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   1 /***************************************************************************
   2  *   Copyright (C) 2016 by Square, Inc.                                    *
   3  *   Steven Stallion <stallion@squareup.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, see <http://www.gnu.org/licenses/>. *
  17  ***************************************************************************/
  18
  19 #ifdef HAVE_CONFIG_H
  20 #include "config.h"
  21 #endif
  22
  23 #include <helper/time_support.h>
  24 #include <jtag/jtag.h>
  25 #include "target/target.h"
  26 #include "target/target_type.h"
  27 #include "rtos.h"
  28 #include "helper/log.h"
  29 #include "helper/types.h"
  30 #include "rtos/rtos_ucos_iii_stackings.h"
  31
  32 #ifndef UCOS_III_MAX_STRLEN
  33 #define UCOS_III_MAX_STRLEN 64
  34 #endif
  35
  36 #ifndef UCOS_III_MAX_THREADS
  37 #define UCOS_III_MAX_THREADS 256
  38 #endif
  39
  40 struct uCOS_III_params {
  41         const char *target_name;
  42         const unsigned char pointer_width;
  43         symbol_address_t thread_stack_offset;
  44         symbol_address_t thread_name_offset;
  45         symbol_address_t thread_state_offset;
  46         symbol_address_t thread_priority_offset;
  47         symbol_address_t thread_prev_offset;
  48         symbol_address_t thread_next_offset;
  49         bool thread_offsets_updated;
  50         size_t threadid_start;
  51         const struct rtos_register_stacking *stacking_info;
  52         size_t num_threads;
  53         symbol_address_t threads[];
  54 };
  55
  56 static const struct uCOS_III_params uCOS_III_params_list[] = {
  57         {
  58                 "cortex_m",                             /* target_name */
  59                 sizeof(uint32_t),                       /* pointer_width */
  60                 0,                                      /* thread_stack_offset */
  61                 0,                                      /* thread_name_offset */
  62                 0,                                      /* thread_state_offset */
  63                 0,                                      /* thread_priority_offset */
  64                 0,                                      /* thread_prev_offset */
  65                 0,                                      /* thread_next_offset */
  66                 false,                                  /* thread_offsets_updated */
  67                 1,                                      /* threadid_start */
  68                 &rtos_uCOS_III_Cortex_M_stacking,       /* stacking_info */
  69                 0,                                      /* num_threads */
  70         },
  71 };
  72
  73 static const char * const uCOS_III_symbol_list[] = {
  74         "OSRunning",
  75         "OSTCBCurPtr",
  76         "OSTaskDbgListPtr",
  77         "OSTaskQty",
  78
  79         /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
  80         "openocd_OS_TCB_StkPtr_offset",
  81         "openocd_OS_TCB_NamePtr_offset",
  82         "openocd_OS_TCB_TaskState_offset",
  83         "openocd_OS_TCB_Prio_offset",
  84         "openocd_OS_TCB_DbgPrevPtr_offset",
  85         "openocd_OS_TCB_DbgNextPtr_offset",
  86         NULL
  87 };
  88
  89 enum uCOS_III_symbol_values {
  90         uCOS_III_VAL_OSRunning,
  91         uCOS_III_VAL_OSTCBCurPtr,
  92         uCOS_III_VAL_OSTaskDbgListPtr,
  93         uCOS_III_VAL_OSTaskQty,
  94
  95         /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
  96         uCOS_III_VAL_OS_TCB_StkPtr_offset,
  97         uCOS_III_VAL_OS_TCB_NamePtr_offset,
  98         uCOS_III_VAL_OS_TCB_TaskState_offset,
  99         uCOS_III_VAL_OS_TCB_Prio_offset,
 100         uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
 101         uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
 102 };
 103
 104 static const char * const uCOS_III_thread_state_list[] = {
 105         "Ready",
 106         "Delay",
 107         "Pend",
 108         "Pend Timeout",
 109         "Suspended",
 110         "Delay Suspended",
 111         "Pend Suspended",
 112         "Pend Timeout Suspended",
 113 };
 114
 115 static int uCOS_III_find_or_create_thread(struct rtos *rtos, symbol_address_t thread_address,
 116                 threadid_t *threadid)
 117 {
 118         struct uCOS_III_params *params = rtos->rtos_specific_params;
 119         size_t thread_index;
 120
 121         for (thread_index = 0; thread_index < params->num_threads; thread_index++)
 122                 if (params->threads[thread_index] == thread_address)
 123                         goto found;
 124
 125         if (params->num_threads == UCOS_III_MAX_THREADS) {
 126                 LOG_WARNING("uCOS-III: too many threads; increase UCOS_III_MAX_THREADS");
