--- /dev/null
+/***************************************************************************
+ * Copyright (C) 2014 by Marian Cingel *
+ * cingel.marian@gmail.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. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <stdint.h>
+#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_mqx_stackings.h"
+
+/* constants */
+#define MQX_THREAD_NAME_LENGTH (255)
+#define MQX_KERNEL_OFFSET_TDLIST (0x0108)
+#define MQX_KERNEL_OFFSET_SYSTEM_TASK (0x0050)
+#define MQX_KERNEL_OFFSET_ACTIVE_TASK (0x001C)
+#define MQX_KERNEL_OFFSET_CAPABILITY (0x0000)
+#define MQX_QUEUE_OFFSET_SIZE (0x0008)
+#define MQX_TASK_OFFSET_STATE (0x0008)
+#define MQX_TASK_OFFSET_ID (0x000c)
+#define MQX_TASK_OFFSET_TEMPLATE (0x0068)
+#define MQX_TASK_OFFSET_STACK (0x0014)
+#define MQX_TASK_OFFSET_TDLIST (0x006C)
+#define MQX_TASK_OFFSET_NEXT (0x0000)
+#define MQX_TASK_TEMPLATE_OFFSET_NAME (0x0010)
+#define MQX_TASK_OFFSET_ERROR_CODE (0x005C)
+#define MQX_TASK_STATE_MASK (0xFFF)
+
+/* types */
+enum mqx_symbols {
+ mqx_VAL_mqx_kernel_data,
+ mqx_VAL_MQX_init_struct,
+};
+
+enum mqx_arch {
+ mqx_arch_cortexm,
+};
+
+struct mqx_params {
+ const char *target_name;
+ const enum mqx_arch target_arch;
+ const struct rtos_register_stacking *stacking_info;
+};
+
+struct mqx_state {
+ uint32_t state;
+ char *name;
+};
+
+/* local data */
+static const struct mqx_state mqx_states[] = {
+ { 0x0002, "READY" },
+ { 0x0003, "BLOCKED" },
+ { 0x0005, "RCV_SPECIFIC_BLOCKED" },
+ { 0x0007, "RCV_ANY_BLOCKED" },
+ { 0x0009, "DYING" },
+ { 0x000B, "UNHANDLED_INT_BLOCKED" },
+ { 0x000D, "SEND_BLOCKED" },
+ { 0x000F, "BREAKPOINT_BLOCKED" },
+ { 0x0211, "IO_BLOCKED" },
+ { 0x0021, "SEM_BLOCKED" },
+ { 0x0223, "MUTEX_BLOCKED" },
+ { 0x0025, "EVENT_BLOCKED" },
+ { 0x0229, "TASK_QUEUE_BLOCKED" },
+ { 0x042B, "LWSEM_BLOCKED" },
+ { 0x042D, "LWEVENT_BLOCKED" },
+};
+
+static const char * const mqx_symbol_list[] = {
+ "_mqx_kernel_data",
+ "MQX_init_struct",
+ NULL
+};
+
+static const struct mqx_params mqx_params_list[] = {
+ { "cortex_m", mqx_arch_cortexm, &rtos_mqx_arm_v7m_stacking },
+};
+
+/*
+ * Perform simple address check to avoid bus fault.
+ */
+static int mqx_valid_address_check(
+ struct rtos *rtos,
+ uint32_t address
+)
+{
+ enum mqx_arch arch_type = ((struct mqx_params *)rtos->rtos_specific_params)->target_arch;
+ const char * targetname = ((struct mqx_params *)rtos->rtos_specific_params)->target_name;
+
+ /* Cortex M address range */
+ if (arch_type == mqx_arch_cortexm) {
+ if (
+ /* code and sram area */
+ (address && address <= 0x3FFFFFFFu) ||
+ /* external ram area*/
+ (address >= 0x6000000u && address <= 0x9FFFFFFFu)
+ ) {
+ return ERROR_OK;
+ }
+ return ERROR_FAIL;
+ }
+ LOG_ERROR("MQX RTOS - unknown architecture %s", targetname);
+ return ERROR_FAIL;
+}
+
+/*
+ * Wrapper of 'target_read_buffer' fn.
