rtos: add support for ChibiOS/RT 3.0

[fw/openocd] / src / rtos / ChibiOS.c

diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c
index ba14a284ccfc31e41dfb3853123c5d84386f4979..da5dc9fc22b0d5d5acbaa0e89740c29608a73140 100644 (file)
--- a/src/rtos/ChibiOS.c
+++ b/src/rtos/ChibiOS.c
@@ -121,19 +121,30 @@ struct rtos_type ChibiOS_rtos = {
        .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 };
 
+
+/* In ChibiOS/RT 3.0 the rlist structure has become part of a system
+ * data structure ch. We declare both symbols as optional and later
+ * use whatever is available.
+ */
+
 enum ChibiOS_symbol_values {
        ChibiOS_VAL_rlist = 0,
-       ChibiOS_VAL_ch_debug = 1,
-       ChibiOS_VAL_chSysInit = 2
+       ChibiOS_VAL_ch = 1,
+       ChibiOS_VAL_ch_debug = 2,
+       ChibiOS_VAL_chSysInit = 3
 };
 
-static const char * const ChibiOS_symbol_list[] = {
-       "rlist",                /* Thread ready list*/
-       "ch_debug",             /* Memory Signatur containing offsets of fields in rlist*/
-       "chSysInit",    /* Necessary part of API, used for ChibiOS detection*/
-       NULL
+static symbol_table_elem_t ChibiOS_symbol_list[] = {
+       { "rlist", 0, true},            /* Thread ready list */
+       { "ch", 0, true},                       /* System data structure */
+       { "ch_debug", 0, false},        /* Memory Signature containing offsets of fields in rlist */
+       { "chSysInit", 0, false},       /* Necessary part of API, used for ChibiOS detection */
+       { NULL, 0, false}
 };
 
+/* Offset of the rlist structure within the system data structure (ch) */
+#define CH_RLIST_OFFSET 0x00
+
 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 {
        int retval;
@@ -300,7 +311,9 @@ static int ChibiOS_update_threads(struct rtos *rtos)
        /* ChibiOS does not save the current thread count. We have to first
         * parse the double linked thread list to check for errors and the number of
         * threads. */
-       const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address;
+       const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
+               rtos->symbols[ChibiOS_VAL_rlist].address :
+               rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
        const struct ChibiOS_chdebug *signature = param->signature;
        uint32_t current;
        uint32_t previous;
@@ -496,20 +509,15 @@ static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, cha
 
 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 {
-       unsigned int i;
-       *symbol_list = calloc(
-                       ARRAY_SIZE(ChibiOS_symbol_list), sizeof(symbol_table_elem_t));
-
-       for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
-               (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
-
+       *symbol_list = ChibiOS_symbol_list;
        return 0;
 }
 
 static int ChibiOS_detect_rtos(struct target *target)
 {
        if ((target->rtos->symbols != NULL) &&
-                       (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
+                       ((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
+                        (target->rtos->symbols[ChibiOS_VAL_ch].address != 0)) &&
                        (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 
                if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {