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   1 /***************************************************************************
   2  *   Copyright (C) 2012 by Matthias Blaicher                               *
   3  *   Matthias Blaicher - matthias@blaicher.com                             *
   4  *                                                                         *
   5  *   Copyright (C) 2011 by Broadcom Corporation                            *
   6  *   Evan Hunter - ehunter@broadcom.com                                    *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  20  ***************************************************************************/
  21
  22 #ifdef HAVE_CONFIG_H
  23 #include "config.h"
  24 #endif
  25
  26 #include <helper/time_support.h>
  27 #include <jtag/jtag.h>
  28 #include "target/target.h"
  29 #include "target/target_type.h"
  30 #include "target/armv7m.h"
  31 #include "target/cortex_m.h"
  32 #include "rtos.h"
  33 #include "helper/log.h"
  34 #include "helper/types.h"
  35 #include "rtos_chibios_stackings.h"
  36
  37 /**
  38  * @brief   ChibiOS/RT memory signature record.
  39  *
  40  * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
  41  */
  42 struct chibios_chdebug {
  43         char      ch_identifier[4];       /**< @brief Always set to "main".       */
  44         uint8_t   ch_zero;                /**< @brief Must be zero.               */
  45         uint8_t   ch_size;                /**< @brief Size of this structure.     */
  46         uint16_t  ch_version;             /**< @brief Encoded ChibiOS/RT version. */
  47         uint8_t   ch_ptrsize;             /**< @brief Size of a pointer.          */
  48         uint8_t   ch_timesize;            /**< @brief Size of a @p systime_t.     */
  49         uint8_t   ch_threadsize;          /**< @brief Size of a @p Thread struct. */
  50         uint8_t   cf_off_prio;            /**< @brief Offset of @p p_prio field.  */
  51         uint8_t   cf_off_ctx;             /**< @brief Offset of @p p_ctx field.   */
  52         uint8_t   cf_off_newer;           /**< @brief Offset of @p p_newer field. */
  53         uint8_t   cf_off_older;           /**< @brief Offset of @p p_older field. */
  54         uint8_t   cf_off_name;            /**< @brief Offset of @p p_name field.  */
  55         uint8_t   cf_off_stklimit;        /**< @brief Offset of @p p_stklimit
  56                                                                                                 field.                        */
  57         uint8_t   cf_off_state;           /**< @brief Offset of @p p_state field. */
  58         uint8_t   cf_off_flags;           /**< @brief Offset of @p p_flags field. */
  59         uint8_t   cf_off_refs;            /**< @brief Offset of @p p_refs field.  */
  60         uint8_t   cf_off_preempt;         /**< @brief Offset of @p p_preempt
  61                                                                                                 field.                        */
  62         uint8_t   cf_off_time;            /**< @brief Offset of @p p_time field.  */
  63 };
  64
  65 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
  66 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
  67 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
  68
  69 /**
  70  * @brief ChibiOS thread states.
  71  */
  72 static const char * const chibios_thread_states[] = { "READY", "CURRENT",
  73 "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  74 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL"
  75 };
  76
  77 #define CHIBIOS_NUM_STATES (sizeof(chibios_thread_states)/sizeof(char *))
  78
  79 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  80  * chars ought to be enough.
  81  */
  82 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  83
  84 struct chibios_params {
  85         const char *target_name;
  86
  87         struct chibios_chdebug *signature;
  88         const struct rtos_register_stacking *stacking_info;
  89 };
  90
  91 static struct chibios_params chibios_params_list[] = {
  92         {
  93         "cortex_m",                                                     /* target_name */
  94         0,
  95         NULL,                                                                   /* stacking_info */
  96         },
  97         {
  98         "hla_target",                                                   /* target_name */
  99         0,
 100         NULL,                                                                   /* stacking_info */
 101         }
 102 };
 103 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(chibios_params_list)/sizeof(struct chibios_params)))
 104
 105 static bool chibios_detect_rtos(struct target *target);
 106 static int chibios_create(struct target *target);
 107 static int chibios_update_threads(struct rtos *rtos);
 108 static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
 109                 struct rtos_reg **reg_list, int *num_regs);
 110 static int chibios_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
 111
 112 struct rtos_type chibios_rtos = {
 113         .name = "chibios",
 114
 115         .detect_rtos = chibios_detect_rtos,
 116         .create = chibios_create,
 117         .update_threads = chibios_update_threads,
 118         .get_thread_reg_list = chibios_get_thread_reg_list,
 119         .get_symbol_list_to_lookup = chibios_get_symbol_list_to_lookup,
 120 };
 121
 122
 123 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
 124  * data structure ch. We declare both symbols as optional and later
 125  * use whatever is available.
