* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
- * along with this program; if not, write to the *
- * Free Software Foundation, Inc., *
- * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
+ * along with this program. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "helper/log.h"
#include "helper/types.h"
#include "rtos_standard_stackings.h"
+#include "target/armv7m.h"
+#include "target/cortex_m.h"
+
+
#define FREERTOS_MAX_PRIORITIES 63
#define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
+/* FIXME: none of the _width parameters are actually observed properly!
+ * you WILL need to edit more if you actually attempt to target a 8/16/64
+ * bit target!
+ */
+
struct FreeRTOS_params {
const char *target_name;
const unsigned char thread_count_width;
const unsigned char list_elem_content_offset;
const unsigned char thread_stack_offset;
const unsigned char thread_name_offset;
- const struct rtos_register_stacking *stacking_info;
+ const struct rtos_register_stacking *stacking_info_cm3;
+ const struct rtos_register_stacking *stacking_info_cm4f;
+ const struct rtos_register_stacking *stacking_info_cm4f_fpu;
};
static const struct FreeRTOS_params FreeRTOS_params_list[] = {
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_Cortex_M3_stacking, /* stacking_info */
+ &rtos_standard_Cortex_M4F_stacking,
+ &rtos_standard_Cortex_M4F_FPU_stacking,
},
{
"hla_target", /* target_name */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_Cortex_M3_stacking, /* stacking_info */
+ &rtos_standard_Cortex_M4F_stacking,
+ &rtos_standard_Cortex_M4F_FPU_stacking,
},
{
"nds32_v3", /* target_name */
0, /* thread_stack_offset; */
52, /* thread_name_offset; */
&rtos_standard_NDS32_N1068_stacking, /* stacking_info */
+ &rtos_standard_Cortex_M4F_stacking,
+ &rtos_standard_Cortex_M4F_FPU_stacking,
},
};
#define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
-static int FreeRTOS_detect_rtos(struct target *target);
+static bool FreeRTOS_detect_rtos(struct target *target);
static int FreeRTOS_create(struct target *target);
static int FreeRTOS_update_threads(struct rtos *rtos);
-static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
+static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
+ struct rtos_reg **reg_list, int *num_regs);
static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
struct rtos_type FreeRTOS_rtos = {
FreeRTOS_VAL_uxTopUsedPriority = 10,
};
-static const char * const FreeRTOS_symbol_list[] = {
- "pxCurrentTCB",
- "pxReadyTasksLists",
- "xDelayedTaskList1",
- "xDelayedTaskList2",
- "pxDelayedTaskList",
- "pxOverflowDelayedTaskList",
- "xPendingReadyList",
- "xTasksWaitingTermination",
- "xSuspendedTaskList",
- "uxCurrentNumberOfTasks",
- "uxTopUsedPriority",
- NULL
+struct symbols {
+ const char *name;
+ bool optional;
+};
+
+static const struct symbols FreeRTOS_symbol_list[] = {
+ { "pxCurrentTCB", false },
+ { "pxReadyTasksLists", false },
+ { "xDelayedTaskList1", false },
+ { "xDelayedTaskList2", false },
+ { "pxDelayedTaskList", false },
+ { "pxOverflowDelayedTaskList", false },
+ { "xPendingReadyList", false },
+ { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
+ { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
+ { "uxCurrentNumberOfTasks", false },
+ { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
+ { NULL, false }
};
/* TODO: */
static int FreeRTOS_update_threads(struct rtos *rtos)
{
- int i = 0;
int retval;
- int tasks_found = 0;
+ unsigned int tasks_found = 0;
const struct FreeRTOS_params *param;
if (rtos->rtos_specific_params == NULL)
return -2;
}
- int thread_list_size = 0;
- retval = target_read_buffer(rtos->target,
+ uint32_t thread_list_size = 0;
+ retval = target_read_u32(rtos->target,
rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
- param->thread_count_width,
- (uint8_t *)&thread_list_size);
- LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %d\r\n",
+ &thread_list_size);
+ LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu32 "\r\n",
rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
thread_list_size);
rtos_free_threadlist(rtos);
/* read the current thread */
- retval = target_read_buffer(rtos->target,
+ uint32_t pointer_casts_are_bad;
+ retval = target_read_u32(rtos->target,
rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
- param->pointer_width,
- (uint8_t *)&rtos->current_thread);