 127                 return ERROR_FAIL;
 128         }
 129
 130         params->threads[thread_index] = thread_address;
 131         params->num_threads++;
 132 found:
 133         *threadid = thread_index + params->threadid_start;
 134         return ERROR_OK;
 135 }
 136
 137 static int uCOS_III_find_thread_address(struct rtos *rtos, threadid_t threadid,
 138                 symbol_address_t *thread_address)
 139 {
 140         struct uCOS_III_params *params = rtos->rtos_specific_params;
 141         size_t thread_index;
 142
 143         thread_index = threadid - params->threadid_start;
 144         if (thread_index >= params->num_threads) {
 145                 LOG_ERROR("uCOS-III: failed to find thread address");
 146                 return ERROR_FAIL;
 147         }
 148
 149         *thread_address = params->threads[thread_index];
 150         return ERROR_OK;
 151 }
 152
 153 static int uCOS_III_find_last_thread_address(struct rtos *rtos, symbol_address_t *thread_address)
 154 {
 155         struct uCOS_III_params *params = rtos->rtos_specific_params;
 156         int retval;
 157
 158         /* read the thread list head */
 159         symbol_address_t thread_list_address = 0;
 160
 161         retval = target_read_memory(rtos->target,
 162                                     rtos->symbols[uCOS_III_VAL_OSTaskDbgListPtr].address,
 163                                     params->pointer_width,
 164                                     1,
 165                                     (void *)&thread_list_address);
 166         if (retval != ERROR_OK) {
 167                 LOG_ERROR("uCOS-III: failed to read thread list address");
 168                 return retval;
 169         }
 170
 171         /* advance to end of thread list */
 172         do {
 173                 *thread_address = thread_list_address;
 174
 175                 retval = target_read_memory(rtos->target,
 176                                             thread_list_address + params->thread_next_offset,
 177                                             params->pointer_width,
 178                                             1,
 179                                             (void *)&thread_list_address);
 180                 if (retval != ERROR_OK) {
 181                         LOG_ERROR("uCOS-III: failed to read next thread address");
 182                         return retval;
 183                 }
 184         } while (thread_list_address != 0);
 185
 186         return ERROR_OK;
 187 }
 188
 189 static int uCOS_III_update_thread_offsets(struct rtos *rtos)
 190 {
 191         struct uCOS_III_params *params = rtos->rtos_specific_params;
 192
 193         if (params->thread_offsets_updated)
 194                 return ERROR_OK;
 195
 196         const struct thread_offset_map {
 197                 enum uCOS_III_symbol_values symbol_value;
 198                 symbol_address_t *thread_offset;
 199         } thread_offset_maps[] = {
 200                 {
 201                         uCOS_III_VAL_OS_TCB_StkPtr_offset,
 202                         &params->thread_stack_offset,
 203                 },
 204                 {
 205                         uCOS_III_VAL_OS_TCB_NamePtr_offset,
 206                         &params->thread_name_offset,
 207                 },
 208                 {
 209                         uCOS_III_VAL_OS_TCB_TaskState_offset,
 210                         &params->thread_state_offset,
 211                 },
 212                 {
 213                         uCOS_III_VAL_OS_TCB_Prio_offset,
 214                         &params->thread_priority_offset,
 215                 },
 216                 {
 217                         uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
 218                         &params->thread_prev_offset,
 219                 },
 220                 {
 221                         uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
 222                         &params->thread_next_offset,
 223                 },
 224         };
 225
 226         for (size_t i = 0; i < ARRAY_SIZE(thread_offset_maps); i++) {
 227                 const struct thread_offset_map *thread_offset_map = &thread_offset_maps[i];
 228
 229                 int retval = target_read_memory(rtos->target,
 230                                                 rtos->symbols[thread_offset_map->symbol_value].address,
 231                                                 params->pointer_width,
 232                                                 1,
 233                                                 (void *)thread_offset_map->thread_offset);
 234                 if (retval != ERROR_OK) {
 235                         LOG_ERROR("uCOS-III: failed to read thread offset");
 236                         return retval;
