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   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[] = {
  73         "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  74         "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
  75         "FINAL"
  76 };
  77
  78 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
  79
  80 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  81  * chars ought to be enough.
  82  */
  83 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  84
  85 struct ChibiOS_params {
  86         const char *target_name;
  87
  88         struct ChibiOS_chdebug *signature;
  89         const struct rtos_register_stacking *stacking_info;
  90 };
  91
  92 static struct ChibiOS_params ChibiOS_params_list[] = {
  93         {
  94         "cortex_m",                                                     /* target_name */
  95         0,
  96         NULL,                                                                   /* stacking_info */
  97         },
  98         {
  99         "hla_target",                                                   /* target_name */
 100         0,
 101         NULL,                                                                   /* stacking_info */
 102         }
 103 };
 104 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
 105
 106 static int ChibiOS_detect_rtos(struct target *target);
 107 static int ChibiOS_create(struct target *target);
 108 static int ChibiOS_update_threads(struct rtos *rtos);
 109 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
 110 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
 111
 112 struct rtos_type ChibiOS_rtos = {
 113         .name = "ChibiOS",
 114
 115         .detect_rtos = ChibiOS_detect_rtos,
 116         .create = ChibiOS_create,
 117         .update_threads = ChibiOS_update_threads,
 118         .get_thread_reg_list = ChibiOS_get_thread_reg_list,
 119         .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 120 };
 121
 122
 123 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
 124  * data structure ch. We declare both symbols as optional and later
 125  * use whatever is available.
 126  */
 127
 128 enum ChibiOS_symbol_values {
 129         ChibiOS_VAL_rlist = 0,
 130         ChibiOS_VAL_ch = 1,
 131         ChibiOS_VAL_ch_debug = 2,
 132         ChibiOS_VAL_chSysInit = 3
 133 };
 134
 135 static symbol_table_elem_t ChibiOS_symbol_list[] = {
 136         { "rlist", 0, true},            /* Thread ready list */
 137         { "ch", 0, true},                       /* System data structure */
 138         { "ch_debug", 0, false},        /* Memory Signature containing offsets of fields in rlist */
 139         { "chSysInit", 0, false},       /* Necessary part of API, used for ChibiOS detection */
 140         { NULL, 0, false}
 141 };
 142
 143 /* Offset of the rlist structure within the system data structure (ch) */
 144 #define CH_RLIST_OFFSET 0x00
 145
 146 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 147 {
 148         int retval;
 149         struct ChibiOS_params *param;
 150         struct ChibiOS_chdebug *signature;
 151
 152         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 153
 154         /* Free existing memory description.*/
 155         if (param->signature) {
 156                 free(param->signature);
 157                 param->signature = 0;
 158         }
 159
 160         signature = malloc(sizeof(*signature));
 161         if (!signature) {
 162                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 163                 return -1;
 164         }
 165
 166         retval = target_read_buffer(rtos->target,
 167                                                                 rtos->symbols[ChibiOS_VAL_ch_debug].address,
 168                                                                 sizeof(*signature),
 169                                                                 (uint8_t *) signature);
 170         if (retval != ERROR_OK) {
 171                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 172                 goto errfree;
 173         }
 174
 175         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 176                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 177                 goto errfree;
 178         }
 179
 180         if (signature->ch_size < sizeof(*signature)) {
 181                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 182                                 "than expected");
 183                 goto errfree;
 184         }
 185
 186         if (signature->ch_size > sizeof(*signature)) {
 187                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 188                                         " expected. Assuming compatibility...");
 189         }
 190
 191         /* Convert endianness of version field */
 192         const uint8_t *versionTarget = (const uint8_t *)
 193                                                                                 &signature->ch_version;
 194         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 195                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 196
 197         const uint16_t ch_version = signature->ch_version;
 198         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 199                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 200                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 201
 202         /* Currently, we have the inherent assumption that all address pointers
 203          * are 32 bit wide. */
 204         if (signature->ch_ptrsize != sizeof(uint32_t)) {
 205                 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
 206                                   "width unequal to 32 bits!");
 207                 free(signature);
 208                 return -1;
 209         }
 210
 211         param->signature = signature;
 212         return 0;
 213
 214 errfree:
 215         /* Error reading the ChibiOS memory structure */
 216         free(signature);
 217         param->signature = 0;
 218         return -1;
 219 }
 220
 221
 222 static int ChibiOS_update_stacking(struct rtos *rtos)
 223 {
 224         /* Sometimes the stacking can not be determined only by looking at the
 225          * target name but only a runtime.
 226          *
 227          * For example, this is the case for Cortex-M4 targets and ChibiOS which
 228          * only stack the FPU registers if it is enabled during ChibiOS build.
 229          *
 230          * Terminating which stacking is used is target depending.
 231          *
 232          * Assumptions:
 233          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 234          *  - During startup code, the FPU might not be initialized and the
 235          *    detection might fail.
 236          *  - Since no threads are running during startup, the problem is solved
 237          *    by delaying stacking detection until there are more threads
 238          *    available than the current execution. In which case
 239          *    ChibiOS_get_thread_reg_list is called.
