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   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  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  19  ***************************************************************************/
  20
  21 #ifdef HAVE_CONFIG_H
  22 #include "config.h"
  23 #endif
  24
  25 #include <helper/time_support.h>
  26 #include <jtag/jtag.h>
  27 #include "target/target.h"
  28 #include "target/target_type.h"
  29 #include "rtos.h"
  30 #include "helper/log.h"
  31 #include "helper/types.h"
  32 #include "rtos_standard_stackings.h"
  33
  34 #define FREERTOS_MAX_PRIORITIES 63
  35
  36 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
  37
  38 struct FreeRTOS_params {
  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 static const struct FreeRTOS_params FreeRTOS_params_list[] = {
  52         {
  53         "cortex_m",                     /* target_name */
  54         4,                                              /* thread_count_width; */
  55         4,                                              /* pointer_width; */
  56         16,                                             /* list_next_offset; */
  57         20,                                             /* list_width; */
  58         8,                                              /* list_elem_next_offset; */
  59         12,                                             /* list_elem_content_offset */
  60         0,                                              /* thread_stack_offset; */
  61         52,                                             /* thread_name_offset; */
  62         &rtos_standard_Cortex_M3_stacking,      /* stacking_info */
  63         },
  64         {
  65         "hla_target",                   /* target_name */
  66         4,                                              /* thread_count_width; */
  67         4,                                              /* pointer_width; */
  68         16,                                             /* list_next_offset; */
  69         20,                                             /* list_width; */
  70         8,                                              /* list_elem_next_offset; */
  71         12,                                             /* list_elem_content_offset */
  72         0,                                              /* thread_stack_offset; */
  73         52,                                             /* thread_name_offset; */
  74         &rtos_standard_Cortex_M3_stacking,      /* stacking_info */
  75         },
  76         {
  77         "nds32_v3",                     /* target_name */
  78         4,                                              /* thread_count_width; */
  79         4,                                              /* pointer_width; */
  80         16,                                             /* list_next_offset; */
  81         20,                                             /* list_width; */
  82         8,                                              /* list_elem_next_offset; */
  83         12,                                             /* list_elem_content_offset */
  84         0,                                              /* thread_stack_offset; */
  85         52,                                             /* thread_name_offset; */
  86         &rtos_standard_NDS32_N1068_stacking,    /* stacking_info */
  87         },
  88 };
  89
  90 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
  91
  92 static int FreeRTOS_detect_rtos(struct target *target);
  93 static int FreeRTOS_create(struct target *target);
  94 static int FreeRTOS_update_threads(struct rtos *rtos);
  95 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
  96 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
  97
  98 struct rtos_type FreeRTOS_rtos = {
  99         .name = "FreeRTOS",
 100
 101         .detect_rtos = FreeRTOS_detect_rtos,
 102         .create = FreeRTOS_create,
 103         .update_threads = FreeRTOS_update_threads,
 104         .get_thread_reg_list = FreeRTOS_get_thread_reg_list,
 105         .get_symbol_list_to_lookup = FreeRTOS_get_symbol_list_to_lookup,
 106 };
 107
 108 enum FreeRTOS_symbol_values {
 109         FreeRTOS_VAL_pxCurrentTCB = 0,
 110         FreeRTOS_VAL_pxReadyTasksLists = 1,
 111         FreeRTOS_VAL_xDelayedTaskList1 = 2,
 112         FreeRTOS_VAL_xDelayedTaskList2 = 3,
 113         FreeRTOS_VAL_pxDelayedTaskList = 4,
 114         FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
 115         FreeRTOS_VAL_xPendingReadyList = 6,
 116         FreeRTOS_VAL_xTasksWaitingTermination = 7,
 117         FreeRTOS_VAL_xSuspendedTaskList = 8,
 118         FreeRTOS_VAL_uxCurrentNumberOfTasks = 9,
 119         FreeRTOS_VAL_uxTopUsedPriority = 10,
 120 };
 121
 122 struct symbols {
 123         const char *name;
 124         bool optional;
 125 };
 126
 127 static const struct symbols FreeRTOS_symbol_list[] = {
 128         { "pxCurrentTCB", false },
 129         { "pxReadyTasksLists", false },
 130         { "xDelayedTaskList1", false },
 131         { "xDelayedTaskList2", false },
 132         { "pxDelayedTaskList", false },
 133         { "pxOverflowDelayedTaskList", false },
 134         { "xPendingReadyList", false },
 135         { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
 136         { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
 137         { "uxCurrentNumberOfTasks", false },
 138         { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
 139         { NULL, false }
 140 };
 141
 142 /* TODO: */
 143 /* this is not safe for little endian yet */
 144 /* may be problems reading if sizes are not 32 bit long integers. */
 145 /* test mallocs for failure */
 146
 147 static int FreeRTOS_update_threads(struct rtos *rtos)
 148 {
 149         int i = 0;
 150         int retval;
