--- /dev/null
+/***************************************************************************
+ * Copyright (C) 2016 by Square, Inc. *
+ * Steven Stallion <stallion@squareup.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, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#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 "helper/types.h"
+#include "rtos/rtos_ucos_iii_stackings.h"
+
+#ifndef UCOS_III_MAX_STRLEN
+#define UCOS_III_MAX_STRLEN 64
+#endif
+
+#ifndef UCOS_III_MAX_THREADS
+#define UCOS_III_MAX_THREADS 256
+#endif
+
+struct uCOS_III_params {
+ const char *target_name;
+ const unsigned char pointer_width;
+ symbol_address_t thread_stack_offset;
+ symbol_address_t thread_name_offset;
+ symbol_address_t thread_state_offset;
+ symbol_address_t thread_priority_offset;
+ symbol_address_t thread_prev_offset;
+ symbol_address_t thread_next_offset;
+ bool thread_offsets_updated;
+ size_t threadid_start;
+ const struct rtos_register_stacking *stacking_info;
+ size_t num_threads;
+ symbol_address_t threads[];
+};
+
+static const struct uCOS_III_params uCOS_III_params_list[] = {
+ {
+ "cortex_m", /* target_name */
+ sizeof(uint32_t), /* pointer_width */
+ 0, /* thread_stack_offset */
+ 0, /* thread_name_offset */
+ 0, /* thread_state_offset */
+ 0, /* thread_priority_offset */
+ 0, /* thread_prev_offset */
+ 0, /* thread_next_offset */
+ false, /* thread_offsets_updated */
+ 1, /* threadid_start */
+ &rtos_uCOS_III_Cortex_M_stacking, /* stacking_info */
+ 0, /* num_threads */
+ },
+};
+
+static const char * const uCOS_III_symbol_list[] = {
+ "OSRunning",
+ "OSTCBCurPtr",
+ "OSTaskDbgListPtr",
+ "OSTaskQty",
+
+ /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
+ "openocd_OS_TCB_StkPtr_offset",
+ "openocd_OS_TCB_NamePtr_offset",
+ "openocd_OS_TCB_TaskState_offset",
+ "openocd_OS_TCB_Prio_offset",
+ "openocd_OS_TCB_DbgPrevPtr_offset",
+ "openocd_OS_TCB_DbgNextPtr_offset",
+ NULL
+};
+
+enum uCOS_III_symbol_values {
+ uCOS_III_VAL_OSRunning,
+ uCOS_III_VAL_OSTCBCurPtr,
+ uCOS_III_VAL_OSTaskDbgListPtr,
+ uCOS_III_VAL_OSTaskQty,
+
+ /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
+ uCOS_III_VAL_OS_TCB_StkPtr_offset,
+ uCOS_III_VAL_OS_TCB_NamePtr_offset,
+ uCOS_III_VAL_OS_TCB_TaskState_offset,
+ uCOS_III_VAL_OS_TCB_Prio_offset,
+ uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
+ uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
+};
+
+static const char * const uCOS_III_thread_state_list[] = {
+ "Ready",
+ "Delay",
+ "Pend",
+ "Pend Timeout",
+ "Suspended",
+ "Delay Suspended",
+ "Pend Suspended",
+ "Pend Timeout Suspended",
+};
+
+static int uCOS_III_find_or_create_thread(struct rtos *rtos, symbol_address_t thread_address,
+ threadid_t *threadid)
+{
+ struct uCOS_III_params *params = rtos->rtos_specific_params;
+ size_t thread_index;
+
+ for (thread_index = 0; thread_index < params->num_threads; thread_index++)
+ if (params->threads[thread_index] == thread_address)
+ goto found;
+
+ if (params->num_threads == UCOS_III_MAX_THREADS) {
+ LOG_WARNING("uCOS-III: too many threads; increase UCOS_III_MAX_THREADS");
+ return ERROR_FAIL;
+ }
+
+ params->threads[thread_index] = thread_address;
+ params->num_threads++;
+found:
+ *threadid = thread_index + params->threadid_start;
+ return ERROR_OK;
+}
+
+static int uCOS_III_find_thread_address(struct rtos *rtos, threadid_t threadid,
+ symbol_address_t *thread_address)
+{
+ struct uCOS_III_params *params = rtos->rtos_specific_params;
+ size_t thread_index;
+
+ thread_index = threadid - params->threadid_start;
+ if (thread_index >= params->num_threads) {
+ LOG_ERROR("uCOS-III: failed to find thread address");
+ return ERROR_FAIL;
+ }
+
+ *thread_address = params->threads[thread_index];
+ return ERROR_OK;
+}
+
+static int uCOS_III_find_last_thread_address(struct rtos *rtos, symbol_address_t *thread_address)
+{
+ struct uCOS_III_params *params = rtos->rtos_specific_params;
+ int retval;
+
+ /* read the thread list head */
+ symbol_address_t thread_list_address = 0;
+
+ retval = target_read_memory(rtos->target,
+ rtos->symbols[uCOS_III_VAL_OSTaskDbgListPtr].address,
+ params->pointer_width,
+ 1,
+ (void *)&thread_list_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read thread list address");
+ return retval;
+ }
+
+ /* advance to end of thread list */
+ do {
+ *thread_address = thread_list_address;
+
+ retval = target_read_memory(rtos->target,
+ thread_list_address + params->thread_next_offset,
+ params->pointer_width,
+ 1,
