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

   1 /***************************************************************************
   2  *   Copyright (C) 2011 by Broadcom Corporation                            *
   3  *   Evan Hunter - ehunter@broadcom.com                                    *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  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 "rtos.h"
  31 #include "helper/log.h"
  32 #include "rtos_standard_stackings.h"
  33
  34 #define FreeRTOS_STRUCT( int_type, ptr_type, list_prev_offset )
  35
  36
  37 struct FreeRTOS_params
  38 {
  39         const char *                         target_name;
  40         const unsigned char                  thread_count_width;
  41         const unsigned char                  pointer_width;
  42         const unsigned char                  list_next_offset;
  43         const unsigned char                  list_width;
  44         const unsigned char                  list_elem_next_offset;
  45         const unsigned char                  list_elem_content_offset;
  46         const unsigned char                  thread_stack_offset;
  47         const unsigned char                  thread_name_offset;
  48         const struct rtos_register_stacking* stacking_info;
  49 };
  50
  51
  52
  53
  54 const struct FreeRTOS_params FreeRTOS_params_list[] =
  55 {
  56                 { "cortex_m3",                      // target_name
  57           4,                                // thread_count_width;
  58           4,                                // pointer_width;
  59           16,                               // list_next_offset;
  60           20,                               // list_width;
  61           8,                                // list_elem_next_offset;
  62           12,                               // list_elem_content_offset
  63           0,                                // thread_stack_offset;
  64           52,                               // thread_name_offset;
  65           &rtos_standard_Cortex_M3_stacking, // stacking_info
  66                 }
  67
  68 };
  69
  70
  71 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
  72
  73 static int FreeRTOS_detect_rtos( struct target* target );
  74 static int FreeRTOS_create( struct target* target );
  75 static int FreeRTOS_update_threads( struct rtos *rtos );
  76 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char ** hex_reg_list );
  77 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t * symbol_list[]);
  78
  79
  80
  81
  82 struct rtos_type FreeRTOS_rtos =
  83 {
  84         .name                       = "FreeRTOS",
  85
  86         .detect_rtos                = FreeRTOS_detect_rtos,
  87         .create                     = FreeRTOS_create,
  88         .update_threads            = FreeRTOS_update_threads,
  89         .get_thread_reg_list        = FreeRTOS_get_thread_reg_list,
  90         .get_symbol_list_to_lookup  = FreeRTOS_get_symbol_list_to_lookup,
  91 };
  92
  93 enum FreeRTOS_symbol_values
  94 {
  95         FreeRTOS_VAL_pxCurrentTCB              = 0,
  96         FreeRTOS_VAL_pxReadyTasksLists         = 1,
  97         FreeRTOS_VAL_xDelayedTaskList1         = 2,
  98         FreeRTOS_VAL_xDelayedTaskList2         = 3,
  99         FreeRTOS_VAL_pxDelayedTaskList         = 4,
 100         FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
 101         FreeRTOS_VAL_xPendingReadyList         = 6,
 102         FreeRTOS_VAL_xTasksWaitingTermination  = 7,
 103         FreeRTOS_VAL_xSuspendedTaskList        = 8,
 104         FreeRTOS_VAL_uxCurrentNumberOfTasks    = 9,
 105 };
 106
 107 static char* FreeRTOS_symbol_list[] =
 108 {
 109                 "pxCurrentTCB",
 110                 "pxReadyTasksLists",
 111                 "xDelayedTaskList1",
 112                 "xDelayedTaskList2",
 113                 "pxDelayedTaskList",
 114                 "pxOverflowDelayedTaskList",
 115                 "xPendingReadyList",
 116                 "xTasksWaitingTermination",
 117                 "xSuspendedTaskList",
 118                 "uxCurrentNumberOfTasks",
 119                 NULL
 120 };
 121
 122 #define FREERTOS_NUM_SYMBOLS (sizeof(FreeRTOS_symbol_list)/sizeof(char*))
 123
 124 // TODO:
 125 // this is not safe for little endian yet
 126 // may be problems reading if sizes are not 32 bit long integers.
