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  * @brief   ChibiOS/RT memory signature record.
  41  *
  42  * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
  43  */
  44 struct ChibiOS_chdebug {
  45         char      ch_identifier[4];       /**< @brief Always set to "main".       */
  46         uint8_t   ch_zero;                /**< @brief Must be zero.               */
  47         uint8_t   ch_size;                /**< @brief Size of this structure.     */
  48         uint16_t  ch_version;             /**< @brief Encoded ChibiOS/RT version. */
  49         uint8_t   ch_ptrsize;             /**< @brief Size of a pointer.          */
  50         uint8_t   ch_timesize;            /**< @brief Size of a @p systime_t.     */
  51         uint8_t   ch_threadsize;          /**< @brief Size of a @p Thread struct. */
  52         uint8_t   cf_off_prio;            /**< @brief Offset of @p p_prio field.  */
  53         uint8_t   cf_off_ctx;             /**< @brief Offset of @p p_ctx field.   */
  54         uint8_t   cf_off_newer;           /**< @brief Offset of @p p_newer field. */
  55         uint8_t   cf_off_older;           /**< @brief Offset of @p p_older field. */
  56         uint8_t   cf_off_name;            /**< @brief Offset of @p p_name field.  */
  57         uint8_t   cf_off_stklimit;        /**< @brief Offset of @p p_stklimit
  58                                                                                                 field.                        */
  59         uint8_t   cf_off_state;           /**< @brief Offset of @p p_state field. */
  60         uint8_t   cf_off_flags;           /**< @brief Offset of @p p_flags field. */
  61         uint8_t   cf_off_refs;            /**< @brief Offset of @p p_refs field.  */
  62         uint8_t   cf_off_preempt;         /**< @brief Offset of @p p_preempt
  63                                                                                                 field.                        */
  64         uint8_t   cf_off_time;            /**< @brief Offset of @p p_time field.  */
  65 };
  66
  67 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
  68 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
  69 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
  70
  71 /**
  72  * @brief ChibiOS thread states.
  73  */
  74 static const char * const ChibiOS_thread_states[] = {
  75         "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  76         "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
  77         "FINAL"
  78 };
  79
  80 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
  81
  82 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  83  * chars ought to be enough.
  84  */
  85 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  86
  87 struct ChibiOS_params {
  88         const char *target_name;
  89
  90         struct ChibiOS_chdebug *signature;
  91         const struct rtos_register_stacking *stacking_info;
  92 };
  93
  94 static struct ChibiOS_params ChibiOS_params_list[] = {
  95         {
  96         "cortex_m",                                                     /* target_name */
  97         0,
  98         NULL,                                                                   /* stacking_info */
  99         },
 100         {
 101         "hla_target",                                                   /* target_name */
 102         0,
 103         NULL,                                                                   /* stacking_info */
 104         }
 105 };
 106 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
 107
 108 static int ChibiOS_detect_rtos(struct target *target);
 109 static int ChibiOS_create(struct target *target);
 110 static int ChibiOS_update_threads(struct rtos *rtos);
 111 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
 112 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
 113
 114 struct rtos_type ChibiOS_rtos = {
 115         .name = "ChibiOS",
 116
 117         .detect_rtos = ChibiOS_detect_rtos,
 118         .create = ChibiOS_create,
 119         .update_threads = ChibiOS_update_threads,
 120         .get_thread_reg_list = ChibiOS_get_thread_reg_list,
 121         .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 122 };
 123
 124
 125 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
 126  * data structure ch. We declare both symbols as optional and later
 127  * use whatever is available.