+ * Include address check.
+ */
+static int mqx_target_read_buffer(
+ struct target *target,
+ uint32_t address,
+ uint32_t size,
+ uint8_t *buffer
+)
+{
+ int status = mqx_valid_address_check(target->rtos, address);
+ if (status != ERROR_OK) {
+ LOG_WARNING("MQX RTOS - target address 0x%X is not allowed to read", address);
+ return status;
+ }
+ status = target_read_buffer(target, address, size, buffer);
+ if (status != ERROR_OK) {
+ LOG_ERROR("MQX RTOS - reading target address 0x%X failed", address);
+ return status;
+ }
+ return ERROR_OK;
+}
+
+/*
+ * Get symbol address if present
+ */
+static int mqx_get_symbol(
+ struct rtos *rtos,
+ enum mqx_symbols symbol,
+ void *result
+)
+{
+ /* TODO: additional check ?? */
+ (*(int *)result) = (uint32_t)rtos->symbols[symbol].address;
+ return ERROR_OK;
+}
+
+/*
+ * Get value of struct member by passing
+ * member offset, width and name (debug purpose)
+ */
+static int mqx_get_member(
+ struct rtos *rtos,
+ const uint32_t base_address,
+ int32_t member_offset,
+ int32_t member_width,
+ const char *member_name,
+ void *result
+)
+{
+ int status = ERROR_FAIL;
+ status = mqx_target_read_buffer(
+ rtos->target, base_address + member_offset, member_width, result
+ );
+ if (status != ERROR_OK)
+ LOG_WARNING("MQX RTOS - cannot read \"%s\" at address 0x%X", member_name, base_address + member_offset);
+ return status;
+}
+
+/*
+ * Check whether scheduler started
+ */
+static int mqx_is_scheduler_running(
+ struct rtos *rtos
+)
+{
+ uint32_t kernel_data_symbol = 0;
+ uint32_t kernel_data_addr = 0;
+ uint32_t system_td_addr = 0;
+ uint32_t active_td_addr = 0;
+ uint32_t capability_value = 0;
+
+ /* get '_mqx_kernel_data' symbol */
+ if (ERROR_OK != mqx_get_symbol(
+ rtos, mqx_VAL_mqx_kernel_data, &kernel_data_symbol
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get '_mqx_kernel_data' */
+ if (ERROR_OK != mqx_get_member(
+ rtos, kernel_data_symbol, 0, 4,
+ "_mqx_kernel_data", &kernel_data_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* return if '_mqx_kernel_data' is NULL or default 0xFFFFFFFF */
+ if (0 == kernel_data_addr || (uint32_t)(-1) == kernel_data_addr)
+ return ERROR_FAIL;
+ /* get kernel_data->ADDRESSING_CAPABILITY */
+ if (ERROR_OK != mqx_get_member(
+ rtos, kernel_data_addr, MQX_KERNEL_OFFSET_CAPABILITY, 4,
+ "kernel_data->ADDRESSING_CAPABILITY", (void *)&capability_value
+ )) {
+ return ERROR_FAIL;
+ }
+ /* check first member, the '_mqx_kernel_data->ADDRESSING_CAPABILITY'.
