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, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include <helper/time_support.h>
  29 #include <jtag/jtag.h>
  30 #include "target/target.h"
  31 #include "target/target_type.h"
  32 #include "target/armv7m.h"
  33 #include "target/cortex_m.h"
  34 #include "rtos.h"
  35 #include "helper/log.h"
  36 #include "helper/types.h"
  37 #include "rtos_chibios_stackings.h"
  38
  39
  40 /**
  41  * @brief   ChibiOS/RT memory signature record.
  42  *
  43  * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
  44  */
  45 struct ChibiOS_chdebug {
  46         char      ch_identifier[4];       /**< @brief Always set to "main".       */
  47         uint8_t   ch_zero;                /**< @brief Must be zero.               */
  48         uint8_t   ch_size;                /**< @brief Size of this structure.     */
  49         uint16_t  ch_version;             /**< @brief Encoded ChibiOS/RT version. */
  50         uint8_t   ch_ptrsize;             /**< @brief Size of a pointer.          */
  51         uint8_t   ch_timesize;            /**< @brief Size of a @p systime_t.     */
  52         uint8_t   ch_threadsize;          /**< @brief Size of a @p Thread struct. */
  53         uint8_t   cf_off_prio;            /**< @brief Offset of @p p_prio field.  */
  54         uint8_t   cf_off_ctx;             /**< @brief Offset of @p p_ctx field.   */
  55         uint8_t   cf_off_newer;           /**< @brief Offset of @p p_newer field. */
  56         uint8_t   cf_off_older;           /**< @brief Offset of @p p_older field. */
  57         uint8_t   cf_off_name;            /**< @brief Offset of @p p_name field.  */
  58         uint8_t   cf_off_stklimit;        /**< @brief Offset of @p p_stklimit
  59                                                                                                 field.                        */
  60         uint8_t   cf_off_state;           /**< @brief Offset of @p p_state field. */
  61         uint8_t   cf_off_flags;           /**< @brief Offset of @p p_flags field. */
  62         uint8_t   cf_off_refs;            /**< @brief Offset of @p p_refs field.  */
  63         uint8_t   cf_off_preempt;         /**< @brief Offset of @p p_preempt
  64                                                                                                 field.                        */
  65         uint8_t   cf_off_time;            /**< @brief Offset of @p p_time field.  */
  66 };
  67
  68 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
  69 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
  70 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
  71
  72 /**
  73  * @brief ChibiOS thread states.
  74  */
  75 const char *ChibiOS_thread_states[] = {
  76         "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  77         "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
  78         "FINAL"
  79 };
  80
  81 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
  82
  83 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  84  * chars ought to be enough.
  85  */
  86 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  87
  88 struct ChibiOS_params {
  89         const char *target_name;
  90
  91         struct ChibiOS_chdebug *signature;
  92         const struct rtos_register_stacking *stacking_info;
  93 };
  94
  95 struct ChibiOS_params ChibiOS_params_list[] = {
  96         {
  97         "cortex_m",                                                     /* target_name */
  98         0,
  99         NULL,                                                                   /* stacking_info */
 100         },
 101         {
 102         "hla_target",                                                   /* target_name */
 103         0,
 104         NULL,                                                                   /* stacking_info */
 105         }
 106 };
 107 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
 108
 109 static int ChibiOS_detect_rtos(struct target *target);
 110 static int ChibiOS_create(struct target *target);
 111 static int ChibiOS_update_threads(struct rtos *rtos);
 112 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
 113 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
 114
 115 struct rtos_type ChibiOS_rtos = {
 116         .name = "ChibiOS",
 117
 118         .detect_rtos = ChibiOS_detect_rtos,
 119         .create = ChibiOS_create,
 120         .update_threads = ChibiOS_update_threads,
 121         .get_thread_reg_list = ChibiOS_get_thread_reg_list,
 122         .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 123 };
 124
 125 enum ChibiOS_symbol_values {
 126         ChibiOS_VAL_rlist = 0,
 127         ChibiOS_VAL_ch_debug = 1,
 128         ChibiOS_VAL_chSysInit = 2
 129 };
 130
 131 static char *ChibiOS_symbol_list[] = {
 132         "rlist",                /* Thread ready list*/
 133         "ch_debug",             /* Memory Signatur containing offsets of fields in rlist*/
 134         "chSysInit",    /* Necessary part of API, used for ChibiOS detection*/
 135         NULL
 136 };
 137