 151         int tasks_found = 0;
 152         const struct FreeRTOS_params *param;
 153
 154         if (rtos->rtos_specific_params == NULL)
 155                 return -1;
 156
 157         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 158
 159         if (rtos->symbols == NULL) {
 160                 LOG_ERROR("No symbols for FreeRTOS");
 161                 return -3;
 162         }
 163
 164         if (rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0) {
 165                 LOG_ERROR("Don't have the number of threads in FreeRTOS");
 166                 return -2;
 167         }
 168
 169         int thread_list_size = 0;
 170         retval = target_read_buffer(rtos->target,
 171                         rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
 172                         param->thread_count_width,
 173                         (uint8_t *)&thread_list_size);
 174         LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %d\r\n",
 175                                                                                 rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
 176                                                                                 thread_list_size);
 177
 178         if (retval != ERROR_OK) {
 179                 LOG_ERROR("Could not read FreeRTOS thread count from target");
 180                 return retval;
 181         }
 182
 183         /* wipe out previous thread details if any */
 184         rtos_free_threadlist(rtos);
 185
 186         /* read the current thread */
 187         retval = target_read_buffer(rtos->target,
 188                         rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
 189                         param->pointer_width,
 190                         (uint8_t *)&rtos->current_thread);
 191         if (retval != ERROR_OK) {
 192                 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
 193                 return retval;
 194         }
 195         LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 196                                                                                 rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
 197                                                                                 rtos->current_thread);
 198
 199         if ((thread_list_size  == 0) || (rtos->current_thread == 0)) {
 200                 /* Either : No RTOS threads - there is always at least the current execution though */
 201                 /* OR     : No current thread - all threads suspended - show the current execution
 202                  * of idling */
 203                 char tmp_str[] = "Current Execution";
 204                 thread_list_size++;
 205                 tasks_found++;
 206                 rtos->thread_details = malloc(
 207                                 sizeof(struct thread_detail) * thread_list_size);
 208                 if (!rtos->thread_details) {
 209                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 210                         return ERROR_FAIL;
 211                 }
 212                 rtos->thread_details->threadid = 1;
 213                 rtos->thread_details->exists = true;
 214                 rtos->thread_details->display_str = NULL;
 215                 rtos->thread_details->extra_info_str = NULL;
 216                 rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
 217                 strcpy(rtos->thread_details->thread_name_str, tmp_str);
 218
 219                 if (thread_list_size == 1) {
 220                         rtos->thread_count = 1;
 221                         return ERROR_OK;
 222                 }
 223         } else {
 224                 /* create space for new thread details */
 225                 rtos->thread_details = malloc(
 226                                 sizeof(struct thread_detail) * thread_list_size);
 227                 if (!rtos->thread_details) {
 228                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 229                         return ERROR_FAIL;
 230                 }
 231         }
 232
 233         /* Find out how many lists are needed to be read from pxReadyTasksLists, */
 234         if (rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address == 0) {
 235                 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
 236                 return ERROR_FAIL;
 237         }
 238         int64_t max_used_priority = 0;
 239         retval = target_read_buffer(rtos->target,
 240                         rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 241                         param->pointer_width,
 242                         (uint8_t *)&max_used_priority);
 243         if (retval != ERROR_OK)
 244                 return retval;
 245         LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRId64 "\r\n",
 246                                                                                 rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 247                                                                                 max_used_priority);
 248         if (max_used_priority > FREERTOS_MAX_PRIORITIES) {
 249                 LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "",
 250                         max_used_priority);
 251                 return ERROR_FAIL;
 252         }
 253
 254         symbol_address_t *list_of_lists =
 255                 malloc(sizeof(symbol_address_t) *
 256                         (max_used_priority+1 + 5));
 257         if (!list_of_lists) {
 258                 LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
 259                 return ERROR_FAIL;
 260         }
 261
 262         int num_lists;
 263         for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
 264                 list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