 126  */
 127
 128 enum chibios_symbol_values {
 129         CHIBIOS_VAL_RLIST = 0,
 130         CHIBIOS_VAL_CH = 1,
 131         CHIBIOS_VAL_CH_DEBUG = 2
 132 };
 133
 134 static struct symbol_table_elem chibios_symbol_list[] = {
 135         { "rlist", 0, true},            /* Thread ready list */
 136         { "ch", 0, true},                       /* System data structure */
 137         { "ch_debug", 0, false},        /* Memory Signature containing offsets of fields in rlist */
 138         { NULL, 0, false}
 139 };
 140
 141 /* Offset of the rlist structure within the system data structure (ch) */
 142 #define CH_RLIST_OFFSET 0x00
 143
 144 static int chibios_update_memory_signature(struct rtos *rtos)
 145 {
 146         int retval;
 147         struct chibios_params *param;
 148         struct chibios_chdebug *signature;
 149
 150         param = (struct chibios_params *) rtos->rtos_specific_params;
 151
 152         /* Free existing memory description.*/
 153         free(param->signature);
 154         param->signature = NULL;
 155
 156         signature = malloc(sizeof(*signature));
 157         if (!signature) {
 158                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 159                 return -1;
 160         }
 161
 162         retval = target_read_buffer(rtos->target,
 163                                                                 rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address,
 164                                                                 sizeof(*signature),
 165                                                                 (uint8_t *) signature);
 166         if (retval != ERROR_OK) {
 167                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 168                 goto errfree;
 169         }
 170
 171         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 172                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 173                 goto errfree;
 174         }
 175
 176         if (signature->ch_size < sizeof(*signature)) {
 177                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 178                                 "than expected");
 179                 goto errfree;
 180         }
 181
 182         if (signature->ch_size > sizeof(*signature)) {
 183                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 184                                         " expected. Assuming compatibility...");
 185         }
 186
 187         /* Convert endianness of version field */
 188         const uint8_t *versionTarget = (const uint8_t *)
 189                                                                                 &signature->ch_version;
 190         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 191                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 192
 193         const uint16_t ch_version = signature->ch_version;
 194         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 195                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 196                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 197
 198         /* Currently, we have the inherent assumption that all address pointers
 199          * are 32 bit wide. */
 200         if (signature->ch_ptrsize != sizeof(uint32_t)) {
 201                 LOG_ERROR("ChibiOS/RT target memory signature claims an address "
 202                                   "width unequal to 32 bits!");
 203                 free(signature);
 204                 return -1;
 205         }
 206
 207         param->signature = signature;
 208         return 0;
 209
 210 errfree:
 211         /* Error reading the ChibiOS memory structure */
 212         free(signature);
 213         param->signature = 0;
 214         return -1;
 215 }
 216
 217
 218 static int chibios_update_stacking(struct rtos *rtos)
 219 {
 220         /* Sometimes the stacking can not be determined only by looking at the
 221          * target name but only a runtime.
 222          *
 223          * For example, this is the case for Cortex-M4 targets and ChibiOS which
 224          * only stack the FPU registers if it is enabled during ChibiOS build.
 225          *
 226          * Terminating which stacking is used is target depending.
 227          *
 228          * Assumptions:
 229          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 230          *  - During startup code, the FPU might not be initialized and the
 231          *    detection might fail.
 232          *  - Since no threads are running during startup, the problem is solved
 233          *    by delaying stacking detection until there are more threads
 234          *    available than the current execution. In which case
 235          *    chibios_get_thread_reg_list is called.
 236          */
 237         int retval;
 238
 239         if (!rtos->rtos_specific_params)
 240                 return -1;
 241
 242         struct chibios_params *param;
 243         param = (struct chibios_params *) rtos->rtos_specific_params;
 244
 245         /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4  */
 246         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 247         if (is_armv7m(armv7m_target)) {
 248                 if (armv7m_target->fp_feature != FP_NONE) {
 249                         /* Found ARM v7m target which includes a FPU */
 250                         uint32_t cpacr;
 251
 252                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 253                         if (retval != ERROR_OK) {
 254                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 255                                 return -1;
 256                         }
 257
 258                         /* Check if CP10 and CP11 are set to full access.
