rtos: Support for "none" rtos
[fw/openocd] / src / rtos / rtos.c
index cdd37608ed446156ca409fd61405b8427b170ab3..3e43e828d1baeed460c5718c49e2b5849b04b1b7 100644 (file)
@@ -1,21 +1,8 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+
 /***************************************************************************
  *   Copyright (C) 2011 by Broadcom Corporation                            *
  *   Evan Hunter - ehunter@broadcom.com                                    *
- *                                                                         *
- *   This program is free software; you can redistribute it and/or modify  *
- *   it under the terms of the GNU General Public License as published by  *
- *   the Free Software Foundation; either version 2 of the License, or     *
- *   (at your option) any later version.                                   *
- *                                                                         *
- *   This program is distributed in the hope that it will be useful,       *
- *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
- *   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.           *
  ***************************************************************************/
 
 #ifdef HAVE_CONFIG_H
 #include "server/gdb_server.h"
 
 /* RTOSs */
-extern struct rtos_type FreeRTOS_rtos;
-extern struct rtos_type ThreadX_rtos;
-extern struct rtos_type eCos_rtos;
-extern struct rtos_type Linux_os;
-extern struct rtos_type ChibiOS_rtos;
-extern struct rtos_type embKernel_rtos;
+extern struct rtos_type freertos_rtos;
+extern struct rtos_type threadx_rtos;
+extern struct rtos_type ecos_rtos;
+extern struct rtos_type linux_rtos;
+extern struct rtos_type chibios_rtos;
+extern struct rtos_type chromium_ec_rtos;
+extern struct rtos_type embkernel_rtos;
+extern struct rtos_type mqx_rtos;
+extern struct rtos_type ucos_iii_rtos;
+extern struct rtos_type nuttx_rtos;
+extern struct rtos_type hwthread_rtos;
+extern struct rtos_type riot_rtos;
+extern struct rtos_type zephyr_rtos;
 
 static struct rtos_type *rtos_types[] = {
-       &ThreadX_rtos,
-       &FreeRTOS_rtos,
-       &eCos_rtos,
-       &Linux_os,
-       &ChibiOS_rtos,
-       &embKernel_rtos,
+       &threadx_rtos,
+       &freertos_rtos,
+       &ecos_rtos,
+       &linux_rtos,
+       &chibios_rtos,
+       &chromium_ec_rtos,
+       &embkernel_rtos,
+       &mqx_rtos,
+       &ucos_iii_rtos,
+       &nuttx_rtos,
+       &riot_rtos,
+       &zephyr_rtos,
+       /* keep this as last, as it always matches with rtos auto */
+       &hwthread_rtos,
        NULL
 };
 
-int rtos_thread_packet(struct connection *connection, char *packet, int packet_size);
+static int rtos_try_next(struct target *target);
+
+int rtos_thread_packet(struct connection *connection, const char *packet, int packet_size);
 
 int rtos_smp_init(struct target *target)
 {
@@ -55,6 +59,15 @@ int rtos_smp_init(struct target *target)
        return ERROR_TARGET_INIT_FAILED;
 }
 
+static int rtos_target_for_threadid(struct connection *connection, int64_t threadid, struct target **t)
+{
+       struct target *curr = get_target_from_connection(connection);
+       if (t)
+               *t = curr;
+
+       return ERROR_OK;
+}
+
 static int os_alloc(struct target *target, struct rtos_type *ostype)
 {
        struct rtos *os = target->rtos = calloc(1, sizeof(struct rtos));
@@ -70,6 +83,7 @@ static int os_alloc(struct target *target, struct rtos_type *ostype)
 
        /* RTOS drivers can override the packet handler in _create(). */
        os->gdb_thread_packet = rtos_thread_packet;
+       os->gdb_target_for_threadid = rtos_target_for_threadid;
 
        return JIM_OK;
 }
@@ -79,9 +93,7 @@ static void os_free(struct target *target)
        if (!target->rtos)
                return;
 
-       if (target->rtos->symbols)
-               free(target->rtos->symbols);
-
+       free(target->rtos->symbols);
        free(target->rtos);
        target->rtos = NULL;
 }
@@ -90,7 +102,7 @@ static int os_alloc_create(struct target *target, struct rtos_type *ostype)
 {
        int ret = os_alloc(target, ostype);
 
-       if (JIM_OK == ret) {
+       if (ret == JIM_OK) {
                ret = target->rtos->type->create(target);
                if (ret != JIM_OK)
                        os_free(target);
@@ -99,11 +111,12 @@ static int os_alloc_create(struct target *target, struct rtos_type *ostype)
        return ret;
 }
 