+ (void *)&thread_list_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read next thread address");
+ return retval;
+ }
+ } while (thread_list_address != 0);
+
+ return ERROR_OK;
+}
+
+static int uCOS_III_update_thread_offsets(struct rtos *rtos)
+{
+ struct uCOS_III_params *params = rtos->rtos_specific_params;
+
+ if (params->thread_offsets_updated)
+ return ERROR_OK;
+
+ const struct thread_offset_map {
+ enum uCOS_III_symbol_values symbol_value;
+ symbol_address_t *thread_offset;
+ } thread_offset_maps[] = {
+ {
+ uCOS_III_VAL_OS_TCB_StkPtr_offset,
+ ¶ms->thread_stack_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_NamePtr_offset,
+ ¶ms->thread_name_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_TaskState_offset,
+ ¶ms->thread_state_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_Prio_offset,
+ ¶ms->thread_priority_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
+ ¶ms->thread_prev_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
+ ¶ms->thread_next_offset,
+ },
+ };
+
+ for (size_t i = 0; i < ARRAY_SIZE(thread_offset_maps); i++) {
+ const struct thread_offset_map *thread_offset_map = &thread_offset_maps[i];
+
+ int retval = target_read_memory(rtos->target,
+ rtos->symbols[thread_offset_map->symbol_value].address,
+ params->pointer_width,
+ 1,
+ (void *)thread_offset_map->thread_offset);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read thread offset");
+ return retval;
+ }
+ }
+
+ params->thread_offsets_updated = true;
+ return ERROR_OK;
+}
+
+static int uCOS_III_detect_rtos(struct target *target)
+{
+ return target->rtos->symbols != NULL &&
+ target->rtos->symbols[uCOS_III_VAL_OSRunning].address != 0;
+}
+
+static int uCOS_III_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv)
+{
+ struct uCOS_III_params *params = target->rtos->rtos_specific_params;
+
+ params->thread_offsets_updated = false;
+ params->num_threads = 0;
+
+ return ERROR_OK;
+}
+
+static int uCOS_III_create(struct target *target)
+{
+ struct uCOS_III_params *params;
+
+ for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_params_list); i++)
+ if (strcmp(uCOS_III_params_list[i].target_name, target->type->name) == 0) {
+ params = malloc(sizeof(*params) +
+ UCOS_III_MAX_THREADS * sizeof(*params->threads));
+ if (params == NULL) {
+ LOG_ERROR("uCOS-III: out of memory");
+ return ERROR_FAIL;
+ }
+
+ memcpy(params, &uCOS_III_params_list[i], sizeof(uCOS_III_params_list[i]));
+ target->rtos->rtos_specific_params = (void *)params;
+
+ target_register_reset_callback(uCOS_III_reset_handler, NULL);
+
+ return ERROR_OK;
+ }
+
+ LOG_ERROR("uCOS-III: target not supported: %s", target->type->name);
+ return ERROR_FAIL;
+}
+
+static int uCOS_III_update_threads(struct rtos *rtos)
+{
+ struct uCOS_III_params *params = rtos->rtos_specific_params;
+ int retval;
+
+ /* free previous thread details */
+ rtos_free_threadlist(rtos);
+
+ /* verify RTOS is running */
+ uint8_t rtos_running;
+
+ retval = target_read_u8(rtos->target,
+ rtos->symbols[uCOS_III_VAL_OSRunning].address,
+ &rtos_running);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read RTOS running");
+ return retval;
+ }
+
+ if (!rtos_running) {
+ rtos->thread_details = calloc(1, sizeof(struct thread_detail));
+ if (rtos->thread_details == NULL) {
+ LOG_ERROR("uCOS-III: out of memory");
+ return ERROR_FAIL;
+ }
+
+ rtos->thread_count = 1;
+ rtos->thread_details->threadid = 0;
+ rtos->thread_details->exists = true;
+ rtos->current_thread = 0;
+
+ return ERROR_OK;
+ }
+
+ /* update thread offsets */
+ retval = uCOS_III_update_thread_offsets(rtos);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to update thread offsets");
+ return retval;
+ }
+
+ /* read current thread address */
+ symbol_address_t current_thread_address = 0;
+
+ retval = target_read_memory(rtos->target,
+ rtos->symbols[uCOS_III_VAL_OSTCBCurPtr].address,
+ params->pointer_width,
+ 1,
+ (void *)¤t_thread_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read current thread address");
+ return retval;
+ }
+
+ /* read number of tasks */
+ retval = target_read_u16(rtos->target,
+ rtos->symbols[uCOS_III_VAL_OSTaskQty].address,
+ (void *)&rtos->thread_count);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read thread count");
+ return retval;
+ }
+
+ rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
+ if (rtos->thread_details == NULL) {
+ LOG_ERROR("uCOS-III: out of memory");
+ return ERROR_FAIL;
+ }
+
+ /*
+ * uC/OS-III adds tasks in LIFO order; advance to the end of the
+ * list and work backwards to preserve the intended order.