 237                 }
 238         }
 239
 240         params->thread_offsets_updated = true;
 241         return ERROR_OK;
 242 }
 243
 244 static int uCOS_III_detect_rtos(struct target *target)
 245 {
 246         return target->rtos->symbols != NULL &&
 247             target->rtos->symbols[uCOS_III_VAL_OSRunning].address != 0;
 248 }
 249
 250 static int uCOS_III_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv)
 251 {
 252         struct uCOS_III_params *params = target->rtos->rtos_specific_params;
 253
 254         params->thread_offsets_updated = false;
 255         params->num_threads = 0;
 256
 257         return ERROR_OK;
 258 }
 259
 260 static int uCOS_III_create(struct target *target)
 261 {
 262         struct uCOS_III_params *params;
 263
 264         for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_params_list); i++)
 265                 if (strcmp(uCOS_III_params_list[i].target_name, target->type->name) == 0) {
 266                         params = malloc(sizeof(*params) +
 267                             UCOS_III_MAX_THREADS * sizeof(*params->threads));
 268                         if (params == NULL) {
 269                                 LOG_ERROR("uCOS-III: out of memory");
 270                                 return ERROR_FAIL;
 271                         }
 272
 273                         memcpy(params, &uCOS_III_params_list[i], sizeof(uCOS_III_params_list[i]));
 274                         target->rtos->rtos_specific_params = (void *)params;
 275
 276                         target_register_reset_callback(uCOS_III_reset_handler, NULL);
 277
 278                         return ERROR_OK;
 279                 }
 280
 281         LOG_ERROR("uCOS-III: target not supported: %s", target->type->name);
 282         return ERROR_FAIL;
 283 }
 284
 285 static int uCOS_III_update_threads(struct rtos *rtos)
 286 {
 287         struct uCOS_III_params *params = rtos->rtos_specific_params;
 288         int retval;
 289
 290         /* free previous thread details */
 291         rtos_free_threadlist(rtos);
 292
 293         /* verify RTOS is running */
 294         uint8_t rtos_running;
 295
 296         retval = target_read_u8(rtos->target,
 297                                 rtos->symbols[uCOS_III_VAL_OSRunning].address,
 298                                 &rtos_running);
 299         if (retval != ERROR_OK) {
 300                 LOG_ERROR("uCOS-III: failed to read RTOS running");
 301                 return retval;
 302         }
 303
 304         if (!rtos_running) {
 305                 rtos->thread_details = calloc(1, sizeof(struct thread_detail));
 306                 if (rtos->thread_details == NULL) {
 307                         LOG_ERROR("uCOS-III: out of memory");
 308                         return ERROR_FAIL;
 309                 }
 310
 311                 rtos->thread_count = 1;
 312                 rtos->thread_details->threadid = 0;
 313                 rtos->thread_details->exists = true;
 314                 rtos->current_thread = 0;
 315
 316                 return ERROR_OK;
 317         }
 318
 319         /* update thread offsets */
 320         retval = uCOS_III_update_thread_offsets(rtos);
 321         if (retval != ERROR_OK) {
 322                 LOG_ERROR("uCOS-III: failed to update thread offsets");
 323                 return retval;
 324         }
 325
 326         /* read current thread address */
 327         symbol_address_t current_thread_address = 0;
 328
 329         retval = target_read_memory(rtos->target,
 330                                     rtos->symbols[uCOS_III_VAL_OSTCBCurPtr].address,
 331                                     params->pointer_width,
 332                                     1,
 333                                     (void *)&current_thread_address);
 334         if (retval != ERROR_OK) {
 335                 LOG_ERROR("uCOS-III: failed to read current thread address");
 336                 return retval;
 337         }
 338
 339         /* read number of tasks */
 340         retval = target_read_u16(rtos->target,
 341                                  rtos->symbols[uCOS_III_VAL_OSTaskQty].address,
 342                                  (void *)&rtos->thread_count);
 343         if (retval != ERROR_OK) {
 344                 LOG_ERROR("uCOS-III: failed to read thread count");
 345                 return retval;
 346         }
 347
 348         rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
 349         if (rtos->thread_details == NULL) {
 350                 LOG_ERROR("uCOS-III: out of memory");
 351                 return ERROR_FAIL;
 352         }
 353
 354         /*
 355          * uC/OS-III adds tasks in LIFO order; advance to the end of the
 356          * list and work backwards to preserve the intended order.