-int rtos_create(Jim_GetOptInfo *goi, struct target *target)
+int rtos_create(struct jim_getopt_info *goi, struct target *target)
 {
        int x;
-       char *cp;
-       struct Jim_Obj *res;
+       const char *cp;
+       Jim_Obj *res;
+       int e;
 
        if (!goi->isconfigure && goi->argc != 0) {
                Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "NO PARAMS");
@@ -112,9 +125,14 @@ int rtos_create(Jim_GetOptInfo *goi, struct target *target)
 
        os_free(target);
 
-       Jim_GetOpt_String(goi, &cp, NULL);
+       e = jim_getopt_string(goi, &cp, NULL);
+       if (e != JIM_OK)
+               return e;
+
+       if (strcmp(cp, "none") == 0)
+               return JIM_OK;
 
-       if (0 == strcmp(cp, "auto")) {
+       if (strcmp(cp, "auto") == 0) {
                /* Auto detect tries to look up all symbols for each RTOS,
                 * and runs the RTOS driver's _detect() function when GDB
                 * finds all symbols for any RTOS. See rtos_qsymbol(). */
@@ -126,47 +144,63 @@ int rtos_create(Jim_GetOptInfo *goi, struct target *target)
        }
 
        for (x = 0; rtos_types[x]; x++)
-               if (0 == strcmp(cp, rtos_types[x]->name))
+               if (strcmp(cp, rtos_types[x]->name) == 0)
                        return os_alloc_create(target, rtos_types[x]);
 
        Jim_SetResultFormatted(goi->interp, "Unknown RTOS type %s, try one of: ", cp);
        res = Jim_GetResult(goi->interp);
        for (x = 0; rtos_types[x]; x++)
                Jim_AppendStrings(goi->interp, res, rtos_types[x]->name, ", ", NULL);
-       Jim_AppendStrings(goi->interp, res, " or auto", NULL);
+       Jim_AppendStrings(goi->interp, res, ", auto or none", NULL);
 
        return JIM_ERR;
 }
 
-int gdb_thread_packet(struct connection *connection, char *packet, int packet_size)
+void rtos_destroy(struct target *target)
+{
+       os_free(target);
+}
+
+int gdb_thread_packet(struct connection *connection, char const *packet, int packet_size)
 {
        struct target *target = get_target_from_connection(connection);
-       if (target->rtos == NULL)
+       if (!target->rtos)
                return rtos_thread_packet(connection, packet, packet_size);     /* thread not
                                                                                 *found*/
        return target->rtos->gdb_thread_packet(connection, packet, packet_size);
 }
 
-static char *next_symbol(struct rtos *os, char *cur_symbol, uint64_t cur_addr)
+static struct symbol_table_elem *next_symbol(struct rtos *os, char *cur_symbol, uint64_t cur_addr)
 {
-       symbol_table_elem_t *s;
+       struct symbol_table_elem *s;
 
        if (!os->symbols)
                os->type->get_symbol_list_to_lookup(&os->symbols);
 
        if (!cur_symbol[0])
-               return os->symbols[0].symbol_name;
+               return &os->symbols[0];
 
        for (s = os->symbols; s->symbol_name; s++)
                if (!strcmp(s->symbol_name, cur_symbol)) {
                        s->address = cur_addr;
                        s++;
-                       return s->symbol_name;
+                       return s;
                }
 
        return NULL;
 }
 
+/* searches for 'symbol' in the lookup table for 'os' and returns TRUE,
+ * if 'symbol' is not declared optional */
+static bool is_symbol_mandatory(const struct rtos *os, const char *symbol)
+{
+       for (struct symbol_table_elem *s = os->symbols; s->symbol_name; ++s) {
+               if (!strcmp(s->symbol_name, symbol))
+                       return !s->optional;
+       }
+       return false;
+}
+
 /* rtos_qsymbol() processes and replies to all qSymbol packets from GDB.
  *
  * GDB sends a qSymbol:: packet (empty address, empty name) to notify
@@ -186,12 +220,13 @@ static char *next_symbol(struct rtos *os, char *cur_symbol, uint64_t cur_addr)
  *
  * rtos_qsymbol() returns 1 if an RTOS has been detected, or 0 otherwise.
  */
-int rtos_qsymbol(struct connection *connection, char *packet, int packet_size)
+int rtos_qsymbol(struct connection *connection, char const *packet, int packet_size)
 {
        int rtos_detected = 0;
        uint64_t addr = 0;
        size_t reply_len;
-       char reply[GDB_BUFFER_SIZE], cur_sym[GDB_BUFFER_SIZE / 2] = "", *next_sym;
+       char reply[GDB_BUFFER_SIZE + 1], cur_sym[GDB_BUFFER_SIZE / 2 + 1] = ""; /* Extra byte for null-termination */
+       struct symbol_table_elem *next_sym;
        struct target *target = get_target_from_connection(connection);
        struct rtos *os = target->rtos;
 
@@ -201,11 +236,13 @@ int rtos_qsymbol(struct connection *connection, char *packet, int packet_size)
                goto done;
 
