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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", false },
 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         int64_t max_used_priority = 0;
 235         retval = target_read_buffer(rtos->target,
 236                         rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 237                         param->pointer_width,
 238                         (uint8_t *)&max_used_priority);
 239         if (retval != ERROR_OK)
 240                 return retval;
 241         LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRId64 "\r\n",
 242                                                                                 rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 243                                                                                 max_used_priority);
 244         if (max_used_priority > FREERTOS_MAX_PRIORITIES) {
 245                 LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "",
 246                         max_used_priority);
 247                 return ERROR_FAIL;
 248         }
 249
 250         symbol_address_t *list_of_lists =
 251                 malloc(sizeof(symbol_address_t) *
 252                         (max_used_priority+1 + 5));
 253         if (!list_of_lists) {
 254                 LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
 255                 return ERROR_FAIL;
 256         }
 257
 258         int num_lists;
 259         for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
 260                 list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
 261                         num_lists * param->list_width;
 262
 263         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
 264         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
 265         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
 266         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
 267         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
 268
 269         for (i = 0; i < num_lists; i++) {
 270                 if (list_of_lists[i] == 0)
 271                         continue;
 272
 273                 /* Read the number of threads in this list */
 274                 int64_t list_thread_count = 0;
 275                 retval = target_read_buffer(rtos->target,
 276                                 list_of_lists[i],
 277                                 param->thread_count_width,
 278                                 (uint8_t *)&list_thread_count);
 279                 if (retval != ERROR_OK) {
 280                         LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
 281                         free(list_of_lists);
 282                         return retval;
 283                 }
 284                 LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64 ", value %" PRId64 "\r\n",
 285                                                                                 i, list_of_lists[i], list_thread_count);
 286
 287                 if (list_thread_count == 0)
 288                         continue;
 289
 290                 /* Read the location of first list item */
 291                 uint64_t prev_list_elem_ptr = -1;
 292                 uint64_t list_elem_ptr = 0;
 293                 retval = target_read_buffer(rtos->target,
 294                                 list_of_lists[i] + param->list_next_offset,
 295                                 param->pointer_width,
 296                                 (uint8_t *)&list_elem_ptr);
 297                 if (retval != ERROR_OK) {
 298                         LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 299                         free(list_of_lists);
 300                         return retval;
 301                 }
 302                 LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 303                                                                                 i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
 304
 305                 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
 306                                 (list_elem_ptr != prev_list_elem_ptr) &&
 307                                 (tasks_found < thread_list_size)) {
 308                         /* Get the location of the thread structure. */
 309                         rtos->thread_details[tasks_found].threadid = 0;
 310                         retval = target_read_buffer(rtos->target,
 311                                         list_elem_ptr + param->list_elem_content_offset,
 312                                         param->pointer_width,
 313                                         (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
 314                         if (retval != ERROR_OK) {
 315                                 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
 316                                 free(list_of_lists);
 317                                 return retval;
 318                         }
 319                         LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 320                                                                                 list_elem_ptr + param->list_elem_content_offset,
 321                                                                                 rtos->thread_details[tasks_found].threadid);
 322
 323                         /* get thread name */
 324
 325                         #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 326                         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 327
 328                         /* Read the thread name */
 329                         retval = target_read_buffer(rtos->target,
 330                                         rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 331                                         FREERTOS_THREAD_NAME_STR_SIZE,
 332                                         (uint8_t *)&tmp_str);
 333                         if (retval != ERROR_OK) {
 334                                 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 335                                 free(list_of_lists);
 336                                 return retval;
 337                         }
 338                         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 339                         LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value \"%s\"\r\n",
 340                                                                                 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 341                                                                                 tmp_str);