 128  */
 129
 130 enum ChibiOS_symbol_values {
 131         ChibiOS_VAL_rlist = 0,
 132         ChibiOS_VAL_ch = 1,
 133         ChibiOS_VAL_ch_debug = 2,
 134         ChibiOS_VAL_chSysInit = 3
 135 };
 136
 137 static symbol_table_elem_t ChibiOS_symbol_list[] = {
 138         { "rlist", 0, true},            /* Thread ready list */
 139         { "ch", 0, true},                       /* System data structure */
 140         { "ch_debug", 0, false},        /* Memory Signature containing offsets of fields in rlist */
 141         { "chSysInit", 0, false},       /* Necessary part of API, used for ChibiOS detection */
 142         { NULL, 0, false}
 143 };
 144
 145 /* Offset of the rlist structure within the system data structure (ch) */
 146 #define CH_RLIST_OFFSET 0x00
 147
 148 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 149 {
 150         int retval;
 151         struct ChibiOS_params *param;
 152         struct ChibiOS_chdebug *signature;
 153
 154         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 155
 156         /* Free existing memory description.*/
 157         if (param->signature) {
 158                 free(param->signature);
 159                 param->signature = 0;
 160         }
 161
 162         signature = malloc(sizeof(*signature));
 163         if (!signature) {
 164                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 165                 return -1;
 166         }
 167
 168         retval = target_read_buffer(rtos->target,
 169                                                                 rtos->symbols[ChibiOS_VAL_ch_debug].address,
 170                                                                 sizeof(*signature),
 171                                                                 (uint8_t *) signature);
 172         if (retval != ERROR_OK) {
 173                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 174                 goto errfree;
 175         }
 176
 177         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 178                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 179                 goto errfree;
 180         }
 181
 182         if (signature->ch_size < sizeof(*signature)) {
 183                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 184                                 "than expected");
 185                 goto errfree;
 186         }
 187
 188         if (signature->ch_size > sizeof(*signature)) {
 189                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 190                                         " expected. Assuming compatibility...");
 191         }
 192
 193         /* Convert endianness of version field */
 194         const uint8_t *versionTarget = (const uint8_t *)
 195                                                                                 &signature->ch_version;
 196         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 197                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 198
 199         const uint16_t ch_version = signature->ch_version;
 200         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 201                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 202                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 203
 204         /* Currently, we have the inherent assumption that all address pointers
 205          * are 32 bit wide. */
 206         if (signature->ch_ptrsize != sizeof(uint32_t)) {
 207                 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
 208                                   "width unequal to 32 bits!");
 209                 free(signature);
 210                 return -1;
 211         }
 212
 213         param->signature = signature;
 214         return 0;
 215
 216 errfree:
 217         /* Error reading the ChibiOS memory structure */
 218         free(signature);
 219         param->signature = 0;
 220         return -1;
 221 }
 222
 223
 224 static int ChibiOS_update_stacking(struct rtos *rtos)
 225 {
 226         /* Sometimes the stacking can not be determined only by looking at the
 227          * target name but only a runtime.
 228          *
 229          * For example, this is the case for cortex-m4 targets and ChibiOS which
 230          * only stack the FPU registers if it is enabled during ChibiOS build.
 231          *
 232          * Terminating which stacking is used is target depending.
 233          *
 234          * Assumptions:
 235          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 236          *  - During startup code, the FPU might not be initialized and the
 237          *    detection might fail.
 238          *  - Since no threads are running during startup, the problem is solved
 239          *    by delaying stacking detection until there are more threads
 240          *    available than the current execution. In which case
 241          *    ChibiOS_get_thread_reg_list is called.
 242          */
 243         int retval;
 244
 245         if (!rtos->rtos_specific_params)
 246                 return -1;
 247
 248         struct ChibiOS_params *param;
 249         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 250
 251         /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4  */
 252         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 253         if (is_armv7m(armv7m_target)) {
 254                 if (armv7m_target->fp_feature == FPv4_SP) {
 255                         /* Found ARM v7m target which includes a FPU */
 256                         uint32_t cpacr;
 257
 258                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 259                         if (retval != ERROR_OK) {
 260                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 261                                 return -1;
 262                         }
 263
 264                         /* Check if CP10 and CP11 are set to full access.
