOS_params ChibiOS_params_list[] = {
+ {
+ "cortex_m3", /* target_name */
+ 0,
+ &rtos_chibios_arm_v7m_stacking, /* stacking_info */
+ },
+ {
+ "stm32_stlink", /* target_name */
+ 0,
+ &rtos_chibios_arm_v7m_stacking, /* stacking_info */
+ }
+};
+#define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
+
+static int ChibiOS_detect_rtos(struct target *target);
+static int ChibiOS_create(struct target *target);
+static int ChibiOS_update_threads(struct rtos *rtos);
+static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
+static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
+
+struct rtos_type ChibiOS_rtos = {
+ .name = "ChibiOS",
+
+ .detect_rtos = ChibiOS_detect_rtos,
+ .create = ChibiOS_create,
+ .update_threads = ChibiOS_update_threads,
+ .get_thread_reg_list = ChibiOS_get_thread_reg_list,
+ .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
+};
+
+enum ChibiOS_symbol_values {
+ ChibiOS_VAL_rlist = 0,
+ ChibiOS_VAL_ch_debug = 1,
+ ChibiOS_VAL_chSysInit = 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
+};
+
+#define CHIBIOS_NUM_SYMBOLS (sizeof(ChibiOS_symbol_list)/sizeof(char *))
+
+static int ChibiOS_update_memory_signature(struct rtos *rtos)
+{
+ int retval;
+ struct ChibiOS_params *param;
+ struct ChibiOS_chdebug *signature;
+
+ param = (struct ChibiOS_params *) rtos->rtos_specific_params;
+
+ /* Free existing memory description.*/
+ if (param->signature) {
+ free(param->signature);
+ param->signature = 0;
+ }
+
+ signature = malloc(sizeof(*signature));
+ if (!signature) {
+ LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
+ return -1;
+ }
+
+ retval = target_read_buffer(rtos->target,
+ rtos->symbols[ChibiOS_VAL_ch_debug].address,
+ sizeof(*signature),
+ (uint8_t *) signature);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
+ goto errfree;
+ }
+
+ if (strncmp(signature->ch_identifier, "main", 4) != 0) {
+ LOG_ERROR("Memory signature identifier does not contain magic bytes.");
+ goto errfree;
+ }
+
+ if (signature->ch_size < sizeof(*signature)) {
+ LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
+ "than expected");
+ goto errfree;
+ }
+
+ if (signature->ch_size > sizeof(*signature)) {
+ LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
+ " expected. Assuming compatibility...");
+ }
+
+ /* Convert endianness of version field */
+ const uint8_t *versionTarget = (const uint8_t *)
+ &signature->ch_version;
+ signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
+ le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
+
+ const uint16_t ch_version = signature->ch_version;
+ LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
+ "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
+ GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
+
+ param->signature = signature;
+ return 0;
+
+errfree:
+ /* Error reading the ChibiOS memory structure */
+ free(signature);
+ param->signature = 0;
+ return -1;
+}
+
+
+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
+ * only stack the FPU registers if it is enabled during ChibiOS build.
+ *
+ * Terminating which stacking is used is target depending.
+ *
+ * Assumptions:
+ * - Once ChibiOS is actually initialized, the stacking is fixed.
+ * - During startup code, the FPU might not be initialized and the
+ * detection might fail.
+ * - Since no threads are running during startup, the problem is solved
+ * by delaying stacking detection until there are more threads
+ * available than the current execution. In which case
+ * ChibiOS_get_thread_reg_list is called.
+ */
+
+ /* TODO: Add actual detection, currently it will not work with FPU enabled.*/
+ return -1;
+}
+
+static int ChibiOS_update_threads(struct rtos *rtos)
+{
+ int retval;
+ const struct ChibiOS_params *param;
+ int tasks_found = 0;
+ int rtos_valid = -1;
+
+ if (!rtos->rtos_specific_params)
+ return -1;
+
+ if (!rtos->symbols) {
+ LOG_ERROR("No symbols for ChibiOS");
+ return -3;
+ }
+
+ param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
+ /* Update the memory signature saved in the target memory */
+ if (!param->signature) {
+ retval = ChibiOS_update_memory_signature(rtos);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
+ return retval;
+ }
+ }
+
+ /* 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;
+ }
+ /* 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. */
+ uint32_t rlist;
+ uint32_t current;
+ uint32_t previous;
+ uint32_t older;
+
+ retval = target_read_buffer(rtos->target,
+ rtos->symbols[ChibiOS_VAL_rlist].address,
+ param->signature->ch_ptrsize,
+ (uint8_t *)&rlist);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read ChibiOS ReadyList from target");
+ return retval;
+ }
+ current = rlist;
+ previous = rlist;
+ while (1) {
+ retval = target_read_buffer(rtos->target,
+ current + param->signature->cf_off_newer,
+ param->signature->ch_ptrsize,
+ (uint8_t *)¤t);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read next ChibiOS thread");
+ return retval;
+ }
+ /* Could be NULL if the kernel is not initialized yet or if the
+ * registry is corrupted. */
+ if (current == 0) {
+ LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
+
+ rtos_valid = 0;
+ break;
+ }
+ /* Fetch previous thread in the list as a integrity check. */
+ retval = target_read_buffer(rtos->target,
+ current + param->signature->cf_off_older,
+ param->signature->ch_ptrsize,
+ (uint8_t *)&older);
+ if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
+ LOG_ERROR("ChibiOS registry integrity check failed, "
+ "double linked list violation");
+ rtos_valid = 0;
+ break;
+ }