 240          */
 241         int retval;
 242
 243         if (!rtos->rtos_specific_params)
 244                 return -1;
 245
 246         struct ChibiOS_params *param;
 247         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 248
 249         /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4  */
 250         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 251         if (is_armv7m(armv7m_target)) {
 252                 if (armv7m_target->fp_feature == FPv4_SP) {
 253                         /* Found ARM v7m target which includes a FPU */
 254                         uint32_t cpacr;
 255
 256                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 257                         if (retval != ERROR_OK) {
 258                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 259                                 return -1;
 260                         }
 261
 262                         /* Check if CP10 and CP11 are set to full access.
 263                          * In ChibiOS this is done in ResetHandler() in crt0.c */
 264                         if (cpacr & 0x00F00000) {
 265                                 LOG_DEBUG("Enabled FPU detected.");
 266                                 param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
 267                                 return 0;
 268                         }
 269                 }
 270
 271                 /* Found ARM v7m target with no or disabled FPU */
 272                 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
 273                 return 0;
 274         }
 275
 276         return -1;
 277 }
 278
 279 static int ChibiOS_update_threads(struct rtos *rtos)
 280 {
 281         int retval;
 282         const struct ChibiOS_params *param;
 283         int tasks_found = 0;
 284         int rtos_valid = -1;
 285
 286         if (!rtos->rtos_specific_params)
 287                 return -1;
 288
 289         if (!rtos->symbols) {
 290                 LOG_ERROR("No symbols for ChibiOS");
 291                 return -3;
 292         }
 293
 294         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 295         /* Update the memory signature saved in the target memory */
 296         if (!param->signature) {
 297                 retval = ChibiOS_update_memory_signature(rtos);
 298                 if (retval != ERROR_OK) {
 299                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 300                         return retval;
 301                 }
 302         }
 303
 304         /* wipe out previous thread details if any */
 305         rtos_free_threadlist(rtos);
 306
 307         /* ChibiOS does not save the current thread count. We have to first
 308          * parse the double linked thread list to check for errors and the number of
 309          * threads. */
 310         const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
 311                 rtos->symbols[ChibiOS_VAL_rlist].address :
 312                 rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 313         const struct ChibiOS_chdebug *signature = param->signature;
 314         uint32_t current;
 315         uint32_t previous;
 316         uint32_t older;
 317
 318         current = rlist;
 319         previous = rlist;
 320         while (1) {
 321                 retval = target_read_u32(rtos->target,
 322                                                                  current + signature->cf_off_newer, &current);
 323                 if (retval != ERROR_OK) {
 324                         LOG_ERROR("Could not read next ChibiOS thread");
 325                         return retval;
 326                 }
 327                 /* Could be NULL if the kernel is not initialized yet or if the
 328                  * registry is corrupted. */
 329                 if (current == 0) {
 330                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 331
 332                         rtos_valid = 0;
 333                         break;
 334                 }
 335                 /* Fetch previous thread in the list as a integrity check. */
 336                 retval = target_read_u32(rtos->target,
 337                                                                  current + signature->cf_off_older, &older);
 338                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 339                         LOG_ERROR("ChibiOS registry integrity check failed, "
 340                                                 "double linked list violation");
 341                         rtos_valid = 0;
 342                         break;
 343                 }
 344                 /* Check for full iteration of the linked list. */
 345                 if (current == rlist)
 346                         break;
 347                 tasks_found++;
 348                 previous = current;
 349         }
 350         if (!rtos_valid) {
 351                 /* No RTOS, there is always at least the current execution, though */
 352                 LOG_INFO("Only showing current execution because of a broken "
 353                                 "ChibiOS thread registry.");
 354
 355                 const char tmp_thread_name[] = "Current Execution";
 356                 const char tmp_thread_extra_info[] = "No RTOS thread";
 357
 358                 rtos->thread_details = malloc(
 359                                 sizeof(struct thread_detail));
 360                 rtos->thread_details->threadid = 1;
 361                 rtos->thread_details->exists = true;
 362                 rtos->thread_details->display_str = NULL;
 363
 364                 rtos->thread_details->extra_info_str = malloc(
 365                                 sizeof(tmp_thread_extra_info));
 366                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 367
 368                 rtos->thread_details->thread_name_str = malloc(
 369                                 sizeof(tmp_thread_name));
 370                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 371
 372                 rtos->current_thread = 1;
 373                 rtos->thread_count = 1;
 374                 return ERROR_OK;
 375         }
 376
 377         /* create space for new thread details */
 378         rtos->thread_details = malloc(
 379                         sizeof(struct thread_detail) * tasks_found);
 380         if (!rtos->thread_details) {
 381                 LOG_ERROR("Could not allocate space for thread details");
 382                 return -1;
 383         }
 384
 385         rtos->thread_count = tasks_found;
 386         /* Loop through linked list. */
 387         struct thread_detail *curr_thrd_details = rtos->thread_details;
 388         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 389                 uint32_t name_ptr = 0;