+ it supose to be set to value 8 */
+ if (capability_value != 8) {
+ LOG_WARNING("MQX RTOS - value of '_mqx_kernel_data->ADDRESSING_CAPABILITY' contains invalid value");
+ return ERROR_FAIL;
+ }
+ /* get active ptr */
+ if (ERROR_OK != mqx_get_member(
+ rtos, kernel_data_addr, MQX_KERNEL_OFFSET_ACTIVE_TASK, 4,
+ "kernel_data->ACTIVE_PTR", (void *)&active_td_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* active task is system task, scheduler has not not run yet */
+ system_td_addr = kernel_data_addr + MQX_KERNEL_OFFSET_SYSTEM_TASK;
+ if (active_td_addr == system_td_addr) {
+ LOG_WARNING("MQX RTOS - scheduler does not run");
+ return ERROR_FAIL;
+ }
+ return ERROR_OK;
+}
+
+/*
+ * API function, return 1 if MQX is present
+ */
+static int mqx_detect_rtos(
+ struct target *target
+)
+{
+ if (
+ (target->rtos->symbols != NULL) &&
+ (target->rtos->symbols[mqx_VAL_mqx_kernel_data].address != 0)
+ ) {
+ return 1;
+ }
+ return 0;
+}
+
+/*
+ * API function, pass MQX extra info to context data
+ */
+static int mqx_create(
+ struct target *target
+)
+{
+ /* check target name against supported architectures */
+ int mqx_params_list_num = (sizeof(mqx_params_list)/sizeof(struct mqx_params));
+ for (int i = 0; i < mqx_params_list_num; i++) {
+ if (0 == strcmp(mqx_params_list[i].target_name, target->type->name)) {
+ target->rtos->rtos_specific_params = (void *)&mqx_params_list[i];
+ /* LOG_DEBUG("MQX RTOS - valid architecture: %s", target->type->name); */
+ return 0;
+ }
+ }
+ LOG_ERROR("MQX RTOS - could not find target \"%s\" in MQX compatibility list", target->type->name);
+ return -1;
+}
+
+/*
+ * API function, update list of threads
+ */
+static int mqx_update_threads(
+ struct rtos *rtos
+)
+{
+ uint32_t task_queue_addr = 0;
+ uint32_t kernel_data_addr = 0;
+ uint16_t task_queue_size = 0;
+ uint32_t active_td_addr = 0;
+
+ /* clear old data */
+ rtos_free_threadlist(rtos);
+ /* check scheduler */
+ if (ERROR_OK != mqx_is_scheduler_running(rtos))
+ return ERROR_FAIL;
+ /* get kernel_data symbol */
+ if (ERROR_OK != mqx_get_symbol(
+ rtos, mqx_VAL_mqx_kernel_data, &kernel_data_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* read kernel_data */
+ if (ERROR_OK != mqx_get_member(
+ rtos, kernel_data_addr, 0, 4, "_mqx_kernel_data", &kernel_data_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get task queue address */
+ task_queue_addr = kernel_data_addr + MQX_KERNEL_OFFSET_TDLIST;
+ /* get task queue size */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_queue_addr, MQX_QUEUE_OFFSET_SIZE, 2,
+ "kernel_data->TD_LIST.SIZE", &task_queue_size
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get active ptr */
+ if (ERROR_OK != mqx_get_member(
+ rtos, kernel_data_addr, MQX_KERNEL_OFFSET_ACTIVE_TASK, 4,
+ "kernel_data->ACTIVE_PTR", (void *)&active_td_addr
+ )) {
+ return ERROR_FAIL;
+ }
+
+ /* setup threads info */
+ rtos->thread_count = task_queue_size;
+ rtos->current_thread = 0;
+ rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
+ if (NULL == rtos->thread_details)
+ return ERROR_FAIL;
+
+ /* loop over each task and setup thread details,
+ the current_taskpool_addr is set to queue head
+ NOTE: debugging functions task create/destroy
+ might cause to show invalid data.
