1 /***************************************************************************
2 * Copyright (C) 2012 by Matthias Blaicher *
3 * Matthias Blaicher - matthias@blaicher.com *
5 * Copyright (C) 2011 by Broadcom Corporation *
6 * Evan Hunter - ehunter@broadcom.com *
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. *
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. *
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 ***************************************************************************/
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"
33 #include "helper/log.h"
34 #include "helper/types.h"
35 #include "rtos_chibios_stackings.h"
38 * @brief ChibiOS/RT memory signature record.
40 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
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
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
62 uint8_t cf_off_time; /**< @brief Offset of @p p_time field. */
65 #define GET_CH_KERNEL_MAJOR(coded_version) ((coded_version >> 11) & 0x1f)
66 #define GET_CH_KERNEL_MINOR(coded_version) ((coded_version >> 6) & 0x1f)
67 #define GET_CH_KERNEL_PATCH(coded_version) ((coded_version >> 0) & 0x3f)
70 * @brief ChibiOS thread states.
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"
77 #define CHIBIOS_NUM_STATES ARRAY_SIZE(chibios_thread_states)
79 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
80 * chars ought to be enough.
82 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
84 struct chibios_params {
85 const char *target_name;
87 struct chibios_chdebug *signature;
88 const struct rtos_register_stacking *stacking_info;
91 static struct chibios_params chibios_params_list[] = {
93 "cortex_m", /* target_name */
95 NULL, /* stacking_info */
98 "hla_target", /* target_name */
100 NULL, /* stacking_info */
104 static bool chibios_detect_rtos(struct target *target);
105 static int chibios_create(struct target *target);
106 static int chibios_update_threads(struct rtos *rtos);
107 static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
108 struct rtos_reg **reg_list, int *num_regs);
109 static int chibios_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
111 struct rtos_type chibios_rtos = {
114 .detect_rtos = chibios_detect_rtos,
115 .create = chibios_create,
116 .update_threads = chibios_update_threads,
117 .get_thread_reg_list = chibios_get_thread_reg_list,
118 .get_symbol_list_to_lookup = chibios_get_symbol_list_to_lookup,
122 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
123 * data structure ch. We declare both symbols as optional and later
124 * use whatever is available.
127 enum chibios_symbol_values {
128 CHIBIOS_VAL_RLIST = 0,
130 CHIBIOS_VAL_CH_DEBUG = 2
133 static struct symbol_table_elem chibios_symbol_list[] = {
134 { "rlist", 0, true}, /* Thread ready list */
135 { "ch", 0, true}, /* System data structure */
136 { "ch_debug", 0, false}, /* Memory Signature containing offsets of fields in rlist */
140 /* Offset of the rlist structure within the system data structure (ch) */
141 #define CH_RLIST_OFFSET 0x00
143 static int chibios_update_memory_signature(struct rtos *rtos)
146 struct chibios_params *param;
147 struct chibios_chdebug *signature;
149 param = (struct chibios_params *) rtos->rtos_specific_params;
151 /* Free existing memory description.*/
152 free(param->signature);
153 param->signature = NULL;
155 signature = malloc(sizeof(*signature));
157 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
161 retval = target_read_buffer(rtos->target,
162 rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address,
164 (uint8_t *) signature);
165 if (retval != ERROR_OK) {
166 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
170 if (strncmp(signature->ch_identifier, "main", 4) != 0) {
171 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
175 if (signature->ch_size < sizeof(*signature)) {
176 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
181 if (signature->ch_size > sizeof(*signature)) {
182 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
183 " expected. Assuming compatibility...");
186 /* Convert endianness of version field */
187 const uint8_t *versiontarget = (const uint8_t *)
188 &signature->ch_version;
189 signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
190 le_to_h_u32(versiontarget) : be_to_h_u32(versiontarget);
192 const uint16_t ch_version = signature->ch_version;
193 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
194 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
195 GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
197 /* Currently, we have the inherent assumption that all address pointers
198 * are 32 bit wide. */
199 if (signature->ch_ptrsize != sizeof(uint32_t)) {
200 LOG_ERROR("ChibiOS/RT target memory signature claims an address "
201 "width unequal to 32 bits!");
206 param->signature = signature;
210 /* Error reading the ChibiOS memory structure */
212 param->signature = 0;
217 static int chibios_update_stacking(struct rtos *rtos)
219 /* Sometimes the stacking can not be determined only by looking at the
220 * target name but only a runtime.