 127 // test mallocs for failure
 128
 129 static int FreeRTOS_update_threads( struct rtos *rtos )
 130 {
 131         int i = 0;
 132         int retval;
 133         int tasks_found = 0;
 134         const struct FreeRTOS_params* param;
 135
 136         if (rtos->rtos_specific_params == NULL )
 137         {
 138                 return -1;
 139         }
 140
 141         param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
 142
 143         if ( rtos->symbols == NULL )
 144         {
 145                 LOG_OUTPUT("No symbols for FreeRTOS\r\n");
 146                 return -3;
 147         }
 148
 149         if ( rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0 )
 150         {
 151                 LOG_OUTPUT("Don't have the number of threads in FreeRTOS \r\n");
 152                 return -2;
 153         }
 154
 155         int thread_list_size = 0;
 156         retval = target_read_buffer( rtos->target, rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address, param->thread_count_width, (uint8_t *)&thread_list_size);
 157
 158         if ( retval != ERROR_OK )
 159         {
 160                 LOG_OUTPUT("Could not read FreeRTOS thread count from target\r\n");
 161                 return retval;
 162         }
 163
 164
 165         // wipe out previous thread details if any
 166         if ( rtos->thread_details != NULL )
 167         {
 168                 int j;
 169                 for( j = 0; j < rtos->thread_count; j++ )
 170                 {
 171                         if ( rtos->thread_details[j].display_str != NULL )
 172                         {
 173                                 free( rtos->thread_details[j].display_str );
 174                                 rtos->thread_details[j].display_str = NULL;
 175                         }
 176                         if ( rtos->thread_details[j].thread_name_str != NULL )
 177                         {
 178                                 free( rtos->thread_details[j].thread_name_str );
 179                                 rtos->thread_details[j].thread_name_str = NULL;
 180                         }
 181                         if ( rtos->thread_details[j].extra_info_str != NULL )
 182                         {
 183                                 free( rtos->thread_details[j].extra_info_str );
 184                                 rtos->thread_details[j].extra_info_str = NULL;
 185                         }
 186                 }
 187                 free( rtos->thread_details );
 188                 rtos->thread_details = NULL;
 189         }
 190
 191
 192         // read the current thread
 193         retval = target_read_buffer( rtos->target, rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address, param->pointer_width, (uint8_t *)&rtos->current_thread );
 194         if ( retval != ERROR_OK )
 195         {
 196                 LOG_OUTPUT("Error reading current thread in FreeRTOS thread list\r\n");
 197                 return retval;
 198         }
 199
 200         if ( ( thread_list_size  == 0 ) || ( rtos->current_thread == 0 ) )
 201         {
 202                 // Either : No RTOS threads - there is always at least the current execution though
 203                 // OR     : No current thread - all threads suspended - show the current execution of idling
 204                 char tmp_str[] = "Current Execution";
 205                 thread_list_size++;
 206                 tasks_found++;
 207                 rtos->thread_details = (struct thread_detail*) malloc( sizeof( struct thread_detail ) * thread_list_size );
 208                 rtos->thread_details->threadid = 1;
 209                 rtos->thread_details->exists = true;
 210                 rtos->thread_details->display_str = NULL;
 211                 rtos->thread_details->extra_info_str = NULL;
 212                 rtos->thread_details->thread_name_str = (char*) malloc( sizeof(tmp_str) );
 213                 strcpy( rtos->thread_details->thread_name_str, tmp_str );
 214
 215
 216                 if ( thread_list_size == 1 )
 217                 {
 218                         rtos->thread_count = 1;
 219                         return ERROR_OK;
 220                 }
 221         }
 222         else
 223         {
 224                 // create space for new thread details
 225                 rtos->thread_details = (struct thread_detail*) malloc( sizeof( struct thread_detail ) * thread_list_size );
 226         }
 227
 228
 229         // Unfortunately, we can't know how many lists there are for pxReadyTasksLists,
 230         // So figure it out via other variables
 231         int num_ready_task_lists = (rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address - rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address) / param->list_width;
 232
 233
 234         symbol_address_t* list_of_lists = (symbol_address_t *)malloc( sizeof( symbol_address_t ) * ( num_ready_task_lists + 5 ) );