+ &pointer_casts_are_bad);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading current thread in FreeRTOS thread list");
return retval;
}
+ rtos->current_thread = pointer_casts_are_bad;
LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
rtos->current_thread);
}
rtos->thread_details->threadid = 1;
rtos->thread_details->exists = true;
- rtos->thread_details->display_str = NULL;
rtos->thread_details->extra_info_str = NULL;
rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
strcpy(rtos->thread_details->thread_name_str, tmp_str);
}
/* Find out how many lists are needed to be read from pxReadyTasksLists, */
- int64_t max_used_priority = 0;
- retval = target_read_buffer(rtos->target,
+ if (rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address == 0) {
+ LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
+ return ERROR_FAIL;
+ }
+ uint32_t top_used_priority = 0;
+ retval = target_read_u32(rtos->target,
rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
- param->pointer_width,
- (uint8_t *)&max_used_priority);
+ &top_used_priority);
if (retval != ERROR_OK)
return retval;
- LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRId64 "\r\n",
+ LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu32 "\r\n",
rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
- max_used_priority);
- if (max_used_priority > FREERTOS_MAX_PRIORITIES) {
- LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "",
- max_used_priority);
+ top_used_priority);
+ if (top_used_priority > FREERTOS_MAX_PRIORITIES) {
+ LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32,
+ top_used_priority);
return ERROR_FAIL;
}
+ /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
+ * in old FreeRTOS versions (before V7.5.3)
+ * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
+ * in newer FreeRTOS versions.
+ * Here we restore the original configMAX_PRIORITIES value */
+ unsigned int config_max_priorities = top_used_priority + 1;
+
symbol_address_t *list_of_lists =
- malloc(sizeof(symbol_address_t) *
- (max_used_priority+1 + 5));
+ malloc(sizeof(symbol_address_t) * (config_max_priorities + 5));
if (!list_of_lists) {
- LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
+ LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities);
return ERROR_FAIL;
}
- int num_lists;
- for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
+ unsigned int num_lists;
+ for (num_lists = 0; num_lists < config_max_priorities; num_lists++)
list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
num_lists * param->list_width;
list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
- for (i = 0; i < num_lists; i++) {
+ for (unsigned int i = 0; i < num_lists; i++) {
if (list_of_lists[i] == 0)
continue;
/* Read the number of threads in this list */
- int64_t list_thread_count = 0;
- retval = target_read_buffer(rtos->target,
+ uint32_t list_thread_count = 0;
+ retval = target_read_u32(rtos->target,
list_of_lists[i],
- param->thread_count_width,
- (uint8_t *)&list_thread_count);
+ &list_thread_count);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
- LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64 ", value %" PRId64 "\r\n",
+ LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64 ", value %" PRIu32 "\r\n",
i, list_of_lists[i], list_thread_count);
if (list_thread_count == 0)
continue;
/* Read the location of first list item */
- uint64_t prev_list_elem_ptr = -1;
- uint64_t list_elem_ptr = 0;
- retval = target_read_buffer(rtos->target,
+ uint32_t prev_list_elem_ptr = -1;
+ uint32_t list_elem_ptr = 0;
+ retval = target_read_u32(rtos->target,
list_of_lists[i] + param->list_next_offset,
- param->pointer_width,
- (uint8_t *)&list_elem_ptr);
+ &list_elem_ptr);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
- LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
+ LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64 ", value 0x%" PRIx32 "\r\n",
i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
(tasks_found < thread_list_size)) {
/* Get the location of the thread structure. */
rtos->thread_details[tasks_found].threadid = 0;
- retval = target_read_buffer(rtos->target,
+ retval = target_read_u32(rtos->target,
list_elem_ptr + param->list_elem_content_offset,
- param->pointer_width,
- (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
+ &pointer_casts_are_bad);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
- LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
+ rtos->thread_details[tasks_found].threadid = pointer_casts_are_bad;
+ LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32 ", value 0x%" PRIx64 "\r\n",
list_elem_ptr + param->list_elem_content_offset,
rtos->thread_details[tasks_found].threadid);
rtos->thread_details[tasks_found].thread_name_str =
malloc(strlen(tmp_str)+1);
strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
- rtos->thread_details[tasks_found].display_str = NULL;
rtos->thread_details[tasks_found].exists = true;
if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
- char running_str[] = "Running";
+ char running_str[] = "State: Running";
rtos->thread_details[tasks_found].extra_info_str = malloc(
sizeof(running_str));
strcpy(rtos->thread_details[tasks_found].extra_info_str,
prev_list_elem_ptr = list_elem_ptr;
list_elem_ptr = 0;
- retval = target_read_buffer(rtos->target,
+ retval = target_read_u32(rtos->target,
prev_list_elem_ptr + param->list_elem_next_offset,
- param->pointer_width,
- (uint8_t *)&list_elem_ptr);
+ &list_elem_ptr);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
free(list_of_lists);
return retval;
}
- LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
+ LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32 ", value 0x%" PRIx32 "\r\n",
prev_list_elem_ptr + param->list_elem_next_offset,
list_elem_ptr);
}
return 0;
}
-static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
+static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
+ struct rtos_reg **reg_list, int *num_regs)
{
int retval;
const struct FreeRTOS_params *param;
int64_t stack_ptr = 0;
- *hex_reg_list = NULL;
if (rtos == NULL)
return -1;
param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
/* Read the stack pointer */
- retval = target_read_buffer(rtos->target,
+ uint32_t pointer_casts_are_bad;
+ retval = target_read_u32(rtos->target,
thread_id + param->thread_stack_offset,
- param->pointer_width,
- (uint8_t *)&stack_ptr);
+ &pointer_casts_are_bad);
if (retval != ERROR_OK) {
LOG_ERROR("Error reading stack frame from FreeRTOS thread");
return retval;
}
+ stack_ptr = pointer_casts_are_bad;
LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64 "\r\n",
thread_id + param->thread_stack_offset,
stack_ptr);
- return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
+ /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
+ int cm4_fpu_enabled = 0;
+ struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
+ if (is_armv7m(armv7m_target)) {
+ if (armv7m_target->fp_feature == FPv4_SP) {
+ /* Found ARM v7m target which includes a FPU */
+ uint32_t cpacr;
+
+ retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("Could not read CPACR register to check FPU state");
+ return -1;
+ }
+
+ /* Check if CP10 and CP11 are set to full access. */
+ if (cpacr & 0x00F00000) {
+ /* Found target with enabled FPU */
+ cm4_fpu_enabled = 1;
+ }
+ }
+ }
+
+ if (cm4_fpu_enabled == 1) {
+ /* Read the LR to decide between stacking with or without FPU */
+ uint32_t LR_svc = 0;
+ retval = target_read_u32(rtos->target,
+ stack_ptr + 0x20,
+ &LR_svc);
+ if (retval != ERROR_OK) {
+ LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
+ return retval;
+ }
+ if ((LR_svc & 0x10) == 0)
+ return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs);
+ else
+ return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs);
+ } else
+ return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs);
}
static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
*symbol_list = calloc(
ARRAY_SIZE(FreeRTOS_symbol_list), sizeof(symbol_table_elem_t));
- for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++)
- (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i];
+ for (i = 0; i < ARRAY_SIZE(FreeRTOS_symbol_list); i++) {
+ (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i].name;
+ (*symbol_list)[i].optional = FreeRTOS_symbol_list[i].optional;
+ }
return 0;
}
#endif
-static int FreeRTOS_detect_rtos(struct target *target)
+static bool FreeRTOS_detect_rtos(struct target *target)
{
if ((target->rtos->symbols != NULL) &&
(target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
/* looks like FreeRTOS */
- return 1;
+ return true;
}
- return 0;
+ return false;
}
static int FreeRTOS_create(struct target *target)
projects / fw / openocd / blobdiff