 265                         num_lists * param->list_width;
 266
 267         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
 268         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
 269         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
 270         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
 271         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
 272
 273         for (i = 0; i < num_lists; i++) {
 274                 if (list_of_lists[i] == 0)
 275                         continue;
 276
 277                 /* Read the number of threads in this list */
 278                 int64_t list_thread_count = 0;
 279                 retval = target_read_buffer(rtos->target,
 280                                 list_of_lists[i],
 281                                 param->thread_count_width,
 282                                 (uint8_t *)&list_thread_count);
 283                 if (retval != ERROR_OK) {
 284                         LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
 285                         free(list_of_lists);
 286                         return retval;
 287                 }
 288                 LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64 ", value %" PRId64 "\r\n",
 289                                                                                 i, list_of_lists[i], list_thread_count);
 290
 291                 if (list_thread_count == 0)
 292                         continue;
 293
 294                 /* Read the location of first list item */
 295                 uint64_t prev_list_elem_ptr = -1;
 296                 uint64_t list_elem_ptr = 0;
 297                 retval = target_read_buffer(rtos->target,
 298                                 list_of_lists[i] + param->list_next_offset,
 299                                 param->pointer_width,
 300                                 (uint8_t *)&list_elem_ptr);
 301                 if (retval != ERROR_OK) {
 302                         LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 303                         free(list_of_lists);
 304                         return retval;
 305                 }
 306                 LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 307                                                                                 i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
 308
 309                 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
 310                                 (list_elem_ptr != prev_list_elem_ptr) &&
 311                                 (tasks_found < thread_list_size)) {
 312                         /* Get the location of the thread structure. */
 313                         rtos->thread_details[tasks_found].threadid = 0;
 314                         retval = target_read_buffer(rtos->target,
 315                                         list_elem_ptr + param->list_elem_content_offset,
 316                                         param->pointer_width,
 317                                         (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
 318                         if (retval != ERROR_OK) {
 319                                 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
 320                                 free(list_of_lists);
 321                                 return retval;
 322                         }
 323                         LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 324                                                                                 list_elem_ptr + param->list_elem_content_offset,
 325                                                                                 rtos->thread_details[tasks_found].threadid);
 326
 327                         /* get thread name */
 328
 329                         #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 330                         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 331
 332                         /* Read the thread name */
 333                         retval = target_read_buffer(rtos->target,
 334                                         rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 335                                         FREERTOS_THREAD_NAME_STR_SIZE,
 336                                         (uint8_t *)&tmp_str);
 337                         if (retval != ERROR_OK) {
 338                                 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 339                                 free(list_of_lists);
 340                                 return retval;
 341                         }
 342                         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 343                         LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value \"%s\"\r\n",
 344                                                                                 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 345                                                                                 tmp_str);
 346
 347                         if (tmp_str[0] == '\x00')
 348                                 strcpy(tmp_str, "No Name");
 349
 350                         rtos->thread_details[tasks_found].thread_name_str =
 351                                 malloc(strlen(tmp_str)+1);
 352                         strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
 353                         rtos->thread_details[tasks_found].display_str = NULL;
 354                         rtos->thread_details[tasks_found].exists = true;
 355
 356                         if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
 357                                 char running_str[] = "Running";
 358                                 rtos->thread_details[tasks_found].extra_info_str = malloc(
