1 /* SPDX-License-Identifier: GPL-2.0-or-later */
3 /***************************************************************************
4 * Copyright (C) 2011 by Broadcom Corporation *
5 * Evan Hunter - ehunter@broadcom.com *
6 ***************************************************************************/
12 #include <helper/time_support.h>
13 #include <jtag/jtag.h>
14 #include "target/target.h"
15 #include "target/target_type.h"
17 #include "helper/log.h"
18 #include "helper/types.h"
19 #include "rtos_standard_stackings.h"
20 #include "target/armv7m.h"
21 #include "target/cortex_m.h"
23 #define FREERTOS_MAX_PRIORITIES 63
25 /* FIXME: none of the _width parameters are actually observed properly!
26 * you WILL need to edit more if you actually attempt to target a 8/16/64
30 struct freertos_params {
31 const char *target_name;
32 const unsigned char thread_count_width;
33 const unsigned char pointer_width;
34 const unsigned char list_next_offset;
35 const unsigned char list_width;
36 const unsigned char list_elem_next_offset;
37 const unsigned char list_elem_content_offset;
38 const unsigned char thread_stack_offset;
39 const unsigned char thread_name_offset;
40 const struct rtos_register_stacking *stacking_info_cm3;
41 const struct rtos_register_stacking *stacking_info_cm4f;
42 const struct rtos_register_stacking *stacking_info_cm4f_fpu;
45 static const struct freertos_params freertos_params_list[] = {
47 "cortex_m", /* target_name */
48 4, /* thread_count_width; */
49 4, /* pointer_width; */
50 16, /* list_next_offset; */
52 8, /* list_elem_next_offset; */
53 12, /* list_elem_content_offset */
54 0, /* thread_stack_offset; */
55 52, /* thread_name_offset; */
56 &rtos_standard_cortex_m3_stacking, /* stacking_info */
57 &rtos_standard_cortex_m4f_stacking,
58 &rtos_standard_cortex_m4f_fpu_stacking,
61 "hla_target", /* target_name */
62 4, /* thread_count_width; */
63 4, /* pointer_width; */
64 16, /* list_next_offset; */
66 8, /* list_elem_next_offset; */
67 12, /* list_elem_content_offset */
68 0, /* thread_stack_offset; */
69 52, /* thread_name_offset; */
70 &rtos_standard_cortex_m3_stacking, /* stacking_info */
71 &rtos_standard_cortex_m4f_stacking,
72 &rtos_standard_cortex_m4f_fpu_stacking,
75 "nds32_v3", /* target_name */
76 4, /* thread_count_width; */
77 4, /* pointer_width; */
78 16, /* list_next_offset; */
80 8, /* list_elem_next_offset; */
81 12, /* list_elem_content_offset */
82 0, /* thread_stack_offset; */
83 52, /* thread_name_offset; */
84 &rtos_standard_nds32_n1068_stacking, /* stacking_info */
85 &rtos_standard_cortex_m4f_stacking,
86 &rtos_standard_cortex_m4f_fpu_stacking,
90 static bool freertos_detect_rtos(struct target *target);
91 static int freertos_create(struct target *target);
92 static int freertos_update_threads(struct rtos *rtos);
93 static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
94 struct rtos_reg **reg_list, int *num_regs);
95 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
97 struct rtos_type freertos_rtos = {
100 .detect_rtos = freertos_detect_rtos,
101 .create = freertos_create,
102 .update_threads = freertos_update_threads,
103 .get_thread_reg_list = freertos_get_thread_reg_list,
104 .get_symbol_list_to_lookup = freertos_get_symbol_list_to_lookup,
107 enum freertos_symbol_values {
108 FREERTOS_VAL_PX_CURRENT_TCB = 0,
109 FREERTOS_VAL_PX_READY_TASKS_LISTS = 1,
110 FREERTOS_VAL_X_DELAYED_TASK_LIST1 = 2,
111 FREERTOS_VAL_X_DELAYED_TASK_LIST2 = 3,
112 FREERTOS_VAL_PX_DELAYED_TASK_LIST = 4,
113 FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST = 5,
114 FREERTOS_VAL_X_PENDING_READY_LIST = 6,
115 FREERTOS_VAL_X_TASKS_WAITING_TERMINATION = 7,
116 FREERTOS_VAL_X_SUSPENDED_TASK_LIST = 8,
117 FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS = 9,
118 FREERTOS_VAL_UX_TOP_USED_PRIORITY = 10,
126 static const struct symbols freertos_symbol_list[] = {
127 { "pxCurrentTCB", false },
128 { "pxReadyTasksLists", false },
129 { "xDelayedTaskList1", false },
130 { "xDelayedTaskList2", false },
131 { "pxDelayedTaskList", false },
132 { "pxOverflowDelayedTaskList", false },
133 { "xPendingReadyList", false },
134 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
135 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
136 { "uxCurrentNumberOfTasks", false },
137 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
142 /* this is not safe for little endian yet */
143 /* may be problems reading if sizes are not 32 bit long integers. */
144 /* test mallocs for failure */
146 static int freertos_update_threads(struct rtos *rtos)
149 unsigned int tasks_found = 0;
150 const struct freertos_params *param;
152 if (!rtos->rtos_specific_params)
155 param = (const struct freertos_params *) rtos->rtos_specific_params;
157 if (!rtos->symbols) {
158 LOG_ERROR("No symbols for FreeRTOS");
162 if (rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address == 0) {
163 LOG_ERROR("Don't have the number of threads in FreeRTOS");
167 uint32_t thread_list_size = 0;
168 retval = target_read_u32(rtos->target,
169 rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