222 * For example, this is the case for Cortex-M4 targets and ChibiOS which
223 * only stack the FPU registers if it is enabled during ChibiOS build.
225 * Terminating which stacking is used is target depending.
228 * - Once ChibiOS is actually initialized, the stacking is fixed.
229 * - During startup code, the FPU might not be initialized and the
230 * detection might fail.
231 * - Since no threads are running during startup, the problem is solved
232 * by delaying stacking detection until there are more threads
233 * available than the current execution. In which case
234 * chibios_get_thread_reg_list is called.
238 if (!rtos->rtos_specific_params)
241 struct chibios_params *param;
242 param = (struct chibios_params *) rtos->rtos_specific_params;
244 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4 */
245 struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
246 if (is_armv7m(armv7m_target)) {
247 if (armv7m_target->fp_feature != FP_NONE) {
248 /* Found ARM v7m target which includes a FPU */
251 retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
252 if (retval != ERROR_OK) {
253 LOG_ERROR("Could not read CPACR register to check FPU state");
257 /* Check if CP10 and CP11 are set to full access.
258 * In ChibiOS this is done in ResetHandler() in crt0.c */
259 if (cpacr & 0x00F00000) {
260 LOG_DEBUG("Enabled FPU detected.");
261 param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
266 /* Found ARM v7m target with no or disabled FPU */
267 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
274 static int chibios_update_threads(struct rtos *rtos)
277 const struct chibios_params *param;
281 if (!rtos->rtos_specific_params)
284 if (!rtos->symbols) {
285 LOG_ERROR("No symbols for ChibiOS");
289 param = (const struct chibios_params *) rtos->rtos_specific_params;
290 /* Update the memory signature saved in the target memory */
291 if (!param->signature) {
292 retval = chibios_update_memory_signature(rtos);
293 if (retval != ERROR_OK) {
294 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
299 /* wipe out previous thread details if any */
300 rtos_free_threadlist(rtos);
302 /* ChibiOS does not save the current thread count. We have to first
303 * parse the double linked thread list to check for errors and the number of
305 const uint32_t rlist = rtos->symbols[CHIBIOS_VAL_RLIST].address ?
306 rtos->symbols[CHIBIOS_VAL_RLIST].address :
307 rtos->symbols[CHIBIOS_VAL_CH].address + CH_RLIST_OFFSET /* ChibiOS3 */;
308 const struct chibios_chdebug *signature = param->signature;
316 retval = target_read_u32(rtos->target,
317 current + signature->cf_off_newer, ¤t);
318 if (retval != ERROR_OK) {
319 LOG_ERROR("Could not read next ChibiOS thread");
322 /* Could be NULL if the kernel is not initialized yet or if the
323 * registry is corrupted. */
325 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
330 /* Fetch previous thread in the list as a integrity check. */
331 retval = target_read_u32(rtos->target,
332 current + signature->cf_off_older, &older);
333 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
334 LOG_ERROR("ChibiOS registry integrity check failed, "
335 "double linked list violation");
339 /* Check for full iteration of the linked list. */
340 if (current == rlist)
346 /* No RTOS, there is always at least the current execution, though */
347 LOG_INFO("Only showing current execution because of a broken "
348 "ChibiOS thread registry.");
350 const char tmp_thread_name[] = "Current Execution";
351 const char tmp_thread_extra_info[] = "No RTOS thread";
353 rtos->thread_details = malloc(
354 sizeof(struct thread_detail));
355 rtos->thread_details->threadid = 1;
356 rtos->thread_details->exists = true;
358 rtos->thread_details->extra_info_str = malloc(
359 sizeof(tmp_thread_extra_info));
360 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
362 rtos->thread_details->thread_name_str = malloc(
363 sizeof(tmp_thread_name));
364 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
366 rtos->current_thread = 1;
367 rtos->thread_count = 1;
371 /* create space for new thread details */
372 rtos->thread_details = malloc(
373 sizeof(struct thread_detail) * tasks_found);
