git.sur5r.net Git - openocd/blob - src/rtos/ChibiOS.c

   1 /***************************************************************************
   2  *   Copyright (C) 2012 by Matthias Blaicher                               *
   3  *   Matthias Blaicher - matthias@blaicher.com                             *
   4  *                                                                         *
   5  *   Copyright (C) 2011 by Broadcom Corporation                            *
   6  *   Evan Hunter - ehunter@broadcom.com                                    *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  20  ***************************************************************************/
  21
  22 #ifdef HAVE_CONFIG_H
  23 #include "config.h"
  24 #endif
  25
  26 #include <helper/time_support.h>
  27 #include <jtag/jtag.h>
  28 #include "target/target.h"
  29 #include "target/target_type.h"
  30 #include "target/armv7m.h"
  31 #include "target/cortex_m.h"
  32 #include "rtos.h"
  33 #include "helper/log.h"
  34 #include "helper/types.h"
  35 #include "rtos_chibios_stackings.h"
  36
  37 /**
  38  * @brief   ChibiOS/RT memory signature record.
  39  *
  40  * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
  41  */
  42 struct ChibiOS_chdebug {
  43         char      ch_identifier[4];       /**< @brief Always set to "main".       */
  44         uint8_t   ch_zero;                /**< @brief Must be zero.               */
  45         uint8_t   ch_size;                /**< @brief Size of this structure.     */
  46         uint16_t  ch_version;             /**< @brief Encoded ChibiOS/RT version. */
  47         uint8_t   ch_ptrsize;             /**< @brief Size of a pointer.          */
  48         uint8_t   ch_timesize;            /**< @brief Size of a @p systime_t.     */
  49         uint8_t   ch_threadsize;          /**< @brief Size of a @p Thread struct. */
  50         uint8_t   cf_off_prio;            /**< @brief Offset of @p p_prio field.  */
  51         uint8_t   cf_off_ctx;             /**< @brief Offset of @p p_ctx field.   */
  52         uint8_t   cf_off_newer;           /**< @brief Offset of @p p_newer field. */
  53         uint8_t   cf_off_older;           /**< @brief Offset of @p p_older field. */
  54         uint8_t   cf_off_name;            /**< @brief Offset of @p p_name field.  */
  55         uint8_t   cf_off_stklimit;        /**< @brief Offset of @p p_stklimit
  56                                                                                                 field.                        */
  57         uint8_t   cf_off_state;           /**< @brief Offset of @p p_state field. */
  58         uint8_t   cf_off_flags;           /**< @brief Offset of @p p_flags field. */
  59         uint8_t   cf_off_refs;            /**< @brief Offset of @p p_refs field.  */
  60         uint8_t   cf_off_preempt;         /**< @brief Offset of @p p_preempt
  61                                                                                                 field.                        */
  62         uint8_t   cf_off_time;            /**< @brief Offset of @p p_time field.  */
  63 };
  64
  65 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
  66 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
  67 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
  68
  69 /**
  70  * @brief ChibiOS thread states.
  71  */
  72 static const char * const ChibiOS_thread_states[] = { "READY", "CURRENT",
  73 "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  74 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL"
  75 };
  76
  77 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
  78
  79 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  80  * chars ought to be enough.
  81  */
  82 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  83
  84 struct ChibiOS_params {
  85         const char *target_name;
  86
  87         struct ChibiOS_chdebug *signature;
  88         const struct rtos_register_stacking *stacking_info;
  89 };
  90
  91 static struct ChibiOS_params ChibiOS_params_list[] = {
  92         {
  93         "cortex_m",                                                     /* target_name */
  94         0,
  95         NULL,                                                                   /* stacking_info */
  96         },
  97         {
  98         "hla_target",                                                   /* target_name */
  99         0,
 100         NULL,                                                                   /* stacking_info */
 101         }
 102 };
 103 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
 104
 105 static bool ChibiOS_detect_rtos(struct target *target);
 106 static int ChibiOS_create(struct target *target);
 107 static int ChibiOS_update_threads(struct rtos *rtos);
 108 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
 109 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
 110
 111 struct rtos_type ChibiOS_rtos = {
 112         .name = "ChibiOS",
 113
 114         .detect_rtos = ChibiOS_detect_rtos,
 115         .create = ChibiOS_create,
 116         .update_threads = ChibiOS_update_threads,
 117         .get_thread_reg_list = ChibiOS_get_thread_reg_list,
 118         .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 119 };
 120
 121
 122 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
 123  * data structure ch. We declare both symbols as optional and later
 124  * use whatever is available.
 125  */
 126
 127 enum ChibiOS_symbol_values {
 128         ChibiOS_VAL_rlist = 0,
 129         ChibiOS_VAL_ch = 1,
 130         ChibiOS_VAL_ch_debug = 2
 131 };
 132
 133 static symbol_table_elem_t ChibiOS_symbol_list[] = {
 134         { "rlist", 0, true},            /* Thread ready list */
 135         { "ch", 0, true},                       /* System data structure */
 136         { "ch_debug", 0, false},        /* Memory Signature containing offsets of fields in rlist */
 137         { NULL, 0, false}
 138 };
 139
 140 /* Offset of the rlist structure within the system data structure (ch) */
 141 #define CH_RLIST_OFFSET 0x00
 142
 143 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 144 {
 145         int retval;
 146         struct ChibiOS_params *param;
 147         struct ChibiOS_chdebug *signature;
 148
 149         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 150
 151         /* Free existing memory description.*/
 152         if (param->signature) {
 153                 free(param->signature);
 154                 param->signature = 0;
 155         }
 156
 157         signature = malloc(sizeof(*signature));
 158         if (!signature) {
 159                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 160                 return -1;
 161         }
 162
 163         retval = target_read_buffer(rtos->target,
 164                                                                 rtos->symbols[ChibiOS_VAL_ch_debug].address,
 165                                                                 sizeof(*signature),
 166                                                                 (uint8_t *) signature);
 167         if (retval != ERROR_OK) {
 168                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 169                 goto errfree;
 170         }
 171
 172         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 173                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 174                 goto errfree;
 175         }
 176
 177         if (signature->ch_size < sizeof(*signature)) {
 178                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 179                                 "than expected");
 180                 goto errfree;
 181         }
 182
 183         if (signature->ch_size > sizeof(*signature)) {
 184                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 185                                         " expected. Assuming compatibility...");
 186         }
 187
 188         /* Convert endianness of version field */
 189         const uint8_t *versionTarget = (const uint8_t *)
 190                                                                                 &signature->ch_version;
 191         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 192                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 193
 194         const uint16_t ch_version = signature->ch_version;
 195         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 196                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 197                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 198
 199         /* Currently, we have the inherent assumption that all address pointers
 200          * are 32 bit wide. */
 201         if (signature->ch_ptrsize != sizeof(uint32_t)) {
 202                 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
 203                                   "width unequal to 32 bits!");
 204                 free(signature);
 205                 return -1;
 206         }
 207
 208         param->signature = signature;
 209         return 0;
 210
 211 errfree:
 212         /* Error reading the ChibiOS memory structure */
 213         free(signature);
 214         param->signature = 0;
 215         return -1;
 216 }
 217
 218
 219 static int ChibiOS_update_stacking(struct rtos *rtos)
 220 {
 221         /* Sometimes the stacking can not be determined only by looking at the
 222          * target name but only a runtime.
 223          *
 224          * For example, this is the case for Cortex-M4 targets and ChibiOS which
 225          * only stack the FPU registers if it is enabled during ChibiOS build.
 226          *
 227          * Terminating which stacking is used is target depending.
 228          *
 229          * Assumptions:
 230          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 231          *  - During startup code, the FPU might not be initialized and the
 232          *    detection might fail.
 233          *  - Since no threads are running during startup, the problem is solved
 234          *    by delaying stacking detection until there are more threads
 235          *    available than the current execution. In which case
 236          *    ChibiOS_get_thread_reg_list is called.
 237          */
 238         int retval;
 239
 240         if (!rtos->rtos_specific_params)
 241                 return -1;
 242
 243         struct ChibiOS_params *param;
 244         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 245
 246         /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4  */
 247         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 248         if (is_armv7m(armv7m_target)) {
 249                 if (armv7m_target->fp_feature != FP_NONE) {
 250                         /* Found ARM v7m target which includes a FPU */
 251                         uint32_t cpacr;
 252
 253                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 254                         if (retval != ERROR_OK) {
 255                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 256                                 return -1;
 257                         }
 258
 259                         /* Check if CP10 and CP11 are set to full access.