171 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu32,
172 rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
175 if (retval != ERROR_OK) {
176 LOG_ERROR("Could not read FreeRTOS thread count from target");
180 /* wipe out previous thread details if any */
181 rtos_free_threadlist(rtos);
183 /* read the current thread */
184 uint32_t pointer_casts_are_bad;
185 retval = target_read_u32(rtos->target,
186 rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
187 &pointer_casts_are_bad);
188 if (retval != ERROR_OK) {
189 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
192 rtos->current_thread = pointer_casts_are_bad;
193 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64,
194 rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
195 rtos->current_thread);
197 if ((thread_list_size == 0) || (rtos->current_thread == 0)) {
198 /* Either : No RTOS threads - there is always at least the current execution though */
199 /* OR : No current thread - all threads suspended - show the current execution
201 char tmp_str[] = "Current Execution";
204 rtos->thread_details = malloc(
205 sizeof(struct thread_detail) * thread_list_size);
206 if (!rtos->thread_details) {
207 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
210 rtos->current_thread = 1;
211 rtos->thread_details->threadid = rtos->current_thread;
212 rtos->thread_details->exists = true;
213 rtos->thread_details->extra_info_str = NULL;
214 rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
215 strcpy(rtos->thread_details->thread_name_str, tmp_str);
217 if (thread_list_size == 1) {
218 rtos->thread_count = 1;
222 /* create space for new thread details */
223 rtos->thread_details = malloc(
224 sizeof(struct thread_detail) * thread_list_size);
225 if (!rtos->thread_details) {
226 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
231 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
232 if (rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address == 0) {
233 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
236 uint32_t top_used_priority = 0;
237 retval = target_read_u32(rtos->target,
238 rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
240 if (retval != ERROR_OK)
242 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu32,
243 rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
245 if (top_used_priority > FREERTOS_MAX_PRIORITIES) {
246 LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32,
251 /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
252 * in old FreeRTOS versions (before V7.5.3)
253 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
254 * in newer FreeRTOS versions.
255 * Here we restore the original configMAX_PRIORITIES value */
256 unsigned int config_max_priorities = top_used_priority + 1;
258 symbol_address_t *list_of_lists =
259 malloc(sizeof(symbol_address_t) * (config_max_priorities + 5));
260 if (!list_of_lists) {
261 LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities);
265 unsigned int num_lists;
266 for (num_lists = 0; num_lists < config_max_priorities; num_lists++)
267 list_of_lists[num_lists] = rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address +
268 num_lists * param->list_width;
270 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST1].address;
271 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST2].address;
272 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_PENDING_READY_LIST].address;
273 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_SUSPENDED_TASK_LIST].address;
274 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION].address;
276 for (unsigned int i = 0; i < num_lists; i++) {
277 if (list_of_lists[i] == 0)
280 /* Read the number of threads in this list */
281 uint32_t list_thread_count = 0;
282 retval = target_read_u32(rtos->target,
285 if (retval != ERROR_OK) {
286 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
290 LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64 ", value %" PRIu32,
291 i, list_of_lists[i], list_thread_count);
293 if (list_thread_count == 0)
296 /* Read the location of first list item */
297 uint32_t prev_list_elem_ptr = -1;
298 uint32_t list_elem_ptr = 0;
299 retval = target_read_u32(rtos->target,
300 list_of_lists[i] + param->list_next_offset,
302 if (retval != ERROR_OK) {
303 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
307 LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64 ", value 0x%" PRIx32,
308 i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
310 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
311 (list_elem_ptr != prev_list_elem_ptr) &&
312 (tasks_found < thread_list_size)) {
313 /* Get the location of the thread structure. */
314 rtos->thread_details[tasks_found].threadid = 0;
315 retval = target_read_u32(rtos->target,
316 list_elem_ptr + param->list_elem_content_offset,
317 &pointer_casts_are_bad);
318 if (retval != ERROR_OK) {
319 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
323 rtos->thread_details[tasks_found].threadid = pointer_casts_are_bad;
324 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32 ", value 0x%" PRIx64,