 138 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 139 {
 140         int retval;
 141         struct ChibiOS_params *param;
 142         struct ChibiOS_chdebug *signature;
 143
 144         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 145
 146         /* Free existing memory description.*/
 147         if (param->signature) {
 148                 free(param->signature);
 149                 param->signature = 0;
 150         }
 151
 152         signature = malloc(sizeof(*signature));
 153         if (!signature) {
 154                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 155                 return -1;
 156         }
 157
 158         retval = target_read_buffer(rtos->target,
 159                                                                 rtos->symbols[ChibiOS_VAL_ch_debug].address,
 160                                                                 sizeof(*signature),
 161                                                                 (uint8_t *) signature);
 162         if (retval != ERROR_OK) {
 163                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 164                 goto errfree;
 165         }
 166
 167         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 168                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 169                 goto errfree;
 170         }
 171
 172         if (signature->ch_size < sizeof(*signature)) {
 173                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 174                                 "than expected");
 175                 goto errfree;
 176         }
 177
 178         if (signature->ch_size > sizeof(*signature)) {
 179                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 180                                         " expected. Assuming compatibility...");
 181         }
 182
 183         /* Convert endianness of version field */
 184         const uint8_t *versionTarget = (const uint8_t *)
 185                                                                                 &signature->ch_version;
 186         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 187                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 188
 189         const uint16_t ch_version = signature->ch_version;
 190         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 191                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 192                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 193
 194         /* Currently, we have the inherent assumption that all address pointers
 195          * are 32 bit wide. */
 196         if (signature->ch_ptrsize != sizeof(uint32_t)) {
 197                 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
 198                                   "width unequal to 32 bits!");
 199                 free(signature);
 200                 return -1;
 201         }
 202
 203         param->signature = signature;
 204         return 0;
 205
 206 errfree:
 207         /* Error reading the ChibiOS memory structure */
 208         free(signature);
 209         param->signature = 0;
 210         return -1;
 211 }
 212
 213
 214 static int ChibiOS_update_stacking(struct rtos *rtos)
 215 {
 216         /* Sometimes the stacking can not be determined only by looking at the
 217          * target name but only a runtime.
 218          *
 219          * For example, this is the case for cortex-m4 targets and ChibiOS which
 220          * only stack the FPU registers if it is enabled during ChibiOS build.
 221          *
 222          * Terminating which stacking is used is target depending.
 223          *
 224          * Assumptions:
 225          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 226          *  - During startup code, the FPU might not be initialized and the
 227          *    detection might fail.
 228          *  - Since no threads are running during startup, the problem is solved
 229          *    by delaying stacking detection until there are more threads
 230          *    available than the current execution. In which case
 231          *    ChibiOS_get_thread_reg_list is called.
 232          */
 233         int retval;
 234
 235         if (!rtos->rtos_specific_params)
 236                 return -1;
 237
 238         struct ChibiOS_params *param;
 239         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 240
 241         /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4  */
 242         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 243         if (is_armv7m(armv7m_target)) {
 244                 if (armv7m_target->fp_feature == FPv4_SP) {
 245                         /* Found ARM v7m target which includes a FPU */
 246                         uint32_t cpacr;
 247
 248                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 249                         if (retval != ERROR_OK) {
 250                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 251                                 return -1;
 252                         }
 253
 254                         /* Check if CP10 and CP11 are set to full access.