 260                          * In ChibiOS this is done in ResetHandler() in crt0.c */
 261                         if (cpacr & 0x00F00000) {
 262                                 LOG_DEBUG("Enabled FPU detected.");
 263                                 param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
 264                                 return 0;
 265                         }
 266                 }
 267
 268                 /* Found ARM v7m target with no or disabled FPU */
 269                 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
 270                 return 0;
 271         }
 272
 273         return -1;
 274 }
 275
 276 static int ChibiOS_update_threads(struct rtos *rtos)
 277 {
 278         int retval;
 279         const struct ChibiOS_params *param;
 280         int tasks_found = 0;
 281         int rtos_valid = -1;
 282
 283         if (!rtos->rtos_specific_params)
 284                 return -1;
 285
 286         if (!rtos->symbols) {
 287                 LOG_ERROR("No symbols for ChibiOS");
 288                 return -3;
 289         }
 290
 291         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 292         /* Update the memory signature saved in the target memory */
 293         if (!param->signature) {
 294                 retval = ChibiOS_update_memory_signature(rtos);
 295                 if (retval != ERROR_OK) {
 296                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 297                         return retval;
 298                 }
 299         }
 300
 301         /* wipe out previous thread details if any */
 302         rtos_free_threadlist(rtos);
 303
 304         /* ChibiOS does not save the current thread count. We have to first
 305          * parse the double linked thread list to check for errors and the number of
 306          * threads. */
 307         const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
 308                 rtos->symbols[ChibiOS_VAL_rlist].address :
 309                 rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 310         const struct ChibiOS_chdebug *signature = param->signature;
 311         uint32_t current;
 312         uint32_t previous;
 313         uint32_t older;
 314
 315         current = rlist;
 316         previous = rlist;
 317         while (1) {
 318                 retval = target_read_u32(rtos->target,
 319                                                                  current + signature->cf_off_newer, &current);
 320                 if (retval != ERROR_OK) {
 321                         LOG_ERROR("Could not read next ChibiOS thread");
 322                         return retval;
 323                 }
 324                 /* Could be NULL if the kernel is not initialized yet or if the
 325                  * registry is corrupted. */
 326                 if (current == 0) {
 327                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 328
 329                         rtos_valid = 0;
 330                         break;
 331                 }
 332                 /* Fetch previous thread in the list as a integrity check. */
 333                 retval = target_read_u32(rtos->target,
 334                                                                  current + signature->cf_off_older, &older);
 335                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 336                         LOG_ERROR("ChibiOS registry integrity check failed, "
 337                                                 "double linked list violation");
 338                         rtos_valid = 0;
 339                         break;
 340                 }
 341                 /* Check for full iteration of the linked list. */
 342                 if (current == rlist)
 343                         break;
 344                 tasks_found++;
 345                 previous = current;
 346         }
 347         if (!rtos_valid) {
 348                 /* No RTOS, there is always at least the current execution, though */
 349                 LOG_INFO("Only showing current execution because of a broken "
 350                                 "ChibiOS thread registry.");
 351
 352                 const char tmp_thread_name[] = "Current Execution";
 353                 const char tmp_thread_extra_info[] = "No RTOS thread";
 354
 355                 rtos->thread_details = malloc(
 356                                 sizeof(struct thread_detail));
 357                 rtos->thread_details->threadid = 1;
 358                 rtos->thread_details->exists = true;
 359
 360                 rtos->thread_details->extra_info_str = malloc(
 361                                 sizeof(tmp_thread_extra_info));
 362                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 363
 364                 rtos->thread_details->thread_name_str = malloc(
 365                                 sizeof(tmp_thread_name));
 366                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 367
 368                 rtos->current_thread = 1;
 369                 rtos->thread_count = 1;
 370                 return ERROR_OK;
 371         }
 372
 373         /* create space for new thread details */
 374         rtos->thread_details = malloc(
 375                         sizeof(struct thread_detail) * tasks_found);
 376         if (!rtos->thread_details) {
 377                 LOG_ERROR("Could not allocate space for thread details");
 378                 return -1;
 379         }
 380
 381         rtos->thread_count = tasks_found;
 382         /* Loop through linked list. */
 383         struct thread_detail *curr_thrd_details = rtos->thread_details;
 384         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 385                 uint32_t name_ptr = 0;
 386                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 387
 388                 retval = target_read_u32(rtos->target,
 389                                                                  current + signature->cf_off_newer, &current);
 390                 if (retval != ERROR_OK) {
 391                         LOG_ERROR("Could not read next ChibiOS thread");
 392                         return -6;
 393                 }
 394
