git.gag.com Git - fw/openocd/blob - src/rtos/FreeRTOS.c

   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  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, 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 "rtos_standard_stackings.h"
  32
  33 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
  34
  35 struct FreeRTOS_params {
  36         const char *target_name;
  37         const unsigned char thread_count_width;
  38         const unsigned char pointer_width;
  39         const unsigned char list_next_offset;
  40         const unsigned char list_width;
  41         const unsigned char list_elem_next_offset;
  42         const unsigned char list_elem_content_offset;
  43         const unsigned char thread_stack_offset;
  44         const unsigned char thread_name_offset;
  45         const struct rtos_register_stacking *stacking_info;
  46 };
  47
  48 const struct FreeRTOS_params FreeRTOS_params_list[] = {
  49         {
  50         "cortex_m3",                    /* target_name */
  51         4,                                              /* thread_count_width; */
  52         4,                                              /* pointer_width; */
  53         16,                                             /* list_next_offset; */
  54         20,                                             /* list_width; */
  55         8,                                              /* list_elem_next_offset; */
  56         12,                                             /* list_elem_content_offset */
  57         0,                                              /* thread_stack_offset; */
  58         52,                                             /* thread_name_offset; */
  59         &rtos_standard_Cortex_M3_stacking,      /* stacking_info */
  60         }
  61 };
  62
  63 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
  64
  65 static int FreeRTOS_detect_rtos(struct target *target);
  66 static int FreeRTOS_create(struct target *target);
  67 static int FreeRTOS_update_threads(struct rtos *rtos);
  68 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
  69 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
  70
  71 struct rtos_type FreeRTOS_rtos = {
  72         .name = "FreeRTOS",
  73
  74         .detect_rtos = FreeRTOS_detect_rtos,
  75         .create = FreeRTOS_create,
  76         .update_threads = FreeRTOS_update_threads,
  77         .get_thread_reg_list = FreeRTOS_get_thread_reg_list,
  78         .get_symbol_list_to_lookup = FreeRTOS_get_symbol_list_to_lookup,
  79 };
  80
  81 enum FreeRTOS_symbol_values {
  82         FreeRTOS_VAL_pxCurrentTCB = 0,
  83         FreeRTOS_VAL_pxReadyTasksLists = 1,
  84         FreeRTOS_VAL_xDelayedTaskList1 = 2,
  85         FreeRTOS_VAL_xDelayedTaskList2 = 3,
  86         FreeRTOS_VAL_pxDelayedTaskList = 4,
  87         FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
  88         FreeRTOS_VAL_xPendingReadyList = 6,
  89         FreeRTOS_VAL_xTasksWaitingTermination = 7,
  90         FreeRTOS_VAL_xSuspendedTaskList = 8,
  91         FreeRTOS_VAL_uxCurrentNumberOfTasks = 9,
  92         FreeRTOS_VAL_uxTopUsedPriority = 10,
  93 };
  94
  95 static char *FreeRTOS_symbol_list[] = {
  96         "pxCurrentTCB",
  97         "pxReadyTasksLists",
  98         "xDelayedTaskList1",
  99         "xDelayedTaskList2",
 100         "pxDelayedTaskList",
 101         "pxOverflowDelayedTaskList",
 102         "xPendingReadyList",
 103         "xTasksWaitingTermination",
 104         "xSuspendedTaskList",
 105         "uxCurrentNumberOfTasks",
 106         "uxTopUsedPriority",
 107         NULL
 108 };
 109
 110 #define FREERTOS_NUM_SYMBOLS (sizeof(FreeRTOS_symbol_list)/sizeof(char *))
 111
 112 /* TODO: */
 113 /* this is not safe for little endian yet */
 114 /* may be problems reading if sizes are not 32 bit long integers. */
 115 /* test mallocs for failure */
 116
 117 static int FreeRTOS_update_threads(struct rtos *rtos)
 118 {
 119         int i = 0;
 120         int retval;
 121         int tasks_found = 0;
 122         const struct FreeRTOS_params *param;
 123
 124         if (rtos->rtos_specific_params == NULL)
 125                 return -1;
 126
 127         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 128
 129         if (rtos->symbols == NULL) {
 130                 LOG_OUTPUT("No symbols for FreeRTOS\r\n");
 131                 return -3;
 132         }
 133
 134         if (rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0) {
 135                 LOG_OUTPUT("Don't have the number of threads in FreeRTOS \r\n");
 136                 return -2;
 137         }
 138
 139         int thread_list_size = 0;
 140         retval = target_read_buffer(rtos->target,
 141                         rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
 142                         param->thread_count_width,