        /* Decode any symbol name in the packet*/
-       int len = unhexify(cur_sym, strchr(packet + 8, ':') + 1, strlen(strchr(packet + 8, ':') + 1));
+       size_t len = unhexify((uint8_t *)cur_sym, strchr(packet + 8, ':') + 1, strlen(strchr(packet + 8, ':') + 1));
        cur_sym[len] = 0;
 
        if ((strcmp(packet, "qSymbol::") != 0) &&               /* GDB is not offering symbol lookup for the first time */
-           (!sscanf(packet, "qSymbol:%" SCNx64 ":", &addr))) { /* GDB did not found an address for a symbol */
+           (!sscanf(packet, "qSymbol:%" SCNx64 ":", &addr)) && /* GDB did not find an address for a symbol */
+           is_symbol_mandatory(os, cur_sym)) {                                 /* the symbol is mandatory for this RTOS */
+
                /* GDB could not find an address for the previous symbol */
                if (!target->rtos_auto_detect) {
                        LOG_WARNING("RTOS %s not detected. (GDB could not find symbol \'%s\')", os->type->name, cur_sym);
@@ -221,9 +258,18 @@ int rtos_qsymbol(struct connection *connection, char *packet, int packet_size)
                        cur_sym[0] = '\x00';
                }
        }
+
+       LOG_DEBUG("RTOS: Address of symbol '%s' is 0x%" PRIx64, cur_sym, addr);
+
        next_sym = next_symbol(os, cur_sym, addr);
 
+       /* Should never happen unless the debugger misbehaves */
        if (!next_sym) {
+               LOG_WARNING("RTOS: Debugger sent us qSymbol with '%s' that we did not ask for", cur_sym);
+               goto done;
+       }
+
+       if (!next_sym->symbol_name) {
                /* No more symbols need looking up */
 
                if (!target->rtos_auto_detect) {
@@ -241,31 +287,35 @@ int rtos_qsymbol(struct connection *connection, char *packet, int packet_size)
                }
        }
 
-       if (8 + (strlen(next_sym) * 2) + 1 > sizeof(reply)) {
-               LOG_ERROR("ERROR: RTOS symbol '%s' name is too long for GDB!", next_sym);
+       if (8 + (strlen(next_sym->symbol_name) * 2) + 1 > sizeof(reply)) {
+               LOG_ERROR("ERROR: RTOS symbol '%s' name is too long for GDB!", next_sym->symbol_name);
                goto done;
        }
 
+       LOG_DEBUG("RTOS: Requesting symbol lookup of '%s' from the debugger", next_sym->symbol_name);
+
        reply_len = snprintf(reply, sizeof(reply), "qSymbol:");
-       reply_len += hexify(reply + reply_len, next_sym, 0, sizeof(reply) - reply_len);
+       reply_len += hexify(reply + reply_len,
+               (const uint8_t *)next_sym->symbol_name, strlen(next_sym->symbol_name),
+               sizeof(reply) - reply_len);
 
 done:
        gdb_put_packet(connection, reply, reply_len);
        return rtos_detected;
 }
 
-int rtos_thread_packet(struct connection *connection, char *packet, int packet_size)
+int rtos_thread_packet(struct connection *connection, char const *packet, int packet_size)
 {
        struct target *target = get_target_from_connection(connection);
 
        if (strncmp(packet, "qThreadExtraInfo,", 17) == 0) {
-               if ((target->rtos != NULL) && (target->rtos->thread_details != NULL) &&
+               if ((target->rtos) && (target->rtos->thread_details) &&
                                (target->rtos->thread_count != 0)) {
                        threadid_t threadid = 0;
                        int found = -1;
                        sscanf(packet, "qThreadExtraInfo,%" SCNx64, &threadid);
 
-                       if ((target->rtos != NULL) && (target->rtos->thread_details != NULL)) {
+                       if ((target->rtos) && (target->rtos->thread_details)) {
                                int thread_num;
                                for (thread_num = 0; thread_num < target->rtos->thread_count; thread_num++) {
                                        if (target->rtos->thread_details[thread_num].threadid == threadid) {
@@ -282,35 +332,28 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
                        struct thread_detail *detail = &target->rtos->thread_details[found];
 
                        int str_size = 0;
-                       if (detail->display_str != NULL)
-                               str_size += strlen(detail->display_str);
-                       if (detail->thread_name_str != NULL)
+                       if (detail->thread_name_str)
                                str_size += strlen(detail->thread_name_str);
-                       if (detail->extra_info_str != NULL)
+                       if (detail->extra_info_str)
                                str_size += strlen(detail->extra_info_str);
 
-                       char *tmp_str = (char *) malloc(str_size + 7);
+                       char *tmp_str = calloc(str_size + 9, sizeof(char));
                        char *tmp_str_ptr = tmp_str;
 