 235
 236         int num_lists;
 237         for( num_lists = 0; num_lists < num_ready_task_lists; num_lists++ )
 238         {
 239                 list_of_lists[num_lists] =  rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address + num_lists * param->list_width;
 240         }
 241
 242         list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
 243         list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
 244         list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
 245         list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
 246
 247
 248         for( i = 0; i < num_lists; i++ )
 249         {
 250                 if ( list_of_lists[i] == 0 )
 251                 {
 252                         continue;
 253                 }
 254
 255                 // Read the number of threads in this list
 256                 int64_t list_thread_count = 0;
 257                 retval = target_read_buffer( rtos->target, list_of_lists[i], param->thread_count_width, (uint8_t *)&list_thread_count);
 258                 if ( retval != ERROR_OK )
 259                 {
 260                         LOG_OUTPUT("Error reading number of threads in FreeRTOS thread list\r\n");
 261                         return retval;
 262                 }
 263
 264                 if ( list_thread_count == 0 )
 265                 {
 266                         continue;
 267                 }
 268
 269                 // Read the location of first list item
 270                 uint64_t prev_list_elem_ptr = -1;
 271                 uint64_t list_elem_ptr = 0;
 272                 retval = target_read_buffer( rtos->target, list_of_lists[i] + param->list_next_offset, param->pointer_width, (uint8_t *)&list_elem_ptr);
 273                 if ( retval != ERROR_OK )
 274                 {
 275                         LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
 276                         return retval;
 277                 }
 278
 279
 280                 while ( (list_thread_count > 0) && ( list_elem_ptr != 0) && ( list_elem_ptr != prev_list_elem_ptr ) && ( tasks_found < thread_list_size ) )
 281                 {
 282                         // Get the location of the thread structure.
 283                         rtos->thread_details[tasks_found].threadid = 0;
 284                         retval = target_read_buffer( rtos->target, list_elem_ptr + param->list_elem_content_offset, param->pointer_width, (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
 285                         if ( retval != ERROR_OK )
 286                         {
 287                                 LOG_OUTPUT("Error reading thread list item object in FreeRTOS thread list\r\n");
 288                                 return retval;
 289                         }
 290
 291
 292                         // get thread name
 293
 294                         #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 295                         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 296
 297                         // Read the thread name
 298                         retval = target_read_buffer( rtos->target, rtos->thread_details[tasks_found].threadid + param->thread_name_offset, FREERTOS_THREAD_NAME_STR_SIZE, (uint8_t *)&tmp_str);
 299                         if ( retval != ERROR_OK )
 300                         {
 301                                 LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
 302                                 return retval;
 303                         }
 304                         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 305
 306                         if ( tmp_str[0] == '\x00' )
 307                         {
 308                                 strcpy(tmp_str,"No Name");
 309                         }
 310
 311                         rtos->thread_details[tasks_found].thread_name_str = (char*)malloc( strlen(tmp_str)+1 );
 312                         strcpy( rtos->thread_details[tasks_found].thread_name_str, tmp_str );
 313                         rtos->thread_details[tasks_found].display_str = NULL;
 314                         rtos->thread_details[tasks_found].exists = true;
 315
 316                         if ( rtos->thread_details[tasks_found].threadid == rtos->current_thread )
 317                         {
 318                                 char running_str[] = "Running";
 319                                 rtos->thread_details[tasks_found].extra_info_str = (char*) malloc( sizeof(running_str) );
 320                                 strcpy( rtos->thread_details[tasks_found].extra_info_str, running_str );
 321                         }
 322                         else
 323                         {
 324                                 rtos->thread_details[tasks_found].extra_info_str = NULL;
 325                         }
 326
 327
 328                         tasks_found++;
