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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 static const char * const FreeRTOS_symbol_list[] = {
 123         "pxCurrentTCB",
 124         "pxReadyTasksLists",
 125         "xDelayedTaskList1",
 126         "xDelayedTaskList2",
 127         "pxDelayedTaskList",
 128         "pxOverflowDelayedTaskList",
 129         "xPendingReadyList",
 130         "xTasksWaitingTermination",
 131         "xSuspendedTaskList",
 132         "uxCurrentNumberOfTasks",
 133         "uxTopUsedPriority",
 134         NULL
 135 };
 136
 137 /* TODO: */
 138 /* this is not safe for little endian yet */
 139 /* may be problems reading if sizes are not 32 bit long integers. */
 140 /* test mallocs for failure */
 141
 142 static int FreeRTOS_update_threads(struct rtos *rtos)
 143 {
 144         int i = 0;
 145         int retval;
 146         int tasks_found = 0;
 147         const struct FreeRTOS_params *param;
 148
 149         if (rtos->rtos_specific_params == NULL)
 150                 return -1;
 151
 152         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 153
 154         if (rtos->symbols == NULL) {
 155                 LOG_ERROR("No symbols for FreeRTOS");
 156                 return -3;
 157         }
 158
 159         if (rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0) {
 160                 LOG_ERROR("Don't have the number of threads in FreeRTOS");
 161                 return -2;
 162         }
 163
 164         int thread_list_size = 0;
 165         retval = target_read_buffer(rtos->target,
 166                         rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
 167                         param->thread_count_width,
 168                         (uint8_t *)&thread_list_size);
 169         LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %d\r\n",
 170                                                                                 rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
 171                                                                                 thread_list_size);
 172
 173         if (retval != ERROR_OK) {
 174                 LOG_ERROR("Could not read FreeRTOS thread count from target");
 175                 return retval;
 176         }
 177
 178         /* wipe out previous thread details if any */
 179         rtos_free_threadlist(rtos);
 180
 181         /* read the current thread */
 182         retval = target_read_buffer(rtos->target,
 183                         rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
 184                         param->pointer_width,
 185                         (uint8_t *)&rtos->current_thread);
 186         if (retval != ERROR_OK) {
 187                 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
 188                 return retval;
 189         }
 190         LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 191                                                                                 rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
 192                                                                                 rtos->current_thread);
 193
 194         if ((thread_list_size  == 0) || (rtos->current_thread == 0)) {
 195                 /* Either : No RTOS threads - there is always at least the current execution though */
 196                 /* OR     : No current thread - all threads suspended - show the current execution
 197                  * of idling */
 198                 char tmp_str[] = "Current Execution";
 199                 thread_list_size++;
 200                 tasks_found++;
 201                 rtos->thread_details = malloc(
 202                                 sizeof(struct thread_detail) * thread_list_size);
 203                 if (!rtos->thread_details) {
 204                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 205                         return ERROR_FAIL;
 206                 }
 207                 rtos->thread_details->threadid = 1;
 208                 rtos->thread_details->exists = true;
 209                 rtos->thread_details->display_str = NULL;
 210                 rtos->thread_details->extra_info_str = NULL;
 211                 rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
 212                 strcpy(rtos->thread_details->thread_name_str, tmp_str);
 213
 214                 if (thread_list_size == 1) {
 215                         rtos->thread_count = 1;
 216                         return ERROR_OK;
 217                 }
 218         } else {
 219                 /* create space for new thread details */
 220                 rtos->thread_details = malloc(
 221                                 sizeof(struct thread_detail) * thread_list_size);
 222                 if (!rtos->thread_details) {
 223                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 224                         return ERROR_FAIL;
 225                 }
 226         }
 227
 228         /* Find out how many lists are needed to be read from pxReadyTasksLists, */
 229         int64_t max_used_priority = 0;
 230         retval = target_read_buffer(rtos->target,
 231                         rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 232                         param->pointer_width,
 233                         (uint8_t *)&max_used_priority);
 234         if (retval != ERROR_OK)
 235                 return retval;
 236         LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRId64 "\r\n",
 237                                                                                 rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 238                                                                                 max_used_priority);
 239         if (max_used_priority > FREERTOS_MAX_PRIORITIES) {
 240                 LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "",
 241                         max_used_priority);
 242                 return ERROR_FAIL;
 243         }
 244