374 if (!rtos->thread_details) {
375 LOG_ERROR("Could not allocate space for thread details");
379 rtos->thread_count = tasks_found;
380 /* Loop through linked list. */
381 struct thread_detail *curr_thrd_details = rtos->thread_details;
382 while (curr_thrd_details < rtos->thread_details + tasks_found) {
383 uint32_t name_ptr = 0;
384 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
386 retval = target_read_u32(rtos->target,
387 current + signature->cf_off_newer, ¤t);
388 if (retval != ERROR_OK) {
389 LOG_ERROR("Could not read next ChibiOS thread");
393 /* Check for full iteration of the linked list. */
394 if (current == rlist)
397 /* Save the thread pointer */
398 curr_thrd_details->threadid = current;
400 /* read the name pointer */
401 retval = target_read_u32(rtos->target,
402 current + signature->cf_off_name, &name_ptr);
403 if (retval != ERROR_OK) {
404 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
408 /* Read the thread name */
409 retval = target_read_buffer(rtos->target, name_ptr,
410 CHIBIOS_THREAD_NAME_STR_SIZE,
411 (uint8_t *)&tmp_str);
412 if (retval != ERROR_OK) {
413 LOG_ERROR("Error reading thread name from ChibiOS target");
416 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
418 if (tmp_str[0] == '\x00')
419 strcpy(tmp_str, "No Name");
421 curr_thrd_details->thread_name_str = malloc(
422 strlen(tmp_str) + 1);
423 strcpy(curr_thrd_details->thread_name_str, tmp_str);
426 uint8_t thread_state;
427 const char *state_desc;
429 retval = target_read_u8(rtos->target,
430 current + signature->cf_off_state, &thread_state);
431 if (retval != ERROR_OK) {
432 LOG_ERROR("Error reading thread state from ChibiOS target");
437 if (thread_state < CHIBIOS_NUM_STATES)
438 state_desc = chibios_thread_states[thread_state];
440 state_desc = "Unknown";
442 curr_thrd_details->extra_info_str = malloc(strlen(
444 sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc);
446 curr_thrd_details->exists = true;
451 uint32_t current_thrd;
452 /* NOTE: By design, cf_off_name equals readylist_current_offset */
453 retval = target_read_u32(rtos->target,
454 rlist + signature->cf_off_name,
456 if (retval != ERROR_OK) {
457 LOG_ERROR("Could not read current Thread from ChibiOS target");
460 rtos->current_thread = current_thrd;
465 static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
466 struct rtos_reg **reg_list, int *num_regs)
469 const struct chibios_params *param;
470 uint32_t stack_ptr = 0;
472 if ((!rtos) || (thread_id == 0) ||
473 (!rtos->rtos_specific_params))
476 param = (const struct chibios_params *) rtos->rtos_specific_params;
478 if (!param->signature)
481 /* Update stacking if it can only be determined from runtime information */
482 if ((param->stacking_info == 0) &&
483 (chibios_update_stacking(rtos) != ERROR_OK)) {
484 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
488 /* Read the stack pointer */
489 retval = target_read_u32(rtos->target,
490 thread_id + param->signature->cf_off_ctx, &stack_ptr);
491 if (retval != ERROR_OK) {
492 LOG_ERROR("Error reading stack frame from ChibiOS thread");
496 return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, reg_list, num_regs);
499 static int chibios_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
501 *symbol_list = malloc(sizeof(chibios_symbol_list));
506 memcpy(*symbol_list, chibios_symbol_list, sizeof(chibios_symbol_list));
510 static bool chibios_detect_rtos(struct target *target)
512 if ((target->rtos->symbols) &&
513 ((target->rtos->symbols[CHIBIOS_VAL_RLIST].address != 0) ||
514 (target->rtos->symbols[CHIBIOS_VAL_CH].address != 0))) {
516 if (target->rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address == 0) {
517 LOG_INFO("It looks like the target may be running ChibiOS "
518 "without ch_debug.");
522 /* looks like ChibiOS with memory map enabled.*/
529 static int chibios_create(struct target *target)
531 for (unsigned int i = 0; i < ARRAY_SIZE(chibios_params_list); i++)
532 if (strcmp(chibios_params_list[i].target_name, target->type->name) == 0) {
533 target->rtos->rtos_specific_params = (void *)&chibios_params_list[i];
537 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
538 "list", target->type->name);