 329                         list_thread_count--;
 330
 331                         prev_list_elem_ptr = list_elem_ptr;
 332                         list_elem_ptr = 0;
 333                         retval = target_read_buffer( rtos->target, prev_list_elem_ptr + param->list_elem_next_offset, param->pointer_width, (uint8_t *)&list_elem_ptr);
 334                         if ( retval != ERROR_OK )
 335                         {
 336                                 LOG_OUTPUT("Error reading next thread item location in FreeRTOS thread list\r\n");
 337                                 return retval;
 338                         }
 339                 }
 340
 341
 342         }
 343         free( list_of_lists );
 344         rtos->thread_count = tasks_found;
 345         return 0;
 346 }
 347
 348 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char ** hex_reg_list )
 349 {
 350         int retval;
 351         const struct FreeRTOS_params* param;
 352         int64_t stack_ptr = 0;
 353
 354
 355         *hex_reg_list = NULL;
 356         if ( rtos == NULL )
 357         {
 358                 return -1;
 359         }
 360
 361         if ( thread_id == 0 )
 362         {
 363                 return -2;
 364         }
 365
 366         if (rtos->rtos_specific_params == NULL )
 367         {
 368                 return -1;
 369         }
 370
 371         param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
 372
 373         // Read the stack pointer
 374         retval = target_read_buffer( rtos->target, thread_id + param->thread_stack_offset, param->pointer_width, (uint8_t*)&stack_ptr);
 375         if ( retval != ERROR_OK )
 376         {
 377                 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
 378                 return retval;
 379         }
 380
 381         return rtos_generic_stack_read( rtos->target, param->stacking_info, stack_ptr, hex_reg_list );
 382
 383 }
 384
 385 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t * symbol_list[])
 386 {
 387         unsigned int i;
 388         *symbol_list = (symbol_table_elem_t *) malloc( sizeof( symbol_table_elem_t ) * FREERTOS_NUM_SYMBOLS );
 389
 390         for( i = 0; i < FREERTOS_NUM_SYMBOLS; i++ )
 391         {
 392                 (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i];
 393         }
 394
 395         return 0;
 396 }
 397
 398 #if 0
 399
 400 static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
 401 {
 402         return 0;
 403 }
 404
 405
 406
 407 static int FreeRTOS_get_thread_ascii_info( struct rtos*   rtos, threadid_t   thread_id, char ** info )
 408 {
 409         int retval;
 410         const struct FreeRTOS_params* param;
 411
 412         if ( rtos == NULL )
 413         {
 414                 return -1;
 415         }
 416
 417         if ( thread_id == 0 )
 418         {
 419                 return -2;
 420         }
 421
 422         if (rtos->rtos_specific_params == NULL )
 423         {
 424                 return -3;
 425         }
 426
 427         param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
 428
 429 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 430         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 431
 432         // Read the thread name
 433         retval = target_read_buffer( rtos->target, thread_id + param->thread_name_offset, FREERTOS_THREAD_NAME_STR_SIZE, (uint8_t *)&tmp_str);
 434         if ( retval != ERROR_OK )
 435         {
 436                 LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
 437                 return retval;
 438         }
 439         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 440
 441         if ( tmp_str[0] == '\x00' )
 442         {
 443                 strcpy(tmp_str,"No Name");
 444         }
 445
 446         *info = (char*)malloc( strlen(tmp_str)+1 );
 447         strcpy( *info, tmp_str );
 448         return 0;
 449 }
 450
 451 #endif
 452
 453 static int FreeRTOS_detect_rtos( struct target* target )
 454 {
 455         if ( ( target->rtos->symbols != NULL ) &&
 456                  ( target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0 ) )
 457         {
 458                 // looks like FreeRTOS
 459                 return 1;
 460         }
 461         return 0;
 462         return 0;
 463 }
 464
 465
 466 static int FreeRTOS_create( struct target* target )
 467 {
 468         int i = 0;
 469         while ( ( i < FREERTOS_NUM_PARAMS ) && ( 0 != strcmp( FreeRTOS_params_list[i].target_name, target->type->name ) ) )
 470         {
 471                 i++;
 472         }
 473         if ( i >= FREERTOS_NUM_PARAMS )
 474         {
 475                 LOG_OUTPUT("Could not find target in FreeRTOS compatibility list\r\n");
 476                 return -1;
 477         }
 478
 479         target->rtos->rtos_specific_params = (void*) &FreeRTOS_params_list[i];
 480         return 0;
 481 }