 342
 343                         if (tmp_str[0] == '\x00')
 344                                 strcpy(tmp_str, "No Name");
 345
 346                         rtos->thread_details[tasks_found].thread_name_str =
 347                                 malloc(strlen(tmp_str)+1);
 348                         strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
 349                         rtos->thread_details[tasks_found].display_str = NULL;
 350                         rtos->thread_details[tasks_found].exists = true;
 351
 352                         if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
 353                                 char running_str[] = "Running";
 354                                 rtos->thread_details[tasks_found].extra_info_str = malloc(
 355                                                 sizeof(running_str));
 356                                 strcpy(rtos->thread_details[tasks_found].extra_info_str,
 357                                         running_str);
 358                         } else
 359                                 rtos->thread_details[tasks_found].extra_info_str = NULL;
 360
 361                         tasks_found++;
 362                         list_thread_count--;
 363
 364                         prev_list_elem_ptr = list_elem_ptr;
 365                         list_elem_ptr = 0;
 366                         retval = target_read_buffer(rtos->target,
 367                                         prev_list_elem_ptr + param->list_elem_next_offset,
 368                                         param->pointer_width,
 369                                         (uint8_t *)&list_elem_ptr);
 370                         if (retval != ERROR_OK) {
 371                                 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
 372                                 free(list_of_lists);
 373                                 return retval;
 374                         }
 375                         LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 376                                                                                 prev_list_elem_ptr + param->list_elem_next_offset,
 377                                                                                 list_elem_ptr);
 378                 }
 379         }
 380
 381         free(list_of_lists);
 382         rtos->thread_count = tasks_found;
 383         return 0;
 384 }
 385
 386 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 387 {
 388         int retval;
 389         const struct FreeRTOS_params *param;
 390         int64_t stack_ptr = 0;
 391
 392         *hex_reg_list = NULL;
 393         if (rtos == NULL)
 394                 return -1;
 395
 396         if (thread_id == 0)
 397                 return -2;
 398
 399         if (rtos->rtos_specific_params == NULL)
 400                 return -1;
 401
 402         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 403
 404         /* Read the stack pointer */
 405         retval = target_read_buffer(rtos->target,
 406                         thread_id + param->thread_stack_offset,
 407                         param->pointer_width,
 408                         (uint8_t *)&stack_ptr);
 409         if (retval != ERROR_OK) {
 410                 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
 411                 return retval;
 412         }
 413         LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
 414                                                                                 thread_id + param->thread_stack_offset,
 415                                                                                 stack_ptr);
 416
 417         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 418 }
 419
 420 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 421 {
 422         unsigned int i;
 423         *symbol_list = calloc(
 424                         ARRAY_SIZE(FreeRTOS_symbol_list), sizeof(symbol_table_elem_t));
 425
 426         for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++) {
 427                 (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i].name;
 428                 (*symbol_list)[i].optional = FreeRTOS_symbol_list[i].optional;
 429         }
 430
 431         return 0;
 432 }
 433
 434 #if 0
 435
 436 static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
 437 {
 438         return 0;
 439 }
 440
 441 static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
 442 {
 443         int retval;
 444         const struct FreeRTOS_params *param;
 445
 446         if (rtos == NULL)
 447                 return -1;
 448
 449         if (thread_id == 0)
 450                 return -2;
 451
 452         if (rtos->rtos_specific_params == NULL)
 453                 return -3;
 454
 455         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 456
 457 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 458         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 459
 460         /* Read the thread name */
 461         retval = target_read_buffer(rtos->target,
 462                         thread_id + param->thread_name_offset,
 463                         FREERTOS_THREAD_NAME_STR_SIZE,
 464                         (uint8_t *)&tmp_str);
 465         if (retval != ERROR_OK) {
 466                 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
 467                 return retval;
 468         }
 469         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 470
 471         if (tmp_str[0] == '\x00')
 472                 strcpy(tmp_str, "No Name");
 473
 474         *info = malloc(strlen(tmp_str)+1);
 475         strcpy(*info, tmp_str);
 476         return 0;
 477 }
 478
 479 #endif
 480
 481 static int FreeRTOS_detect_rtos(struct target *target)
 482 {
 483         if ((target->rtos->symbols != NULL) &&
 484                         (target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
 485                 /* looks like FreeRTOS */
 486                 return 1;
 487         }
 488         return 0;
 489 }
 490
 491 static int FreeRTOS_create(struct target *target)
 492 {
 493         int i = 0;
 494         while ((i < FREERTOS_NUM_PARAMS) &&
 495                         (0 != strcmp(FreeRTOS_params_list[i].target_name, target->type->name))) {
 496                 i++;
 497         }
 498         if (i >= FREERTOS_NUM_PARAMS) {
 499                 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
 500                 return -1;
 501         }
 502
 503         target->rtos->rtos_specific_params = (void *) &FreeRTOS_params_list[i];
 504         return 0;
 505 }