+ */
+ for (
+ uint32_t i = 0, taskpool_addr = task_queue_addr;
+ i < (uint32_t)rtos->thread_count;
+ i++
+ ) {
+ uint8_t task_name[MQX_THREAD_NAME_LENGTH + 1];
+ uint32_t task_addr = 0, task_template = 0, task_state = 0;
+ uint32_t task_name_addr = 0, task_id = 0, task_errno = 0;
+ uint32_t state_index = 0, state_max = 0;
+ uint32_t extra_info_length = 0;
+ char *state_name = "unknown state";
+
+ /* set current taskpool address */
+ if (ERROR_OK != mqx_get_member(
+ rtos, taskpool_addr, MQX_TASK_OFFSET_NEXT, 4,
+ "td_struct_ptr->NEXT", &taskpool_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get task address from taskpool */
+ task_addr = taskpool_addr - MQX_TASK_OFFSET_TDLIST;
+ /* get address of 'td_struct_ptr->TEMPLATE_LIST_PTR' */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_addr, MQX_TASK_OFFSET_TEMPLATE, 4,
+ "td_struct_ptr->TEMPLATE_LIST_PTR", &task_template
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get address of 'td_struct_ptr->TEMPLATE_LIST_PTR->NAME' */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_template, MQX_TASK_TEMPLATE_OFFSET_NAME, 4,
+ "td_struct_ptr->TEMPLATE_LIST_PTR->NAME", &task_name_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get value of 'td_struct->TEMPLATE_LIST_PTR->NAME' */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_name_addr, 0, MQX_THREAD_NAME_LENGTH,
+ "*td_struct_ptr->TEMPLATE_LIST_PTR->NAME", task_name
+ )) {
+ return ERROR_FAIL;
+ }
+ /* always terminate last character by force,
+ otherwise openocd might fail if task_name
+ has corrupted data */
+ task_name[MQX_THREAD_NAME_LENGTH] = '\0';
+ /* get value of 'td_struct_ptr->TASK_ID' */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_addr, MQX_TASK_OFFSET_ID, 4,
+ "td_struct_ptr->TASK_ID", &task_id
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get task errno */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_addr, MQX_TASK_OFFSET_ERROR_CODE, 4,
+ "td_struct_ptr->TASK_ERROR_CODE", &task_errno
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get value of 'td_struct_ptr->STATE' */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_addr, MQX_TASK_OFFSET_STATE, 4,
+ "td_struct_ptr->STATE", &task_state
+ )) {
+ return ERROR_FAIL;
+ }
+ task_state &= MQX_TASK_STATE_MASK;
+ /* and search for defined state */
+ state_max = (sizeof(mqx_states)/sizeof(struct mqx_state));
+ for (state_index = 0; (state_index < state_max); state_index++) {
+ if (mqx_states[state_index].state == task_state) {
+ state_name = mqx_states[state_index].name;
+ break;
+ }
+ }
+
+ /* setup thread details struct */
+ rtos->thread_details[i].threadid = task_id;
+ rtos->thread_details[i].exists = true;
+ rtos->thread_details[i].display_str = NULL;
+ /* set thread name */
+ rtos->thread_details[i].thread_name_str = malloc(strlen((void *)task_name) + 1);
+ if (NULL == rtos->thread_details[i].thread_name_str)
+ return ERROR_FAIL;
+ strcpy(rtos->thread_details[i].thread_name_str, (void *)task_name);
+ /* set thread extra info
+ * - task state
+ * - task address
+ * - task errno
+ * calculate length as:
+ * state length + address length + errno length + formatter length
+ */
+ extra_info_length += strlen((void *)state_name) + 8 + 8 + 8;
+ rtos->thread_details[i].extra_info_str = malloc(extra_info_length + 1);
+ if (NULL == rtos->thread_details[i].extra_info_str)
+ return ERROR_FAIL;
+ snprintf(