 359                                                 sizeof(running_str));
 360                                 strcpy(rtos->thread_details[tasks_found].extra_info_str,
 361                                         running_str);
 362                         } else
 363                                 rtos->thread_details[tasks_found].extra_info_str = NULL;
 364
 365                         tasks_found++;
 366                         list_thread_count--;
 367
 368                         prev_list_elem_ptr = list_elem_ptr;
 369                         list_elem_ptr = 0;
 370                         retval = target_read_buffer(rtos->target,
 371                                         prev_list_elem_ptr + param->list_elem_next_offset,
 372                                         param->pointer_width,
 373                                         (uint8_t *)&list_elem_ptr);
 374                         if (retval != ERROR_OK) {
 375                                 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
 376                                 free(list_of_lists);
 377                                 return retval;
 378                         }
 379                         LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 380                                                                                 prev_list_elem_ptr + param->list_elem_next_offset,
 381                                                                                 list_elem_ptr);
 382                 }
 383         }
 384
 385         free(list_of_lists);
 386         rtos->thread_count = tasks_found;
 387         return 0;
 388 }
 389
 390 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 391 {
 392         int retval;
 393         const struct FreeRTOS_params *param;
 394         int64_t stack_ptr = 0;
 395
 396         *hex_reg_list = NULL;
 397         if (rtos == NULL)
 398                 return -1;
 399
 400         if (thread_id == 0)
 401                 return -2;
 402
 403         if (rtos->rtos_specific_params == NULL)
 404                 return -1;
 405
 406         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 407
 408         /* Read the stack pointer */
 409         retval = target_read_buffer(rtos->target,
 410                         thread_id + param->thread_stack_offset,
 411                         param->pointer_width,
 412                         (uint8_t *)&stack_ptr);
 413         if (retval != ERROR_OK) {
 414                 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
 415                 return retval;
 416         }
 417         LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 418                                                                                 thread_id + param->thread_stack_offset,
 419                                                                                 stack_ptr);
 420
 421         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 422 }
 423
 424 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 425 {
 426         unsigned int i;
 427         *symbol_list = calloc(
 428                         ARRAY_SIZE(FreeRTOS_symbol_list), sizeof(symbol_table_elem_t));
 429
 430         for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++) {
 431                 (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i].name;
 432                 (*symbol_list)[i].optional = FreeRTOS_symbol_list[i].optional;
 433         }
 434
 435         return 0;
 436 }
 437
 438 #if 0
 439
 440 static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
 441 {
 442         return 0;
 443 }
 444
 445 static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
 446 {
 447         int retval;
 448         const struct FreeRTOS_params *param;
 449
 450         if (rtos == NULL)
 451                 return -1;
 452
 453         if (thread_id == 0)
 454                 return -2;
 455
 456         if (rtos->rtos_specific_params == NULL)
 457                 return -3;
 458
 459         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 460
 461 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 462         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 463
 464         /* Read the thread name */
 465         retval = target_read_buffer(rtos->target,
 466                         thread_id + param->thread_name_offset,
 467                         FREERTOS_THREAD_NAME_STR_SIZE,
 468                         (uint8_t *)&tmp_str);
 469         if (retval != ERROR_OK) {
 470                 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 471                 return retval;
 472         }
 473         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 474
 475         if (tmp_str[0] == '\x00')
 476                 strcpy(tmp_str, "No Name");
 477
 478         *info = malloc(strlen(tmp_str)+1);
 479         strcpy(*info, tmp_str);
 480         return 0;
 481 }
 482
 483 #endif
 484
 485 static int FreeRTOS_detect_rtos(struct target *target)
 486 {
 487         if ((target->rtos->symbols != NULL) &&
 488                         (target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
 489                 /* looks like FreeRTOS */
 490                 return 1;
 491         }
 492         return 0;
 493 }
 494
 495 static int FreeRTOS_create(struct target *target)
 496 {
 497         int i = 0;
 498         while ((i < FREERTOS_NUM_PARAMS) &&
 499                         (0 != strcmp(FreeRTOS_params_list[i].target_name, target->type->name))) {
 500                 i++;
 501         }
 502         if (i >= FREERTOS_NUM_PARAMS) {
 503                 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
 504                 return -1;
 505         }
 506
 507         target->rtos->rtos_specific_params = (void *) &FreeRTOS_params_list[i];
 508         return 0;
 509 }