 265                          * In ChibiOS this is done in ResetHandler() in crt0.c */
 266                         if (cpacr & 0x00F00000) {
 267                                 LOG_DEBUG("Enabled FPU detected.");
 268                                 param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
 269                                 return 0;
 270                         }
 271                 }
 272
 273                 /* Found ARM v7m target with no or disabled FPU */
 274                 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
 275                 return 0;
 276         }
 277
 278         return -1;
 279 }
 280
 281 static int ChibiOS_update_threads(struct rtos *rtos)
 282 {
 283         int retval;
 284         const struct ChibiOS_params *param;
 285         int tasks_found = 0;
 286         int rtos_valid = -1;
 287
 288         if (!rtos->rtos_specific_params)
 289                 return -1;
 290
 291         if (!rtos->symbols) {
 292                 LOG_ERROR("No symbols for ChibiOS");
 293                 return -3;
 294         }
 295
 296         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 297         /* Update the memory signature saved in the target memory */
 298         if (!param->signature) {
 299                 retval = ChibiOS_update_memory_signature(rtos);
 300                 if (retval != ERROR_OK) {
 301                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 302                         return retval;
 303                 }
 304         }
 305
 306         /* wipe out previous thread details if any */
 307         rtos_free_threadlist(rtos);
 308
 309         /* ChibiOS does not save the current thread count. We have to first
 310          * parse the double linked thread list to check for errors and the number of
 311          * threads. */
 312         const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
 313                 rtos->symbols[ChibiOS_VAL_rlist].address :
 314                 rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 315         const struct ChibiOS_chdebug *signature = param->signature;
 316         uint32_t current;
 317         uint32_t previous;
 318         uint32_t older;
 319
 320         current = rlist;
 321         previous = rlist;
 322         while (1) {
 323                 retval = target_read_u32(rtos->target,
 324                                                                  current + signature->cf_off_newer, &current);
 325                 if (retval != ERROR_OK) {
 326                         LOG_ERROR("Could not read next ChibiOS thread");
 327                         return retval;
 328                 }
 329                 /* Could be NULL if the kernel is not initialized yet or if the
 330                  * registry is corrupted. */
 331                 if (current == 0) {
 332                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 333
 334                         rtos_valid = 0;
 335                         break;
 336                 }
 337                 /* Fetch previous thread in the list as a integrity check. */
 338                 retval = target_read_u32(rtos->target,
 339                                                                  current + signature->cf_off_older, &older);
 340                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 341                         LOG_ERROR("ChibiOS registry integrity check failed, "
 342                                                 "double linked list violation");
 343                         rtos_valid = 0;
 344                         break;
 345                 }
 346                 /* Check for full iteration of the linked list. */
 347                 if (current == rlist)
 348                         break;
 349                 tasks_found++;
 350                 previous = current;
 351         }
 352         if (!rtos_valid) {
 353                 /* No RTOS, there is always at least the current execution, though */
 354                 LOG_INFO("Only showing current execution because of a broken "
 355                                 "ChibiOS thread registry.");
 356
 357                 const char tmp_thread_name[] = "Current Execution";
 358                 const char tmp_thread_extra_info[] = "No RTOS thread";
 359
 360                 rtos->thread_details = malloc(
 361                                 sizeof(struct thread_detail));
 362                 rtos->thread_details->threadid = 1;
 363                 rtos->thread_details->exists = true;
 364                 rtos->thread_details->display_str = NULL;
 365
 366                 rtos->thread_details->extra_info_str = malloc(
 367                                 sizeof(tmp_thread_extra_info));
 368                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 369
 370                 rtos->thread_details->thread_name_str = malloc(
 371                                 sizeof(tmp_thread_name));
 372                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 373
 374                 rtos->current_thread = 1;
 375                 rtos->thread_count = 1;
 376                 return ERROR_OK;
 377         }
 378
 379         /* create space for new thread details */
 380         rtos->thread_details = malloc(
 381                         sizeof(struct thread_detail) * tasks_found);
 382         if (!rtos->thread_details) {
 383                 LOG_ERROR("Could not allocate space for thread details");
 384                 return -1;
 385         }
 386
 387         rtos->thread_count = tasks_found;
 388         /* Loop through linked list. */
 389         struct thread_detail *curr_thrd_details = rtos->thread_details;
 390         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 391                 uint32_t name_ptr = 0;
 392                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 393
 394                 retval = target_read_u32(rtos->target,
 395                                                                  current + signature->cf_off_newer, &current);
 396                 if (retval != ERROR_OK) {
 397                         LOG_ERROR("Could not read next ChibiOS thread");
 398                         return -6;