 255                          * In ChibiOS this is done in ResetHandler() in crt0.c */
 256                         if (cpacr & 0x00F00000) {
 257                                 /* Found target with enabled FPU */
 258                                 /* FIXME: Need to figure out how to specify the FPU registers */
 259                                 LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
 260                                                   " are NOT supported");
 261                                 return -1;
 262                         }
 263                 }
 264
 265                 /* Found ARM v7m target with no or disabled FPU */
 266                 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
 267                 return 0;
 268         }
 269
 270         return -1;
 271 }
 272
 273 static int ChibiOS_update_threads(struct rtos *rtos)
 274 {
 275         int retval;
 276         const struct ChibiOS_params *param;
 277         int tasks_found = 0;
 278         int rtos_valid = -1;
 279
 280         if (!rtos->rtos_specific_params)
 281                 return -1;
 282
 283         if (!rtos->symbols) {
 284                 LOG_ERROR("No symbols for ChibiOS");
 285                 return -3;
 286         }
 287
 288         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 289         /* Update the memory signature saved in the target memory */
 290         if (!param->signature) {
 291                 retval = ChibiOS_update_memory_signature(rtos);
 292                 if (retval != ERROR_OK) {
 293                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 294                         return retval;
 295                 }
 296         }
 297
 298         /* wipe out previous thread details if any */
 299         rtos_free_threadlist(rtos);
 300
 301         /* ChibiOS does not save the current thread count. We have to first
 302          * parse the double linked thread list to check for errors and the number of
 303          * threads. */
 304         const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address;
 305         const struct ChibiOS_chdebug *signature = param->signature;
 306         uint32_t current;
 307         uint32_t previous;
 308         uint32_t older;
 309
 310         current = rlist;
 311         previous = rlist;
 312         while (1) {
 313                 retval = target_read_u32(rtos->target,
 314                                                                  current + signature->cf_off_newer, &current);
 315                 if (retval != ERROR_OK) {
 316                         LOG_ERROR("Could not read next ChibiOS thread");
 317                         return retval;
 318                 }
 319                 /* Could be NULL if the kernel is not initialized yet or if the
 320                  * registry is corrupted. */
 321                 if (current == 0) {
 322                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 323
 324                         rtos_valid = 0;
 325                         break;
 326                 }
 327                 /* Fetch previous thread in the list as a integrity check. */
 328                 retval = target_read_u32(rtos->target,
 329                                                                  current + signature->cf_off_older, &older);
 330                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 331                         LOG_ERROR("ChibiOS registry integrity check failed, "
 332                                                 "double linked list violation");
 333                         rtos_valid = 0;
 334                         break;
 335                 }
 336                 /* Check for full iteration of the linked list. */
 337                 if (current == rlist)
 338                         break;
 339                 tasks_found++;
 340                 previous = current;
 341         }
 342         if (!rtos_valid) {
 343                 /* No RTOS, there is always at least the current execution, though */
 344                 LOG_INFO("Only showing current execution because of a broken "
 345                                 "ChibiOS thread registry.");
 346
 347                 const char tmp_thread_name[] = "Current Execution";
 348                 const char tmp_thread_extra_info[] = "No RTOS thread";
 349
 350                 rtos->thread_details = malloc(
 351                                 sizeof(struct thread_detail));
 352                 rtos->thread_details->threadid = 1;
 353                 rtos->thread_details->exists = true;
 354                 rtos->thread_details->display_str = NULL;
 355
 356                 rtos->thread_details->extra_info_str = malloc(
 357                                 sizeof(tmp_thread_extra_info));
 358                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 359
 360                 rtos->thread_details->thread_name_str = malloc(
 361                                 sizeof(tmp_thread_name));
 362                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 363
 364                 rtos->current_thread = 1;
 365                 rtos->thread_count = 1;
 366                 return ERROR_OK;
 367         }
 368
 369         /* create space for new thread details */
 370         rtos->thread_details = malloc(
 371                         sizeof(struct thread_detail) * tasks_found);
 372         if (!rtos->thread_details) {
 373                 LOG_ERROR("Could not allocate space for thread details");
 374                 return -1;
 375         }
 376
 377         rtos->thread_count = tasks_found;
 378         /* Loop through linked list. */
 379         struct thread_detail *curr_thrd_details = rtos->thread_details;
 380         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 381                 uint32_t name_ptr = 0;
 382                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 383
 384                 retval = target_read_u32(rtos->target,
 385                                                                  current + signature->cf_off_newer, &current);
 386                 if (retval != ERROR_OK) {
 387                         LOG_ERROR("Could not read next ChibiOS thread");
 388                         return -6;
 389                 }
 390