 390                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 391
 392                 retval = target_read_u32(rtos->target,
 393                                                                  current + signature->cf_off_newer, &current);
 394                 if (retval != ERROR_OK) {
 395                         LOG_ERROR("Could not read next ChibiOS thread");
 396                         return -6;
 397                 }
 398
 399                 /* Check for full iteration of the linked list. */
 400                 if (current == rlist)
 401                         break;
 402
 403                 /* Save the thread pointer */
 404                 curr_thrd_details->threadid = current;
 405
 406                 /* read the name pointer */
 407                 retval = target_read_u32(rtos->target,
 408                                                                  current + signature->cf_off_name, &name_ptr);
 409                 if (retval != ERROR_OK) {
 410                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 411                         return retval;
 412                 }
 413
 414                 /* Read the thread name */
 415                 retval = target_read_buffer(rtos->target, name_ptr,
 416                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 417                                                                         (uint8_t *)&tmp_str);
 418                 if (retval != ERROR_OK) {
 419                         LOG_ERROR("Error reading thread name from ChibiOS target");
 420                         return retval;
 421                 }
 422                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 423
 424                 if (tmp_str[0] == '\x00')
 425                         strcpy(tmp_str, "No Name");
 426
 427                 curr_thrd_details->thread_name_str = malloc(
 428                                 strlen(tmp_str) + 1);
 429                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 430
 431                 /* State info */
 432                 uint8_t threadState;
 433                 const char *state_desc;
 434
 435                 retval = target_read_u8(rtos->target,
 436                                                                 current + signature->cf_off_state, &threadState);
 437                 if (retval != ERROR_OK) {
 438                         LOG_ERROR("Error reading thread state from ChibiOS target");
 439                         return retval;
 440                 }
 441
 442
 443                 if (threadState < CHIBIOS_NUM_STATES)
 444                         state_desc = ChibiOS_thread_states[threadState];
 445                 else
 446                         state_desc = "Unknown state";
 447
 448                 curr_thrd_details->extra_info_str = malloc(strlen(
 449                                         state_desc)+1);
 450                 strcpy(curr_thrd_details->extra_info_str, state_desc);
 451
 452                 curr_thrd_details->exists = true;
 453                 curr_thrd_details->display_str = NULL;
 454
 455                 curr_thrd_details++;
 456         }
 457
 458         uint32_t current_thrd;
 459         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 460         retval = target_read_u32(rtos->target,
 461                                                          rlist + signature->cf_off_name,
 462                                                          &current_thrd);
 463         if (retval != ERROR_OK) {
 464                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 465                 return retval;
 466         }
 467         rtos->current_thread = current_thrd;
 468
 469         return 0;
 470 }
 471
 472 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 473 {
 474         int retval;
 475         const struct ChibiOS_params *param;
 476         uint32_t stack_ptr = 0;
 477
 478         *hex_reg_list = NULL;
 479         if ((rtos == NULL) || (thread_id == 0) ||
 480                         (rtos->rtos_specific_params == NULL))
 481                 return -1;
 482
 483         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 484
 485         if (!param->signature)
 486                 return -1;
 487
 488         /* Update stacking if it can only be determined from runtime information */
 489         if ((param->stacking_info == 0) &&
 490                 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
 491                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 492                 return -1;
 493         }
 494
 495         /* Read the stack pointer */
 496         retval = target_read_u32(rtos->target,
 497                                                          thread_id + param->signature->cf_off_ctx, &stack_ptr);
 498         if (retval != ERROR_OK) {
 499                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 500                 return retval;
 501         }
 502
 503         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 504 }
 505
 506 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 507 {
 508         *symbol_list = malloc(sizeof(ChibiOS_symbol_list));
 509
 510         if (*symbol_list == NULL)
 511                 return ERROR_FAIL;
 512
 513         memcpy(*symbol_list, ChibiOS_symbol_list, sizeof(ChibiOS_symbol_list));
 514         return 0;
 515 }
 516
 517 static int ChibiOS_detect_rtos(struct target *target)
 518 {
 519         if ((target->rtos->symbols != NULL) &&
 520                         ((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
 521                          (target->rtos->symbols[ChibiOS_VAL_ch].address != 0)) &&
 522                         (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 523
 524                 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
 525                         LOG_INFO("It looks like the target is running ChibiOS without "
 526                                         "ch_debug.");
 527                         return 0;
 528                 }
 529
 530                 /* looks like ChibiOS with memory map enabled.*/
 531                 return 1;
 532         }
 533
 534         return 0;
 535 }
 536
 537 static int ChibiOS_create(struct target *target)
 538 {
 539         int i = 0;
 540         while ((i < CHIBIOS_NUM_PARAMS) &&
 541                         (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
 542                 i++;
 543         }
 544         if (i >= CHIBIOS_NUM_PARAMS) {
 545                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 546                                 "list", target->type->name);
 547                 return -1;
 548         }
 549
 550         target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
 551         return 0;
 552 }