 399                 }
 400
 401                 /* Check for full iteration of the linked list. */
 402                 if (current == rlist)
 403                         break;
 404
 405                 /* Save the thread pointer */
 406                 curr_thrd_details->threadid = current;
 407
 408                 /* read the name pointer */
 409                 retval = target_read_u32(rtos->target,
 410                                                                  current + signature->cf_off_name, &name_ptr);
 411                 if (retval != ERROR_OK) {
 412                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 413                         return retval;
 414                 }
 415
 416                 /* Read the thread name */
 417                 retval = target_read_buffer(rtos->target, name_ptr,
 418                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 419                                                                         (uint8_t *)&tmp_str);
 420                 if (retval != ERROR_OK) {
 421                         LOG_ERROR("Error reading thread name from ChibiOS target");
 422                         return retval;
 423                 }
 424                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 425
 426                 if (tmp_str[0] == '\x00')
 427                         strcpy(tmp_str, "No Name");
 428
 429                 curr_thrd_details->thread_name_str = malloc(
 430                                 strlen(tmp_str) + 1);
 431                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 432
 433                 /* State info */
 434                 uint8_t threadState;
 435                 const char *state_desc;
 436
 437                 retval = target_read_u8(rtos->target,
 438                                                                 current + signature->cf_off_state, &threadState);
 439                 if (retval != ERROR_OK) {
 440                         LOG_ERROR("Error reading thread state from ChibiOS target");
 441                         return retval;
 442                 }
 443
 444
 445                 if (threadState < CHIBIOS_NUM_STATES)
 446                         state_desc = ChibiOS_thread_states[threadState];
 447                 else
 448                         state_desc = "Unknown state";
 449
 450                 curr_thrd_details->extra_info_str = malloc(strlen(
 451                                         state_desc)+1);
 452                 strcpy(curr_thrd_details->extra_info_str, state_desc);
 453
 454                 curr_thrd_details->exists = true;
 455                 curr_thrd_details->display_str = NULL;
 456
 457                 curr_thrd_details++;
 458         }
 459
 460         uint32_t current_thrd;
 461         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 462         retval = target_read_u32(rtos->target,
 463                                                          rlist + signature->cf_off_name,
 464                                                          &current_thrd);
 465         if (retval != ERROR_OK) {
 466                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 467                 return retval;
 468         }
 469         rtos->current_thread = current_thrd;
 470
 471         return 0;
 472 }
 473
 474 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 475 {
 476         int retval;
 477         const struct ChibiOS_params *param;
 478         uint32_t stack_ptr = 0;
 479
 480         *hex_reg_list = NULL;
 481         if ((rtos == NULL) || (thread_id == 0) ||
 482                         (rtos->rtos_specific_params == NULL))
 483                 return -1;
 484
 485         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 486
 487         if (!param->signature)
 488                 return -1;
 489
 490         /* Update stacking if it can only be determined from runtime information */
 491         if ((param->stacking_info == 0) &&
 492                 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
 493                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 494                 return -1;
 495         }
 496
 497         /* Read the stack pointer */
 498         retval = target_read_u32(rtos->target,
 499                                                          thread_id + param->signature->cf_off_ctx, &stack_ptr);
 500         if (retval != ERROR_OK) {
 501                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 502                 return retval;
 503         }
 504
 505         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 506 }
 507
 508 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 509 {
 510         *symbol_list = ChibiOS_symbol_list;
 511         return 0;
 512 }
 513
 514 static int ChibiOS_detect_rtos(struct target *target)
 515 {
 516         if ((target->rtos->symbols != NULL) &&
 517                         ((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
 518                          (target->rtos->symbols[ChibiOS_VAL_ch].address != 0)) &&
 519                         (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 520
 521                 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
 522                         LOG_INFO("It looks like the target is running ChibiOS without "
 523                                         "ch_debug.");
 524                         return 0;
 525                 }
 526
 527                 /* looks like ChibiOS with memory map enabled.*/
 528                 return 1;
 529         }
 530
 531         return 0;
 532 }
 533
 534 static int ChibiOS_create(struct target *target)
 535 {
 536         int i = 0;
 537         while ((i < CHIBIOS_NUM_PARAMS) &&
 538                         (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
 539                 i++;
 540         }
 541         if (i >= CHIBIOS_NUM_PARAMS) {
 542                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 543                                 "list", target->type->name);
 544                 return -1;
 545         }
 546
 547         target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
 548         return 0;
 549 }