 245         symbol_address_t *list_of_lists =
 246                 malloc(sizeof(symbol_address_t) *
 247                         (max_used_priority+1 + 5));
 248         if (!list_of_lists) {
 249                 LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
 250                 return ERROR_FAIL;
 251         }
 252
 253         int num_lists;
 254         for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
 255                 list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
 256                         num_lists * param->list_width;
 257
 258         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
 259         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
 260         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
 261         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
 262         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
 263
 264         for (i = 0; i < num_lists; i++) {
 265                 if (list_of_lists[i] == 0)
 266                         continue;
 267
 268                 /* Read the number of threads in this list */
 269                 int64_t list_thread_count = 0;
 270                 retval = target_read_buffer(rtos->target,
 271                                 list_of_lists[i],
 272                                 param->thread_count_width,
 273                                 (uint8_t *)&list_thread_count);
 274                 if (retval != ERROR_OK) {
 275                         LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
 276                         free(list_of_lists);
 277                         return retval;
 278                 }
 279                 LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64 ", value %" PRId64 "\r\n",
 280                                                                                 i, list_of_lists[i], list_thread_count);
 281
 282                 if (list_thread_count == 0)
 283                         continue;
 284
 285                 /* Read the location of first list item */
 286                 uint64_t prev_list_elem_ptr = -1;
 287                 uint64_t list_elem_ptr = 0;
 288                 retval = target_read_buffer(rtos->target,
 289                                 list_of_lists[i] + param->list_next_offset,
 290                                 param->pointer_width,
 291                                 (uint8_t *)&list_elem_ptr);
 292                 if (retval != ERROR_OK) {
 293                         LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 294                         free(list_of_lists);
 295                         return retval;
 296                 }
 297                 LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 298                                                                                 i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
 299
 300                 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
 301                                 (list_elem_ptr != prev_list_elem_ptr) &&
 302                                 (tasks_found < thread_list_size)) {
 303                         /* Get the location of the thread structure. */
 304                         rtos->thread_details[tasks_found].threadid = 0;
 305                         retval = target_read_buffer(rtos->target,
 306                                         list_elem_ptr + param->list_elem_content_offset,
 307                                         param->pointer_width,
 308                                         (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
 309                         if (retval != ERROR_OK) {
 310                                 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
 311                                 free(list_of_lists);
 312                                 return retval;
 313                         }
 314                         LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 315                                                                                 list_elem_ptr + param->list_elem_content_offset,
 316                                                                                 rtos->thread_details[tasks_found].threadid);
 317
 318                         /* get thread name */
 319
 320                         #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 321                         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 322
 323                         /* Read the thread name */
 324                         retval = target_read_buffer(rtos->target,
 325                                         rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 326                                         FREERTOS_THREAD_NAME_STR_SIZE,
 327                                         (uint8_t *)&tmp_str);
 328                         if (retval != ERROR_OK) {
 329                                 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 330                                 free(list_of_lists);
 331                                 return retval;
 332                         }
 333                         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 334                         LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value \"%s\"\r\n",
 335                                                                                 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 336                                                                                 tmp_str);
 337
 338                         if (tmp_str[0] == '\x00')
 339                                 strcpy(tmp_str, "No Name");
 340
 341                         rtos->thread_details[tasks_found].thread_name_str =
 342                                 malloc(strlen(tmp_str)+1);
 343                         strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
 344                         rtos->thread_details[tasks_found].display_str = NULL;
 345                         rtos->thread_details[tasks_found].exists = true;