+ /* Check for full iteration of the linked list. */
+ if (current == rlist)
+ break;
+ tasks_found++;
+ previous = current;
+ }
+ if (!rtos_valid) {
+ /* No RTOS, there is always at least the current execution, though */
+ LOG_INFO("Only showing current execution because of a broken "
+ "ChibiOS thread registry.");
+
+ const char tmp_thread_name[] = "Current Execution";
+ const char tmp_thread_extra_info[] = "No RTOS thread";
+
+ rtos->thread_details = (struct thread_detail *) 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(
+ sizeof(tmp_thread_extra_info));
+ strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
+
+ rtos->thread_details->thread_name_str = (char *) malloc(
+ sizeof(tmp_thread_name));
+ strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
+
+ rtos->current_thread = 1;
+ rtos->thread_count = 1;
+ return ERROR_OK;
+ }
+
+ /* create space for new thread details */
+ rtos->thread_details = (struct thread_detail *) malloc(
+ sizeof(struct thread_detail) * tasks_found);
+ if (!rtos->thread_details) {
+ LOG_ERROR("Could not allocate space for thread details");
+ return -1;
+ }
+
+ rtos->thread_count = tasks_found;
+ /* Loop through linked list. */
+ struct thread_detail *curr_thrd_details = rtos->thread_details;
+ while (curr_thrd_details < rtos->thread_details + tasks_found) {
+ uint32_t name_ptr = 0;
+ char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
+
+ retval = target_read_buffer(rtos->target,
+ current + param->signature->cf_off_newer,
+ param->signature->ch_ptrsize,
+ (uint8_t *)¤t);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read next ChibiOS thread");
+ return -6;
+ }
+
+ /* Check for full iteration of the linked list. */
+ if (current == rlist)
+ break;
+
+ /* Save the thread pointer */
+ curr_thrd_details->threadid = current;
+
+ /* read the name pointer */
+ retval = target_read_buffer(rtos->target,
+ current + param->signature->cf_off_name,
+ param->signature->ch_ptrsize,
+ (uint8_t *)&name_ptr);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read ChibiOS thread name pointer from target");
+ return retval;
+ }
+
+ /* Read the thread name */
+ retval = target_read_buffer(rtos->target, name_ptr,
+ CHIBIOS_THREAD_NAME_STR_SIZE,
+ (uint8_t *)&tmp_str);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Error reading thread name from ChibiOS target");
+ return retval;
+ }
+ tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
+
+ if (tmp_str[0] == '\x00')
+ strcpy(tmp_str, "No Name");
+
+ curr_thrd_details->thread_name_str = (char *)malloc(
+ strlen(tmp_str) + 1);
+ strcpy(curr_thrd_details->thread_name_str, tmp_str);
+
+ /* State info */
+ uint8_t threadState;
+ const char *state_desc;
+
+ retval = target_read_buffer(rtos->target,
+ current + param->signature->cf_off_state,
+ 1, &threadState);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Error reading thread state from ChibiOS target");
+ return retval;
+ }
+
+
+ if (threadState < CHIBIOS_NUM_STATES)
+ state_desc = ChibiOS_thread_states[threadState];
+ else
+ state_desc = "Unknown state";
+
+ curr_thrd_details->extra_info_str = (char *)malloc(strlen(
+ state_desc)+1);
+ strcpy(curr_thrd_details->extra_info_str, state_desc);
+
+ curr_thrd_details->exists = true;
+ curr_thrd_details->display_str = NULL;
+
+ curr_thrd_details++;
+ }
+ /* NOTE: By design, cf_off_name equals readylist_current_offset */
+ retval = target_read_buffer(rtos->target,
+ rlist + param->signature->cf_off_name,
+ param->signature->ch_ptrsize,
+ (uint8_t *)&rtos->current_thread);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read current Thread from ChibiOS target");
+ return retval;
+ }
+
+ return 0;
+}
+
+static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
+{
+ int retval;
+ const struct ChibiOS_params *param;
+ int64_t stack_ptr = 0;
+
+ *hex_reg_list = NULL;
+ if ((rtos == NULL) || (thread_id == 0) ||
+ (rtos->rtos_specific_params == NULL))
+ return -1;
+
+ param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
+
+ if (!param->signature)
+ return -1;
+
+ /* Update stacking if it can only be determined from runtime information */
+ if ((param->stacking_info == 0) &&
+ (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
+ LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
+ return -1;
+ }
+
+ /* Read the stack pointer */
+ retval = target_read_buffer(rtos->target,
+ thread_id + param->signature->cf_off_ctx,
+ param->signature->ch_ptrsize,
+ (uint8_t *)&stack_ptr);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Error reading stack frame from ChibiOS thread");
+ return retval;
+ }
+
+ return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
+}
+
+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) * CHIBIOS_NUM_SYMBOLS);
+
+ for (i = 0; i < CHIBIOS_NUM_SYMBOLS; i++)
+ (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
+
+ 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)) {
+
+ if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
+ LOG_INFO("It looks like the target is running ChibiOS without "
+ "ch_debug.");
+ return 0;
+ }
+
+ /* looks like ChibiOS with memory map enabled.*/
+ return 1;
+ }
+
+ return 0;
+}
+
+static int ChibiOS_create(struct target *target)
+{
+ int i = 0;
+ while ((i < CHIBIOS_NUM_PARAMS) &&
+ (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
+ i++;
+ }
+ if (i >= CHIBIOS_NUM_PARAMS) {
+ LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
+ "list", target->type->name);
+ return -1;
+ }
+
+ target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
+ return 0;
+}
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