+ */
+ symbol_address_t thread_address = 0;
+
+ retval = uCOS_III_find_last_thread_address(rtos, &thread_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to find last thread address");
+ return retval;
+ }
+
+ for (int i = 0; i < rtos->thread_count; i++) {
+ struct thread_detail *thread_detail = &rtos->thread_details[i];
+ char thread_str_buffer[UCOS_III_MAX_STRLEN + 1];
+
+ /* find or create new threadid */
+ retval = uCOS_III_find_or_create_thread(rtos,
+ thread_address,
+ &thread_detail->threadid);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to find or create thread");
+ return retval;
+ }
+
+ if (thread_address == current_thread_address)
+ rtos->current_thread = thread_detail->threadid;
+
+ thread_detail->exists = true;
+
+ /* read thread name */
+ symbol_address_t thread_name_address = 0;
+
+ retval = target_read_memory(rtos->target,
+ thread_address + params->thread_name_offset,
+ params->pointer_width,
+ 1,
+ (void *)&thread_name_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to name address");
+ return retval;
+ }
+
+ retval = target_read_buffer(rtos->target,
+ thread_name_address,
+ sizeof(thread_str_buffer),
+ (void *)thread_str_buffer);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read thread name");
+ return retval;
+ }
+
+ thread_str_buffer[sizeof(thread_str_buffer) - 1] = '\0';
+ thread_detail->thread_name_str = strdup(thread_str_buffer);
+
+ /* read thread extra info */
+ uint8_t thread_state;
+ uint8_t thread_priority;
+
+ retval = target_read_u8(rtos->target,
+ thread_address + params->thread_state_offset,
+ &thread_state);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read thread state");
+ return retval;
+ }
+
+ retval = target_read_u8(rtos->target,
+ thread_address + params->thread_priority_offset,
+ &thread_priority);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read thread priority");
+ return retval;
+ }
+
+ const char *thread_state_str;
+
+ if (thread_state < ARRAY_SIZE(uCOS_III_thread_state_list))
+ thread_state_str = uCOS_III_thread_state_list[thread_state];
+ else
+ thread_state_str = "Unknown";
+
+ snprintf(thread_str_buffer, sizeof(thread_str_buffer), "State: %s, Priority: %d",
+ thread_state_str, thread_priority);
+ thread_detail->extra_info_str = strdup(thread_str_buffer);
+
+ /* read previous thread address */
+ retval = target_read_memory(rtos->target,
+ thread_address + params->thread_prev_offset,
+ params->pointer_width,
+ 1,
+ (void *)&thread_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read previous thread address");
+ return retval;
+ }
+ }
+
+ return ERROR_OK;
+}
+
+static int uCOS_III_get_thread_reg_list(struct rtos *rtos, threadid_t threadid, char **hex_reg_list)
+{
+ struct uCOS_III_params *params = rtos->rtos_specific_params;
+ int retval;
+
+ /* find thread address for threadid */
+ symbol_address_t thread_address = 0;
+
+ retval = uCOS_III_find_thread_address(rtos, threadid, &thread_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to find thread address");
+ return retval;
+ }
+
+ /* read thread stack address */
+ symbol_address_t stack_address = 0;
+
+ retval = target_read_memory(rtos->target,
+ thread_address + params->thread_stack_offset,
+ params->pointer_width,
+ 1,
+ (void *)&stack_address);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read stack address");
+ return retval;
+ }
+
+ return rtos_generic_stack_read(rtos->target,
+ params->stacking_info,
+ stack_address,
+ hex_reg_list);
+}
+
+static int uCOS_III_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
+{
+ *symbol_list = calloc(ARRAY_SIZE(uCOS_III_symbol_list), sizeof(symbol_table_elem_t));
+ if (*symbol_list == NULL) {
+ LOG_ERROR("uCOS-III: out of memory");
+ return ERROR_FAIL;
+ }
+
+ for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_symbol_list); i++)
+ (*symbol_list)[i].symbol_name = uCOS_III_symbol_list[i];
+
+ return ERROR_OK;
+}
+
+const struct rtos_type uCOS_III_rtos = {
+ .name = "uCOS-III",
+ .detect_rtos = uCOS_III_detect_rtos,
+ .create = uCOS_III_create,
+ .update_threads = uCOS_III_update_threads,
+ .get_thread_reg_list = uCOS_III_get_thread_reg_list,
+ .get_symbol_list_to_lookup = uCOS_III_get_symbol_list_to_lookup,
+};
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