 346
 347                         if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
 348                                 char running_str[] = "Running";
 349                                 rtos->thread_details[tasks_found].extra_info_str = malloc(
 350                                                 sizeof(running_str));
 351                                 strcpy(rtos->thread_details[tasks_found].extra_info_str,
 352                                         running_str);
 353                         } else
 354                                 rtos->thread_details[tasks_found].extra_info_str = NULL;
 355
 356                         tasks_found++;
 357                         list_thread_count--;
 358
 359                         prev_list_elem_ptr = list_elem_ptr;
 360                         list_elem_ptr = 0;
 361                         retval = target_read_buffer(rtos->target,
 362                                         prev_list_elem_ptr + param->list_elem_next_offset,
 363                                         param->pointer_width,
 364                                         (uint8_t *)&list_elem_ptr);
 365                         if (retval != ERROR_OK) {
 366                                 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
 367                                 free(list_of_lists);
 368                                 return retval;
 369                         }
 370                         LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 371                                                                                 prev_list_elem_ptr + param->list_elem_next_offset,
 372                                                                                 list_elem_ptr);
 373                 }
 374         }
 375
 376         free(list_of_lists);
 377         rtos->thread_count = tasks_found;
 378         return 0;
 379 }
 380
 381 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 382 {
 383         int retval;
 384         const struct FreeRTOS_params *param;
 385         int64_t stack_ptr = 0;
 386
 387         *hex_reg_list = NULL;
 388         if (rtos == NULL)
 389                 return -1;
 390
 391         if (thread_id == 0)
 392                 return -2;
 393
 394         if (rtos->rtos_specific_params == NULL)
 395                 return -1;
 396
 397         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 398
 399         /* Read the stack pointer */
 400         retval = target_read_buffer(rtos->target,
 401                         thread_id + param->thread_stack_offset,
 402                         param->pointer_width,
 403                         (uint8_t *)&stack_ptr);
 404         if (retval != ERROR_OK) {
 405                 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
 406                 return retval;
 407         }
 408         LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 409                                                                                 thread_id + param->thread_stack_offset,
 410                                                                                 stack_ptr);
 411
 412         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 413 }
 414
 415 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 416 {
 417         unsigned int i;
 418         *symbol_list = calloc(
 419                         ARRAY_SIZE(FreeRTOS_symbol_list), sizeof(symbol_table_elem_t));
 420
 421         for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++)
 422                 (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i];
 423
 424         return 0;
 425 }
 426
 427 #if 0
 428
 429 static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
 430 {
 431         return 0;
 432 }
 433
 434 static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
 435 {
 436         int retval;
 437         const struct FreeRTOS_params *param;
 438
 439         if (rtos == NULL)
 440                 return -1;
 441
 442         if (thread_id == 0)
 443                 return -2;
 444
 445         if (rtos->rtos_specific_params == NULL)
 446                 return -3;
 447
 448         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 449
 450 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 451         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 452
 453         /* Read the thread name */
 454         retval = target_read_buffer(rtos->target,
 455                         thread_id + param->thread_name_offset,
 456                         FREERTOS_THREAD_NAME_STR_SIZE,
 457                         (uint8_t *)&tmp_str);
 458         if (retval != ERROR_OK) {
 459                 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 460                 return retval;
 461         }
 462         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 463
 464         if (tmp_str[0] == '\x00')
 465                 strcpy(tmp_str, "No Name");
 466
 467         *info = malloc(strlen(tmp_str)+1);
 468         strcpy(*info, tmp_str);
 469         return 0;
 470 }
 471
 472 #endif
 473
 474 static int FreeRTOS_detect_rtos(struct target *target)
 475 {
 476         if ((target->rtos->symbols != NULL) &&
 477                         (target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
 478                 /* looks like FreeRTOS */
 479                 return 1;
 480         }
 481         return 0;
 482 }
 483
 484 static int FreeRTOS_create(struct target *target)
 485 {
 486         int i = 0;
 487         while ((i < FREERTOS_NUM_PARAMS) &&
 488                         (0 != strcmp(FreeRTOS_params_list[i].target_name, target->type->name))) {
 489                 i++;
 490         }
 491         if (i >= FREERTOS_NUM_PARAMS) {
 492                 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
 493                 return -1;
 494         }
 495
 496         target->rtos->rtos_specific_params = (void *) &FreeRTOS_params_list[i];
 497         return 0;
 498 }