+ rtos->thread_details[i].extra_info_str, extra_info_length, "%s : 0x%x : %u",
+ state_name, task_addr, task_errno
+ );
+ /* set active thread */
+ if (active_td_addr == task_addr)
+ rtos->current_thread = task_id;
+ }
+ return ERROR_OK;
+}
+
+/*
+ * API function, get info of selected thread
+ */
+static int mqx_get_thread_reg_list(
+ struct rtos *rtos,
+ int64_t thread_id,
+ char **hex_reg_list
+)
+{
+ int64_t stack_ptr = 0;
+ uint32_t my_task_addr = 0;
+ uint32_t task_queue_addr = 0;
+ uint32_t task_queue_size = 0;
+ uint32_t kernel_data_addr = 0;
+
+ *hex_reg_list = NULL;
+ if (thread_id == 0) {
+ LOG_ERROR("MQX RTOS - invalid threadid: 0x%X", (int)thread_id);
+ return ERROR_FAIL;
+ }
+ if (ERROR_OK != mqx_is_scheduler_running(rtos))
+ return ERROR_FAIL;
+ /* get kernel_data symbol */
+ if (ERROR_OK != mqx_get_symbol(
+ rtos, mqx_VAL_mqx_kernel_data, &kernel_data_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* read kernel_data */
+ if (ERROR_OK != mqx_get_member(
+ rtos, kernel_data_addr, 0, 4, "_mqx_kernel_data", &kernel_data_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get task queue address */
+ task_queue_addr = kernel_data_addr + MQX_KERNEL_OFFSET_TDLIST;
+ /* get task queue size */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_queue_addr, MQX_QUEUE_OFFSET_SIZE, 2,
+ "kernel_data->TD_LIST.SIZE", &task_queue_size
+ )) {
+ return ERROR_FAIL;
+ }
+ /* search for taskid */
+ for (
+ uint32_t i = 0, taskpool_addr = task_queue_addr;
+ i < (uint32_t)rtos->thread_count;
+ i++
+ ) {
+ uint32_t tmp_address = 0, task_addr = 0;
+ uint32_t task_id = 0;
+ /* set current taskpool address */
+ tmp_address = taskpool_addr;
+ if (ERROR_OK != mqx_get_member(
+ rtos, tmp_address, MQX_TASK_OFFSET_NEXT, 4,
+ "td_struct_ptr->NEXT", &taskpool_addr
+ )) {
+ return ERROR_FAIL;
+ }
+ /* get task address from taskpool */
+ task_addr = taskpool_addr - MQX_TASK_OFFSET_TDLIST;
+ /* get value of td_struct->TASK_ID */
+ if (ERROR_OK != mqx_get_member(
+ rtos, task_addr, MQX_TASK_OFFSET_ID, 4,
+ "td_struct_ptr->TASK_ID", &task_id
+ )) {
+ return ERROR_FAIL;
+ }
+ /* found taskid, break */
+ if (task_id == thread_id) {
+ my_task_addr = task_addr;
+ break;
+ }
+ }
+ if (!my_task_addr) {
+ LOG_ERROR("MQX_RTOS - threadid %" PRId64 " does not match any task", thread_id);
+ return ERROR_FAIL;
+ }
+ /* get task stack head address */
+ if (ERROR_OK != mqx_get_member(
+ rtos, my_task_addr, MQX_TASK_OFFSET_STACK, 4, "task->STACK_PTR", &stack_ptr
+ )) {
+ return ERROR_FAIL;
+ }
+ return rtos_generic_stack_read(
+ rtos->target, ((struct mqx_params *)rtos->rtos_specific_params)->stacking_info, stack_ptr, hex_reg_list
+ );
+}
+
+/* API function, export list of required symbols */
+static int mqx_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
+{
+ *symbol_list = malloc(sizeof(symbol_table_elem_t) * ARRAY_SIZE(mqx_symbol_list));
+ if (NULL == *symbol_list)
+ return ERROR_FAIL;
+ /* export required symbols */
+ for (int i = 0; i < (int)(ARRAY_SIZE(mqx_symbol_list)); i++)
+ (*symbol_list)[i].symbol_name = mqx_symbol_list[i];
+ return ERROR_OK;
+}
+
+struct rtos_type mqx_rtos = {
+ .name = "mqx",
+ .detect_rtos = mqx_detect_rtos,
+ .create = mqx_create,
+ .update_threads = mqx_update_threads,
+ .get_thread_reg_list = mqx_get_thread_reg_list,
+ .get_symbol_list_to_lookup = mqx_get_symbol_list_to_lookup,
+};
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