 143                         (uint8_t *)&thread_list_size);
 144
 145         if (retval != ERROR_OK) {
 146                 LOG_OUTPUT("Could not read FreeRTOS thread count from target\r\n");
 147                 return retval;
 148         }
 149
 150         /* wipe out previous thread details if any */
 151         if (rtos->thread_details != NULL) {
 152                 int j;
 153                 for (j = 0; j < rtos->thread_count; j++) {
 154                         if (rtos->thread_details[j].display_str != NULL) {
 155                                 free(rtos->thread_details[j].display_str);
 156                                 rtos->thread_details[j].display_str = NULL;
 157                         }
 158                         if (rtos->thread_details[j].thread_name_str != NULL) {
 159                                 free(rtos->thread_details[j].thread_name_str);
 160                                 rtos->thread_details[j].thread_name_str = NULL;
 161                         }
 162                         if (rtos->thread_details[j].extra_info_str != NULL) {
 163                                 free(rtos->thread_details[j].extra_info_str);
 164                                 rtos->thread_details[j].extra_info_str = NULL;
 165                         }
 166                 }
 167                 free(rtos->thread_details);
 168                 rtos->thread_details = NULL;
 169         }
 170
 171         /* read the current thread */
 172         retval = target_read_buffer(rtos->target,
 173                         rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
 174                         param->pointer_width,
 175                         (uint8_t *)&rtos->current_thread);
 176         if (retval != ERROR_OK) {
 177                 LOG_OUTPUT("Error reading current thread in FreeRTOS thread list\r\n");
 178                 return retval;
 179         }
 180
 181         if ((thread_list_size  == 0) || (rtos->current_thread == 0)) {
 182                 /* Either : No RTOS threads - there is always at least the current execution though */
 183                 /* OR     : No current thread - all threads suspended - show the current execution
 184                  * of idling */
 185                 char tmp_str[] = "Current Execution";
 186                 thread_list_size++;
 187                 tasks_found++;
 188                 rtos->thread_details = (struct thread_detail *) malloc(
 189                                 sizeof(struct thread_detail) * thread_list_size);
 190                 if (!rtos->thread_details) {
 191                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 192                         return ERROR_FAIL;
 193                 }
 194                 rtos->thread_details->threadid = 1;
 195                 rtos->thread_details->exists = true;
 196                 rtos->thread_details->display_str = NULL;
 197                 rtos->thread_details->extra_info_str = NULL;
 198                 rtos->thread_details->thread_name_str = (char *) malloc(sizeof(tmp_str));
 199                 strcpy(rtos->thread_details->thread_name_str, tmp_str);
 200
 201                 if (thread_list_size == 1) {
 202                         rtos->thread_count = 1;
 203                         return ERROR_OK;
 204                 }
 205         } else {
 206                 /* create space for new thread details */
 207                 rtos->thread_details = (struct thread_detail *) malloc(
 208                                 sizeof(struct thread_detail) * thread_list_size);
 209                 if (!rtos->thread_details) {
 210                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 211                         return ERROR_FAIL;
 212                 }
 213         }
 214
 215         /* Find out how many lists are needed to be read from pxReadyTasksLists, */
 216         int64_t max_used_priority = 0;
 217         retval = target_read_buffer(rtos->target,
 218                         rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 219                         param->pointer_width,
 220                         (uint8_t *)&max_used_priority);
 221         if (retval != ERROR_OK)
 222                 return retval;
 223
 224         symbol_address_t *list_of_lists =
 225                 (symbol_address_t *)malloc(sizeof(symbol_address_t) *
 226                         (max_used_priority+1 + 5));
 227         if (!list_of_lists) {
 228                 LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
 229                 return ERROR_FAIL;
 230         }
 231
 232         int num_lists;
 233         for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
 234                 list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
 235                         num_lists * param->list_width;
 236
 237         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