 391                 /* Check for full iteration of the linked list. */
 392                 if (current == rlist)
 393                         break;
 394
 395                 /* Save the thread pointer */
 396                 curr_thrd_details->threadid = current;
 397
 398                 /* read the name pointer */
 399                 retval = target_read_u32(rtos->target,
 400                                                                  current + signature->cf_off_name, &name_ptr);
 401                 if (retval != ERROR_OK) {
 402                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 403                         return retval;
 404                 }
 405
 406                 /* Read the thread name */
 407                 retval = target_read_buffer(rtos->target, name_ptr,
 408                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 409                                                                         (uint8_t *)&tmp_str);
 410                 if (retval != ERROR_OK) {
 411                         LOG_ERROR("Error reading thread name from ChibiOS target");
 412                         return retval;
 413                 }
 414                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 415
 416                 if (tmp_str[0] == '\x00')
 417                         strcpy(tmp_str, "No Name");
 418
 419                 curr_thrd_details->thread_name_str = malloc(
 420                                 strlen(tmp_str) + 1);
 421                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 422
 423                 /* State info */
 424                 uint8_t threadState;
 425                 const char *state_desc;
 426
 427                 retval = target_read_u8(rtos->target,
 428                                                                 current + signature->cf_off_state, &threadState);
 429                 if (retval != ERROR_OK) {
 430                         LOG_ERROR("Error reading thread state from ChibiOS target");
 431                         return retval;
 432                 }
 433
 434
 435                 if (threadState < CHIBIOS_NUM_STATES)
 436                         state_desc = ChibiOS_thread_states[threadState];
 437                 else
 438                         state_desc = "Unknown state";
 439
 440                 curr_thrd_details->extra_info_str = malloc(strlen(
 441                                         state_desc)+1);
 442                 strcpy(curr_thrd_details->extra_info_str, state_desc);
 443
 444                 curr_thrd_details->exists = true;
 445                 curr_thrd_details->display_str = NULL;
 446
 447                 curr_thrd_details++;
 448         }
 449
 450         uint32_t current_thrd;
 451         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 452         retval = target_read_u32(rtos->target,
 453                                                          rlist + signature->cf_off_name,
 454                                                          &current_thrd);
 455         if (retval != ERROR_OK) {
 456                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 457                 return retval;
 458         }
 459         rtos->current_thread = current_thrd;
 460
 461         return 0;
 462 }
 463
 464 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 465 {
 466         int retval;
 467         const struct ChibiOS_params *param;
 468         uint32_t stack_ptr = 0;
 469
 470         *hex_reg_list = NULL;
 471         if ((rtos == NULL) || (thread_id == 0) ||
 472                         (rtos->rtos_specific_params == NULL))
 473                 return -1;
 474
 475         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 476
 477         if (!param->signature)
 478                 return -1;
 479
 480         /* Update stacking if it can only be determined from runtime information */
 481         if ((param->stacking_info == 0) &&
 482                 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
 483                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 484                 return -1;
 485         }
 486
 487         /* Read the stack pointer */
 488         retval = target_read_u32(rtos->target,
 489                                                          thread_id + param->signature->cf_off_ctx, &stack_ptr);
 490         if (retval != ERROR_OK) {
 491                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 492                 return retval;
 493         }
 494
 495         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 496 }
 497
 498 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 499 {
 500         unsigned int i;
 501         *symbol_list = malloc(
 502                         sizeof(symbol_table_elem_t) * ARRAY_SIZE(ChibiOS_symbol_list));
 503
 504         for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
 505                 (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
 506
 507         return 0;
 508 }
 509
 510 static int ChibiOS_detect_rtos(struct target *target)
 511 {
 512         if ((target->rtos->symbols != NULL) &&
 513                         (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
 514                         (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 515
 516                 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
 517                         LOG_INFO("It looks like the target is running ChibiOS without "
 518                                         "ch_debug.");
 519                         return 0;
 520                 }
 521
 522                 /* looks like ChibiOS with memory map enabled.*/
 523                 return 1;
 524         }
 525
 526         return 0;
 527 }
 528
 529 static int ChibiOS_create(struct target *target)
 530 {
 531         int i = 0;
 532         while ((i < CHIBIOS_NUM_PARAMS) &&
 533                         (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
 534                 i++;
 535         }
 536         if (i >= CHIBIOS_NUM_PARAMS) {
 537                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 538                                 "list", target->type->name);
 539                 return -1;
 540         }
 541
 542         target->rtos->rtos_specific_params = &ChibiOS_params_list[i];
 543         return 0;
 544 }