 357          */
 358         symbol_address_t thread_address = 0;
 359
 360         retval = uCOS_III_find_last_thread_address(rtos, &thread_address);
 361         if (retval != ERROR_OK) {
 362                 LOG_ERROR("uCOS-III: failed to find last thread address");
 363                 return retval;
 364         }
 365
 366         for (int i = 0; i < rtos->thread_count; i++) {
 367                 struct thread_detail *thread_detail = &rtos->thread_details[i];
 368                 char thread_str_buffer[UCOS_III_MAX_STRLEN + 1];
 369
 370                 /* find or create new threadid */
 371                 retval = uCOS_III_find_or_create_thread(rtos,
 372                                                         thread_address,
 373                                                         &thread_detail->threadid);
 374                 if (retval != ERROR_OK) {
 375                         LOG_ERROR("uCOS-III: failed to find or create thread");
 376                         return retval;
 377                 }
 378
 379                 if (thread_address == current_thread_address)
 380                         rtos->current_thread = thread_detail->threadid;
 381
 382                 thread_detail->exists = true;
 383
 384                 /* read thread name */
 385                 symbol_address_t thread_name_address = 0;
 386
 387                 retval = target_read_memory(rtos->target,
 388                                             thread_address + params->thread_name_offset,
 389                                             params->pointer_width,
 390                                             1,
 391                                             (void *)&thread_name_address);
 392                 if (retval != ERROR_OK) {
 393                         LOG_ERROR("uCOS-III: failed to name address");
 394                         return retval;
 395                 }
 396
 397                 retval = target_read_buffer(rtos->target,
 398                                             thread_name_address,
 399                                             sizeof(thread_str_buffer),
 400                                             (void *)thread_str_buffer);
 401                 if (retval != ERROR_OK) {
 402                         LOG_ERROR("uCOS-III: failed to read thread name");
 403                         return retval;
 404                 }
 405
 406                 thread_str_buffer[sizeof(thread_str_buffer) - 1] = '\0';
 407                 thread_detail->thread_name_str = strdup(thread_str_buffer);
 408
 409                 /* read thread extra info */
 410                 uint8_t thread_state;
 411                 uint8_t thread_priority;
 412
 413                 retval = target_read_u8(rtos->target,
 414                                         thread_address + params->thread_state_offset,
 415                                         &thread_state);
 416                 if (retval != ERROR_OK) {
 417                         LOG_ERROR("uCOS-III: failed to read thread state");
 418                         return retval;
 419                 }
 420
 421                 retval = target_read_u8(rtos->target,
 422                                         thread_address + params->thread_priority_offset,
 423                                         &thread_priority);
 424                 if (retval != ERROR_OK) {
 425                         LOG_ERROR("uCOS-III: failed to read thread priority");
 426                         return retval;
 427                 }
 428
 429                 const char *thread_state_str;
 430
 431                 if (thread_state < ARRAY_SIZE(uCOS_III_thread_state_list))
 432                         thread_state_str = uCOS_III_thread_state_list[thread_state];
 433                 else
 434                         thread_state_str = "Unknown";
 435
 436                 snprintf(thread_str_buffer, sizeof(thread_str_buffer), "State: %s, Priority: %d",
 437                          thread_state_str, thread_priority);
 438                 thread_detail->extra_info_str = strdup(thread_str_buffer);
 439
 440                 /* read previous thread address */
 441                 retval = target_read_memory(rtos->target,
 442                                             thread_address + params->thread_prev_offset,
 443                                             params->pointer_width,
 444                                             1,
 445                                             (void *)&thread_address);
 446                 if (retval != ERROR_OK) {
 447                         LOG_ERROR("uCOS-III: failed to read previous thread address");
 448                         return retval;
 449                 }
 450         }
 451
 452         return ERROR_OK;
 453 }
 454
 455 static int uCOS_III_get_thread_reg_list(struct rtos *rtos, threadid_t threadid, char **hex_reg_list)
 456 {
 457         struct uCOS_III_params *params = rtos->rtos_specific_params;
 458         int retval;
 459
 460         /* find thread address for threadid */
 461         symbol_address_t thread_address = 0;
 462
 463         retval = uCOS_III_find_thread_address(rtos, threadid, &thread_address);
 464         if (retval != ERROR_OK) {
 465                 LOG_ERROR("uCOS-III: failed to find thread address");
 466                 return retval;
 467         }
 468
 469         /* read thread stack address */
 470         symbol_address_t stack_address = 0;
 471
 472         retval = target_read_memory(rtos->target,
 473                                     thread_address + params->thread_stack_offset,
 474                                     params->pointer_width,
 475                                     1,
 476                                     (void *)&stack_address);
 477         if (retval != ERROR_OK) {
 478                 LOG_ERROR("uCOS-III: failed to read stack address");
 479                 return retval;
 480         }
 481
 482         return rtos_generic_stack_read(rtos->target,
 483                                        params->stacking_info,
 484                                        stack_address,
 485                                        hex_reg_list);
 486 }
 487
 488 static int uCOS_III_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 489 {
 490         *symbol_list = calloc(ARRAY_SIZE(uCOS_III_symbol_list), sizeof(symbol_table_elem_t));
 491         if (*symbol_list == NULL) {
 492                 LOG_ERROR("uCOS-III: out of memory");
 493                 return ERROR_FAIL;
 494         }
 495
 496         for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_symbol_list); i++)
 497                 (*symbol_list)[i].symbol_name = uCOS_III_symbol_list[i];
 498
 499         return ERROR_OK;
 500 }
 501
 502 const struct rtos_type uCOS_III_rtos = {
 503         .name = "uCOS-III",
 504         .detect_rtos = uCOS_III_detect_rtos,
 505         .create = uCOS_III_create,
 506         .update_threads = uCOS_III_update_threads,
 507         .get_thread_reg_list = uCOS_III_get_thread_reg_list,
 508         .get_symbol_list_to_lookup = uCOS_III_get_symbol_list_to_lookup,
 509 };