 238         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
 239         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
 240         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
 241         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
 242
 243         for (i = 0; i < num_lists; i++) {
 244                 if (list_of_lists[i] == 0)
 245                         continue;
 246
 247                 /* Read the number of threads in this list */
 248                 int64_t list_thread_count = 0;
 249                 retval = target_read_buffer(rtos->target,
 250                                 list_of_lists[i],
 251                                 param->thread_count_width,
 252                                 (uint8_t *)&list_thread_count);
 253                 if (retval != ERROR_OK) {
 254                         LOG_OUTPUT("Error reading number of threads in FreeRTOS thread list\r\n");
 255                         return retval;
 256                 }
 257
 258                 if (list_thread_count == 0)
 259                         continue;
 260
 261                 /* Read the location of first list item */
 262                 uint64_t prev_list_elem_ptr = -1;
 263                 uint64_t list_elem_ptr = 0;
 264                 retval = target_read_buffer(rtos->target,
 265                                 list_of_lists[i] + param->list_next_offset,
 266                                 param->pointer_width,
 267                                 (uint8_t *)&list_elem_ptr);
 268                 if (retval != ERROR_OK) {
 269                         LOG_OUTPUT(
 270                                 "Error reading first thread item location in FreeRTOS thread list\r\n");
 271                         return retval;
 272                 }
 273
 274                 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
 275                                 (list_elem_ptr != prev_list_elem_ptr) &&
 276                                 (tasks_found < thread_list_size)) {
 277                         /* Get the location of the thread structure. */
 278                         rtos->thread_details[tasks_found].threadid = 0;
 279                         retval = target_read_buffer(rtos->target,
 280                                         list_elem_ptr + param->list_elem_content_offset,
 281                                         param->pointer_width,
 282                                         (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
 283                         if (retval != ERROR_OK) {
 284                                 LOG_OUTPUT(
 285                                         "Error reading thread list item object in FreeRTOS thread list\r\n");
 286                                 return retval;
 287                         }
 288
 289                         /* get thread name */
 290
 291                         #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 292                         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 293
 294                         /* Read the thread name */
 295                         retval = target_read_buffer(rtos->target,
 296                                         rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 297                                         FREERTOS_THREAD_NAME_STR_SIZE,
 298                                         (uint8_t *)&tmp_str);
 299                         if (retval != ERROR_OK) {
 300                                 LOG_OUTPUT(
 301                                         "Error reading first thread item location in FreeRTOS thread list\r\n");
 302                                 return retval;
 303                         }
 304                         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 305
 306                         if (tmp_str[0] == '\x00')
 307                                 strcpy(tmp_str, "No Name");
 308
 309                         rtos->thread_details[tasks_found].thread_name_str =
 310                                 (char *)malloc(strlen(tmp_str)+1);
 311                         strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
 312                         rtos->thread_details[tasks_found].display_str = NULL;
 313                         rtos->thread_details[tasks_found].exists = true;
 314
 315                         if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
 316                                 char running_str[] = "Running";
 317                                 rtos->thread_details[tasks_found].extra_info_str = (char *) malloc(
 318                                                 sizeof(running_str));
 319                                 strcpy(rtos->thread_details[tasks_found].extra_info_str,
 320                                         running_str);
 321                         } else