 259                          * In ChibiOS this is done in ResetHandler() in crt0.c */
 260                         if (cpacr & 0x00F00000) {
 261                                 LOG_DEBUG("Enabled FPU detected.");
 262                                 param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
 263                                 return 0;
 264                         }
 265                 }
 266
 267                 /* Found ARM v7m target with no or disabled FPU */
 268                 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
 269                 return 0;
 270         }
 271
 272         return -1;
 273 }
 274
 275 static int chibios_update_threads(struct rtos *rtos)
 276 {
 277         int retval;
 278         const struct chibios_params *param;
 279         int tasks_found = 0;
 280         int rtos_valid = -1;
 281
 282         if (!rtos->rtos_specific_params)
 283                 return -1;
 284
 285         if (!rtos->symbols) {
 286                 LOG_ERROR("No symbols for ChibiOS");
 287                 return -3;
 288         }
 289
 290         param = (const struct chibios_params *) rtos->rtos_specific_params;
 291         /* Update the memory signature saved in the target memory */
 292         if (!param->signature) {
 293                 retval = chibios_update_memory_signature(rtos);
 294                 if (retval != ERROR_OK) {
 295                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 296                         return retval;
 297                 }
 298         }
 299
 300         /* wipe out previous thread details if any */
 301         rtos_free_threadlist(rtos);
 302
 303         /* ChibiOS does not save the current thread count. We have to first
 304          * parse the double linked thread list to check for errors and the number of
 305          * threads. */
 306         const uint32_t rlist = rtos->symbols[CHIBIOS_VAL_RLIST].address ?
 307                 rtos->symbols[CHIBIOS_VAL_RLIST].address :
 308                 rtos->symbols[CHIBIOS_VAL_CH].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 309         const struct chibios_chdebug *signature = param->signature;
 310         uint32_t current;
 311         uint32_t previous;
 312         uint32_t older;
 313
 314         current = rlist;
 315         previous = rlist;
 316         while (1) {
 317                 retval = target_read_u32(rtos->target,
 318                                                                  current + signature->cf_off_newer, &current);
 319                 if (retval != ERROR_OK) {
 320                         LOG_ERROR("Could not read next ChibiOS thread");
 321                         return retval;
 322                 }
 323                 /* Could be NULL if the kernel is not initialized yet or if the
 324                  * registry is corrupted. */
 325                 if (current == 0) {
 326                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 327
 328                         rtos_valid = 0;
 329                         break;
 330                 }
 331                 /* Fetch previous thread in the list as a integrity check. */
 332                 retval = target_read_u32(rtos->target,
 333                                                                  current + signature->cf_off_older, &older);
 334                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 335                         LOG_ERROR("ChibiOS registry integrity check failed, "
 336                                                 "double linked list violation");
 337                         rtos_valid = 0;
 338                         break;
 339                 }
 340                 /* Check for full iteration of the linked list. */
 341                 if (current == rlist)
 342                         break;
 343                 tasks_found++;
 344                 previous = current;
 345         }
 346         if (!rtos_valid) {
 347                 /* No RTOS, there is always at least the current execution, though */
 348                 LOG_INFO("Only showing current execution because of a broken "
 349                                 "ChibiOS thread registry.");
 350
 351                 const char tmp_thread_name[] = "Current Execution";
 352                 const char tmp_thread_extra_info[] = "No RTOS thread";
 353
 354                 rtos->thread_details = malloc(
 355                                 sizeof(struct thread_detail));
 356                 rtos->thread_details->threadid = 1;
 357                 rtos->thread_details->exists = true;
 358
 359                 rtos->thread_details->extra_info_str = malloc(
 360                                 sizeof(tmp_thread_extra_info));
 361                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 362
 363                 rtos->thread_details->thread_name_str = malloc(
 364                                 sizeof(tmp_thread_name));
 365                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 366
 367                 rtos->current_thread = 1;
 368                 rtos->thread_count = 1;
 369                 return ERROR_OK;
 370         }
 371
 372         /* create space for new thread details */
 373         rtos->thread_details = malloc(
 374                         sizeof(struct thread_detail) * tasks_found);
 375         if (!rtos->thread_details) {
 376                 LOG_ERROR("Could not allocate space for thread details");
 377                 return -1;
 378         }
 379
 380         rtos->thread_count = tasks_found;
 381         /* Loop through linked list. */
 382         struct thread_detail *curr_thrd_details = rtos->thread_details;
 383         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 384                 uint32_t name_ptr = 0;
 385                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 386
 387                 retval = target_read_u32(rtos->target,
 388                                                                  current + signature->cf_off_newer, &current);
 389                 if (retval != ERROR_OK) {
 390                         LOG_ERROR("Could not read next ChibiOS thread");
 391                         return -6;
 392                 }
 393
 394                 /* Check for full iteration of the linked list. */
