From c50047bb418da6a4ed735ca87acee04e7fd2dbe7 Mon Sep 17 00:00:00 2001 From: Marian Cingel Date: Fri, 3 Oct 2014 14:15:16 +0200 Subject: [PATCH] rtos: Freescale MQX rtos support ARMv7E-M (CortexM4) architecture - fix position offset of r2,r3 registers on exception stack - switch 'calloc' arguments - remove prototypes of internal function and typedefs - add NULL check for alloc functions - remove last line of license "Franklin Street, Fifth Floor" because of 'checkpatch' validation - environment: jlink + twrk60n512 Change-Id: I70840ded15b17dd945ca190ce31e2775078da2d9 Signed-off-by: Marian Cingel Reviewed-on: http://openocd.zylin.com/2353 Tested-by: jenkins Reviewed-by: Spencer Oliver --- src/rtos/Makefile.am | 4 +- src/rtos/mqx.c | 556 ++++++++++++++++++++++++++++++++++ src/rtos/rtos.c | 4 +- src/rtos/rtos_mqx_stackings.c | 81 +++++ src/rtos/rtos_mqx_stackings.h | 32 ++ 5 files changed, 674 insertions(+), 3 deletions(-) create mode 100644 src/rtos/mqx.c create mode 100644 src/rtos/rtos_mqx_stackings.c create mode 100644 src/rtos/rtos_mqx_stackings.h diff --git a/src/rtos/Makefile.am b/src/rtos/Makefile.am index 58923b84..62293ec6 100644 --- a/src/rtos/Makefile.am +++ b/src/rtos/Makefile.am @@ -22,8 +22,8 @@ include $(top_srcdir)/common.mk METASOURCES = AUTO noinst_LTLIBRARIES = librtos.la -noinst_HEADERS = rtos.h rtos_standard_stackings.h rtos_ecos_stackings.h linux_header.h rtos_chibios_stackings.h rtos_embkernel_stackings.h -librtos_la_SOURCES = rtos.c rtos_standard_stackings.c rtos_ecos_stackings.c rtos_chibios_stackings.c rtos_embkernel_stackings.c FreeRTOS.c ThreadX.c eCos.c linux.c ChibiOS.c embKernel.c +noinst_HEADERS = rtos.h rtos_standard_stackings.h rtos_ecos_stackings.h linux_header.h rtos_chibios_stackings.h rtos_embkernel_stackings.h rtos_mqx_stackings.h +librtos_la_SOURCES = rtos.c rtos_standard_stackings.c rtos_ecos_stackings.c rtos_chibios_stackings.c rtos_embkernel_stackings.c rtos_mqx_stackings.c FreeRTOS.c ThreadX.c eCos.c linux.c ChibiOS.c embKernel.c mqx.c librtos_la_CFLAGS = if IS_MINGW diff --git a/src/rtos/mqx.c b/src/rtos/mqx.c new file mode 100644 index 00000000..bbb96b2f --- /dev/null +++ b/src/rtos/mqx.c @@ -0,0 +1,556 @@ +/*************************************************************************** + * 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 +#include +#include +#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, +}; diff --git a/src/rtos/rtos.c b/src/rtos/rtos.c index d09e1105..f14e5389 100644 --- a/src/rtos/rtos.c +++ b/src/rtos/rtos.c @@ -35,6 +35,7 @@ extern struct rtos_type eCos_rtos; extern struct rtos_type Linux_os; extern struct rtos_type ChibiOS_rtos; extern struct rtos_type embKernel_rtos; +extern struct rtos_type mqx_rtos; static struct rtos_type *rtos_types[] = { &ThreadX_rtos, @@ -43,6 +44,7 @@ static struct rtos_type *rtos_types[] = { &Linux_os, &ChibiOS_rtos, &embKernel_rtos, + &mqx_rtos, NULL }; @@ -303,7 +305,7 @@ int rtos_thread_packet(struct connection *connection, char const *packet, int pa if (detail->extra_info_str != NULL) str_size += strlen(detail->extra_info_str); - char *tmp_str = malloc(str_size + 7); + char *tmp_str = calloc(str_size + 7, sizeof(char)); char *tmp_str_ptr = tmp_str; if (detail->display_str != NULL) diff --git a/src/rtos/rtos_mqx_stackings.c b/src/rtos/rtos_mqx_stackings.c new file mode 100644 index 00000000..8f2d67ea --- /dev/null +++ b/src/rtos/rtos_mqx_stackings.c @@ -0,0 +1,81 @@ +/*************************************************************************** + * 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 "rtos.h" +#include "target/armv7m.h" + + +/* + * standard exception stack + * ( stack base, higher memory address ) + * - xpsr - 0x48 + * - pc - 0x44 + * - lr - 0x40 + * - r12 - 0x3C + * - r3 - 0x38 + * - r2 - 0x34 + * - r1 - 0x30 + * - r0 - 0x2C + * extended stack in svc_pending handler + * - lr - 0x28 + * - r11 - 0x24 + * - r10 - 0x20 + * - r9 - 0x1C + * - r8 - 0x18 + * - r7 - 0x14 + * - r6 - 0x10 + * - r5 - 0x0C + * - r4 - 0x08 + * - BASEPRI - 0x04 + * - SHPR3 - 0x00 ( contains pend_svc exception priority ) + * ( stack head, lower address, stored in 'task->STACK_PTR' ) + */ + +static const struct stack_register_offset rtos_mqx_arm_v7m_stack_offsets[ARMV7M_NUM_CORE_REGS] = { + { 0x2C, 32 }, /* r0 */ + { 0x30, 32 }, /* r1 */ + { 0x34, 32 }, /* r2 */ + { 0x38, 32 }, /* r3 */ + { 0x08, 32 }, /* r4 */ + { 0x0C, 32 }, /* r5 */ + { 0x10, 32 }, /* r6 */ + { 0x14, 32 }, /* r7 */ + { 0x18, 32 }, /* r8 */ + { 0x1C, 32 }, /* r9 */ + { 0x20, 32 }, /* r10 */ + { 0x24, 32 }, /* r11 */ + { 0x3C, 32 }, /* r12 */ + { -2 , 32 }, /* sp */ + { 0x28, 32 }, /* lr */ + { 0x44, 32 }, /* pc */ + { 0x48, 32 }, /* xPSR */ +}; + +const struct rtos_register_stacking rtos_mqx_arm_v7m_stacking = { + 0x4C, /* stack_registers_size, calculate offset base address */ + -1, /* stack_growth_direction */ + ARMV7M_NUM_CORE_REGS, /* num_output_registers */ + 0, /* stack_alignment */ + rtos_mqx_arm_v7m_stack_offsets /* register_offsets */ +}; + diff --git a/src/rtos/rtos_mqx_stackings.h b/src/rtos/rtos_mqx_stackings.h new file mode 100644 index 00000000..9536c400 --- /dev/null +++ b/src/rtos/rtos_mqx_stackings.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * 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. * + ***************************************************************************/ + +#ifndef INCLUDED_RTOS_MQX_STACKINGS_H_ +#define INCLUDED_RTOS_MQX_STACKINGS_H_ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include "rtos.h" + +extern const struct rtos_register_stacking rtos_mqx_arm_v7m_stacking; + +#endif /* ifndef INCLUDED_RTOS_MQX_STACKINGS_H_ */ + -- 2.39.5