 395                 /* Check for full iteration of the linked list. */
 396                 if (current == rlist)
 397                         break;
 398
 399                 /* Save the thread pointer */
 400                 curr_thrd_details->threadid = current;
 401
 402                 /* read the name pointer */
 403                 retval = target_read_u32(rtos->target,
 404                                                                  current + signature->cf_off_name, &name_ptr);
 405                 if (retval != ERROR_OK) {
 406                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 407                         return retval;
 408                 }
 409
 410                 /* Read the thread name */
 411                 retval = target_read_buffer(rtos->target, name_ptr,
 412                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 413                                                                         (uint8_t *)&tmp_str);
 414                 if (retval != ERROR_OK) {
 415                         LOG_ERROR("Error reading thread name from ChibiOS target");
 416                         return retval;
 417                 }
 418                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 419
 420                 if (tmp_str[0] == '\x00')
 421                         strcpy(tmp_str, "No Name");
 422
 423                 curr_thrd_details->thread_name_str = malloc(
 424                                 strlen(tmp_str) + 1);
 425                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 426
 427                 /* State info */
 428                 uint8_t threadState;
 429                 const char *state_desc;
 430
 431                 retval = target_read_u8(rtos->target,
 432                                                                 current + signature->cf_off_state, &threadState);
 433                 if (retval != ERROR_OK) {
 434                         LOG_ERROR("Error reading thread state from ChibiOS target");
 435                         return retval;
 436                 }
 437
 438
 439                 if (threadState < CHIBIOS_NUM_STATES)
 440                         state_desc = ChibiOS_thread_states[threadState];
 441                 else
 442                         state_desc = "Unknown";
 443
 444                 curr_thrd_details->extra_info_str = malloc(strlen(
 445                                         state_desc)+8);
 446                 sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc);
 447
 448                 curr_thrd_details->exists = true;
 449
 450                 curr_thrd_details++;
 451         }
 452
 453         uint32_t current_thrd;
 454         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 455         retval = target_read_u32(rtos->target,
 456                                                          rlist + signature->cf_off_name,
 457                                                          &current_thrd);
 458         if (retval != ERROR_OK) {
 459                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 460                 return retval;
 461         }
 462         rtos->current_thread = current_thrd;
 463
 464         return 0;
 465 }
 466
 467 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 468 {
 469         int retval;
 470         const struct ChibiOS_params *param;
 471         uint32_t stack_ptr = 0;
 472
 473         *hex_reg_list = NULL;
 474         if ((rtos == NULL) || (thread_id == 0) ||
 475                         (rtos->rtos_specific_params == NULL))
 476                 return -1;
 477
 478         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 479
 480         if (!param->signature)
 481                 return -1;
 482
 483         /* Update stacking if it can only be determined from runtime information */
 484         if ((param->stacking_info == 0) &&
 485                 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
 486                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 487                 return -1;
 488         }
 489
 490         /* Read the stack pointer */
 491         retval = target_read_u32(rtos->target,
 492                                                          thread_id + param->signature->cf_off_ctx, &stack_ptr);
 493         if (retval != ERROR_OK) {
 494                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 495                 return retval;
 496         }
 497
 498         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 499 }
 500
 501 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 502 {
 503         *symbol_list = malloc(sizeof(ChibiOS_symbol_list));
 504
 505         if (*symbol_list == NULL)
 506                 return ERROR_FAIL;
 507
 508         memcpy(*symbol_list, ChibiOS_symbol_list, sizeof(ChibiOS_symbol_list));
 509         return 0;
 510 }
 511
 512 static bool ChibiOS_detect_rtos(struct target *target)
 513 {
 514         if ((target->rtos->symbols != NULL) &&
 515                         ((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
 516                          (target->rtos->symbols[ChibiOS_VAL_ch].address != 0))) {
 517
 518                 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
 519                         LOG_INFO("It looks like the target may be running ChibiOS "
 520                                         "without ch_debug.");
 521                         return false;
 522                 }
 523
 524                 /* looks like ChibiOS with memory map enabled.*/
 525                 return true;
 526         }
 527
 528         return false;
 529 }
 530
 531 static int ChibiOS_create(struct target *target)
 532 {
 533         int i = 0;
 534         while ((i < CHIBIOS_NUM_PARAMS) &&
 535                         (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
 536                 i++;
 537         }
 538         if (i >= CHIBIOS_NUM_PARAMS) {
 539                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 540                                 "list", target->type->name);
 541                 return -1;
 542         }
 543
 544         target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
 545         return 0;
 546 }