 395                 if (current == rlist)
 396                         break;
 397
 398                 /* Save the thread pointer */
 399                 curr_thrd_details->threadid = current;
 400
 401                 /* read the name pointer */
 402                 retval = target_read_u32(rtos->target,
 403                                                                  current + signature->cf_off_name, &name_ptr);
 404                 if (retval != ERROR_OK) {
 405                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 406                         return retval;
 407                 }
 408
 409                 /* Read the thread name */
 410                 retval = target_read_buffer(rtos->target, name_ptr,
 411                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 412                                                                         (uint8_t *)&tmp_str);
 413                 if (retval != ERROR_OK) {
 414                         LOG_ERROR("Error reading thread name from ChibiOS target");
 415                         return retval;
 416                 }
 417                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 418
 419                 if (tmp_str[0] == '\x00')
 420                         strcpy(tmp_str, "No Name");
 421
 422                 curr_thrd_details->thread_name_str = malloc(
 423                                 strlen(tmp_str) + 1);
 424                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 425
 426                 /* State info */
 427                 uint8_t thread_state;
 428                 const char *state_desc;
 429
 430                 retval = target_read_u8(rtos->target,
 431                                                                 current + signature->cf_off_state, &thread_state);
 432                 if (retval != ERROR_OK) {
 433                         LOG_ERROR("Error reading thread state from ChibiOS target");
 434                         return retval;
 435                 }
 436
 437
 438                 if (thread_state < CHIBIOS_NUM_STATES)
 439                         state_desc = chibios_thread_states[thread_state];
 440                 else
 441                         state_desc = "Unknown";
 442
 443                 curr_thrd_details->extra_info_str = malloc(strlen(
 444                                         state_desc)+8);
 445                 sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc);
 446
 447                 curr_thrd_details->exists = true;
 448
 449                 curr_thrd_details++;
 450         }
 451
 452         uint32_t current_thrd;
 453         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 454         retval = target_read_u32(rtos->target,
 455                                                          rlist + signature->cf_off_name,
 456                                                          &current_thrd);
 457         if (retval != ERROR_OK) {
 458                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 459                 return retval;
 460         }
 461         rtos->current_thread = current_thrd;
 462
 463         return 0;
 464 }
 465
 466 static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
 467                 struct rtos_reg **reg_list, int *num_regs)
 468 {
 469         int retval;
 470         const struct chibios_params *param;
 471         uint32_t stack_ptr = 0;
 472
 473         if ((rtos == NULL) || (thread_id == 0) ||
 474                         (rtos->rtos_specific_params == NULL))
 475                 return -1;
 476
 477         param = (const struct chibios_params *) rtos->rtos_specific_params;
 478
 479         if (!param->signature)
 480                 return -1;
 481
 482         /* Update stacking if it can only be determined from runtime information */
 483         if ((param->stacking_info == 0) &&
 484                 (chibios_update_stacking(rtos) != ERROR_OK)) {
 485                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 486                 return -1;
 487         }
 488
 489         /* Read the stack pointer */
 490         retval = target_read_u32(rtos->target,
 491                                                          thread_id + param->signature->cf_off_ctx, &stack_ptr);
 492         if (retval != ERROR_OK) {
 493                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 494                 return retval;
 495         }
 496
 497         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, reg_list, num_regs);
 498 }
 499
 500 static int chibios_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
 501 {
 502         *symbol_list = malloc(sizeof(chibios_symbol_list));
 503
 504         if (*symbol_list == NULL)
 505                 return ERROR_FAIL;
 506
 507         memcpy(*symbol_list, chibios_symbol_list, sizeof(chibios_symbol_list));
 508         return 0;
 509 }
 510
 511 static bool chibios_detect_rtos(struct target *target)
 512 {
 513         if ((target->rtos->symbols != NULL) &&
 514                         ((target->rtos->symbols[CHIBIOS_VAL_RLIST].address != 0) ||
 515                          (target->rtos->symbols[CHIBIOS_VAL_CH].address != 0))) {
 516
 517                 if (target->rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address == 0) {
 518                         LOG_INFO("It looks like the target may be running ChibiOS "
 519                                         "without ch_debug.");
 520                         return false;
 521                 }
 522
 523                 /* looks like ChibiOS with memory map enabled.*/
 524                 return true;
 525         }
 526
 527         return false;
 528 }
 529
 530 static int chibios_create(struct target *target)
 531 {
 532         int i = 0;
 533         while ((i < CHIBIOS_NUM_PARAMS) &&
 534                         (0 != strcmp(chibios_params_list[i].target_name, target->type->name))) {
 535                 i++;
 536         }
 537         if (i >= CHIBIOS_NUM_PARAMS) {
 538                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 539                                 "list", target->type->name);
 540                 return -1;
 541         }
 542
 543         target->rtos->rtos_specific_params = (void *) &chibios_params_list[i];
 544         return 0;
 545 }