 322                                 rtos->thread_details[tasks_found].extra_info_str = NULL;
 323
 324                         tasks_found++;
 325                         list_thread_count--;
 326
 327                         prev_list_elem_ptr = list_elem_ptr;
 328                         list_elem_ptr = 0;
 329                         retval = target_read_buffer(rtos->target,
 330                                         prev_list_elem_ptr + param->list_elem_next_offset,
 331                                         param->pointer_width,
 332                                         (uint8_t *)&list_elem_ptr);
 333                         if (retval != ERROR_OK) {
 334                                 LOG_OUTPUT(
 335                                         "Error reading next thread item location in FreeRTOS thread list\r\n");
 336                                 return retval;
 337                         }
 338                 }
 339         }
 340         free(list_of_lists);
 341         rtos->thread_count = tasks_found;
 342         return 0;
 343 }
 344
 345 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 346 {
 347         int retval;
 348         const struct FreeRTOS_params *param;
 349         int64_t stack_ptr = 0;
 350
 351         *hex_reg_list = NULL;
 352         if (rtos == NULL)
 353                 return -1;
 354
 355         if (thread_id == 0)
 356                 return -2;
 357
 358         if (rtos->rtos_specific_params == NULL)
 359                 return -1;
 360
 361         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 362
 363         /* Read the stack pointer */
 364         retval = target_read_buffer(rtos->target,
 365                         thread_id + param->thread_stack_offset,
 366                         param->pointer_width,
 367                         (uint8_t *)&stack_ptr);
 368         if (retval != ERROR_OK) {
 369                 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
 370                 return retval;
 371         }
 372
 373         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 374
 375 }
 376
 377 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 378 {
 379         unsigned int i;
 380         *symbol_list = (symbol_table_elem_t *) malloc(
 381                         sizeof(symbol_table_elem_t) * FREERTOS_NUM_SYMBOLS);
 382
 383         for (i = 0; i < FREERTOS_NUM_SYMBOLS; i++)
 384                 (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i];
 385
 386         return 0;
 387 }
 388
 389 #if 0
 390
 391 static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
 392 {
 393         return 0;
 394 }
 395
 396 static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
 397 {
 398         int retval;
 399         const struct FreeRTOS_params *param;
 400
 401         if (rtos == NULL)
 402                 return -1;
 403
 404         if (thread_id == 0)
 405                 return -2;
 406
 407         if (rtos->rtos_specific_params == NULL)
 408                 return -3;
 409
 410         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 411
 412 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 413         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 414
 415         /* Read the thread name */
 416         retval = target_read_buffer(rtos->target,
 417                         thread_id + param->thread_name_offset,
 418                         FREERTOS_THREAD_NAME_STR_SIZE,
 419                         (uint8_t *)&tmp_str);
 420         if (retval != ERROR_OK) {
 421                 LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
 422                 return retval;
 423         }
 424         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 425
 426         if (tmp_str[0] == '\x00')
 427                 strcpy(tmp_str, "No Name");
 428
 429         *info = (char *)malloc(strlen(tmp_str)+1);
 430         strcpy(*info, tmp_str);
 431         return 0;
 432 }
 433
 434 #endif
 435
 436 static int FreeRTOS_detect_rtos(struct target *target)
 437 {
 438         if ((target->rtos->symbols != NULL) &&
 439                         (target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
 440                 /* looks like FreeRTOS */
 441                 return 1;
 442         }
 443         return 0;
 444 }
 445
 446 static int FreeRTOS_create(struct target *target)
 447 {
 448         int i = 0;
 449         while ((i < FREERTOS_NUM_PARAMS) &&
 450                         (0 != strcmp(FreeRTOS_params_list[i].target_name, target->type->name))) {
 451                 i++;
 452         }
 453         if (i >= FREERTOS_NUM_PARAMS) {
 454                 LOG_OUTPUT("Could not find target in FreeRTOS compatibility list\r\n");
 455                 return -1;
 456         }
 457
 458         target->rtos->rtos_specific_params = (void *) &FreeRTOS_params_list[i];
 459         return 0;
 460 }