325 list_elem_ptr + param->list_elem_content_offset,
326 rtos->thread_details[tasks_found].threadid);
328 /* get thread name */
330 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
331 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
333 /* Read the thread name */
334 retval = target_read_buffer(rtos->target,
335 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
336 FREERTOS_THREAD_NAME_STR_SIZE,
337 (uint8_t *)&tmp_str);
338 if (retval != ERROR_OK) {
339 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
343 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
344 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value '%s'",
345 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
348 if (tmp_str[0] == '\x00')
349 strcpy(tmp_str, "No Name");
351 rtos->thread_details[tasks_found].thread_name_str =
352 malloc(strlen(tmp_str)+1);
353 strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
354 rtos->thread_details[tasks_found].exists = true;
356 if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
357 char running_str[] = "State: 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,
363 rtos->thread_details[tasks_found].extra_info_str = NULL;
368 prev_list_elem_ptr = list_elem_ptr;
370 retval = target_read_u32(rtos->target,
371 prev_list_elem_ptr + param->list_elem_next_offset,
373 if (retval != ERROR_OK) {
374 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
378 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32 ", value 0x%" PRIx32,
379 prev_list_elem_ptr + param->list_elem_next_offset,
385 rtos->thread_count = tasks_found;
389 static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
390 struct rtos_reg **reg_list, int *num_regs)
393 const struct freertos_params *param;
394 int64_t stack_ptr = 0;
402 if (!rtos->rtos_specific_params)
405 param = (const struct freertos_params *) rtos->rtos_specific_params;
407 /* Read the stack pointer */
408 uint32_t pointer_casts_are_bad;
409 retval = target_read_u32(rtos->target,
410 thread_id + param->thread_stack_offset,
411 &pointer_casts_are_bad);
412 if (retval != ERROR_OK) {
413 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
416 stack_ptr = pointer_casts_are_bad;
417 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64,
418 thread_id + param->thread_stack_offset,
421 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
422 int cm4_fpu_enabled = 0;
423 struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
424 if (is_armv7m(armv7m_target)) {
425 if (armv7m_target->fp_feature == FPV4_SP) {
426 /* Found ARM v7m target which includes a FPU */
429 retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
430 if (retval != ERROR_OK) {
431 LOG_ERROR("Could not read CPACR register to check FPU state");
435 /* Check if CP10 and CP11 are set to full access. */
436 if (cpacr & 0x00F00000) {
437 /* Found target with enabled FPU */
443 if (cm4_fpu_enabled == 1) {
444 /* Read the LR to decide between stacking with or without FPU */
446 retval = target_read_u32(rtos->target,
449 if (retval != ERROR_OK) {
450 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread");
453 if ((lr_svc & 0x10) == 0)
454 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs);
456 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs);
458 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs);
461 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
464 *symbol_list = calloc(
465 ARRAY_SIZE(freertos_symbol_list), sizeof(struct symbol_table_elem));
467 for (i = 0; i < ARRAY_SIZE(freertos_symbol_list); i++) {
468 (*symbol_list)[i].symbol_name = freertos_symbol_list[i].name;
469 (*symbol_list)[i].optional = freertos_symbol_list[i].optional;
477 static int freertos_set_current_thread(struct rtos *rtos, threadid_t thread_id)
482 static int freertos_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
485 const struct freertos_params *param;
493 if (!rtos->rtos_specific_params)
496 param = (const struct freertos_params *) rtos->rtos_specific_params;
498 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
499 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
501 /* Read the thread name */
502 retval = target_read_buffer(rtos->target,
503 thread_id + param->thread_name_offset,
504 FREERTOS_THREAD_NAME_STR_SIZE,
505 (uint8_t *)&tmp_str);
506 if (retval != ERROR_OK) {
507 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
510 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
512 if (tmp_str[0] == '\x00')
513 strcpy(tmp_str, "No Name");
515 *info = malloc(strlen(tmp_str)+1);
516 strcpy(*info, tmp_str);
522 static bool freertos_detect_rtos(struct target *target)
524 if ((target->rtos->symbols) &&
525 (target->rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address != 0)) {
526 /* looks like FreeRTOS */
532 static int freertos_create(struct target *target)
534 for (unsigned int i = 0; i < ARRAY_SIZE(freertos_params_list); i++)
535 if (strcmp(freertos_params_list[i].target_name, target->type->name) == 0) {
536 target->rtos->rtos_specific_params = (void *)&freertos_params_list[i];
540 LOG_ERROR("Could not find target in FreeRTOS compatibility list");