-                       if (detail->display_str != NULL)
-                               tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->display_str);
-                       if (detail->thread_name_str != NULL) {
-                               if (tmp_str_ptr != tmp_str)
-                                       tmp_str_ptr += sprintf(tmp_str_ptr, " : ");
-                               tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->thread_name_str);
-                       }
-                       if (detail->extra_info_str != NULL) {
+                       if (detail->thread_name_str)
+                               tmp_str_ptr += sprintf(tmp_str_ptr, "Name: %s", detail->thread_name_str);
+                       if (detail->extra_info_str) {
                                if (tmp_str_ptr != tmp_str)
-                                       tmp_str_ptr += sprintf(tmp_str_ptr, " : ");
-                               tmp_str_ptr +=
-                                       sprintf(tmp_str_ptr, " : %s", detail->extra_info_str);
+                                       tmp_str_ptr += sprintf(tmp_str_ptr, ", ");
+                               tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->extra_info_str);
                        }
 
                        assert(strlen(tmp_str) ==
                                (size_t) (tmp_str_ptr - tmp_str));
 
-                       char *hex_str = (char *) malloc(strlen(tmp_str) * 2 + 1);
-                       int pkt_len = hexify(hex_str, tmp_str, 0, strlen(tmp_str) * 2 + 1);
+                       char *hex_str = malloc(strlen(tmp_str) * 2 + 1);
+                       size_t pkt_len = hexify(hex_str, (const uint8_t *)tmp_str,
+                               strlen(tmp_str), strlen(tmp_str) * 2 + 1);
 
                        gdb_put_packet(connection, hex_str, pkt_len);
                        free(hex_str);
@@ -322,19 +365,21 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
                return ERROR_OK;
        } else if (strncmp(packet, "qSymbol", 7) == 0) {
                if (rtos_qsymbol(connection, packet, packet_size) == 1) {
-                       target->rtos_auto_detect = false;
-                       target->rtos->type->create(target);
+                       if (target->rtos_auto_detect == true) {
+                               target->rtos_auto_detect = false;
+                               target->rtos->type->create(target);
+                       }
                        target->rtos->type->update_threads(target->rtos);
                }
                return ERROR_OK;
        } else if (strncmp(packet, "qfThreadInfo", 12) == 0) {
                int i;
-               if (target->rtos != NULL) {
+               if (target->rtos) {
                        if (target->rtos->thread_count == 0) {
                                gdb_put_packet(connection, "l", 1);
                        } else {
                                /*thread id are 16 char +1 for ',' */
-                               char *out_str = (char *) malloc(17 * target->rtos->thread_count + 1);
+                               char *out_str = malloc(17 * target->rtos->thread_count + 1);
                                char *tmp_str = out_str;
                                for (i = 0; i < target->rtos->thread_count; i++) {
                                        tmp_str += sprintf(tmp_str, "%c%016" PRIx64, i == 0 ? 'm' : ',',
@@ -344,7 +389,7 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
                                free(out_str);
                        }
                } else
-                       gdb_put_packet(connection, "", 0);
+                       gdb_put_packet(connection, "l", 1);
 
                return ERROR_OK;
        } else if (strncmp(packet, "qsThreadInfo", 12) == 0) {
@@ -362,7 +407,7 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
                 * otherwise it gets incorrectly handled */
                return GDB_THREAD_PACKET_NOT_CONSUMED;
        } else if (strncmp(packet, "qC", 2) == 0) {
-               if (target->rtos != NULL) {
+               if (target->rtos) {
                        char buffer[19];
                        int size;
                        size = snprintf(buffer, 19, "QC%016" PRIx64, target->rtos->current_thread);
@@ -374,7 +419,7 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
                threadid_t threadid;
                int found = -1;
                sscanf(packet, "T%" SCNx64, &threadid);
-               if ((target->rtos != NULL) && (target->rtos->thread_details != NULL)) {
+               if ((target->rtos) && (target->rtos->thread_details)) {
                        int thread_num;
                        for (thread_num = 0; thread_num < target->rtos->thread_count; thread_num++) {
                                if (target->rtos->thread_details[thread_num].threadid == threadid) {
@@ -390,8 +435,16 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
                return ERROR_OK;
        } else if (packet[0] == 'H') {  /* Set current thread ( 'c' for step and continue, 'g' for
                                         * all other operations ) */
-               if ((packet[1] == 'g') && (target->rtos != NULL))
-                       sscanf(packet, "Hg%16" SCNx64, &target->rtos->current_threadid);
+               if ((packet[1] == 'g') && (target->rtos)) {
+                       threadid_t threadid;
+                       sscanf(packet, "Hg%16" SCNx64, &threadid);
+                       LOG_DEBUG("RTOS: GDB requested to set current thread to 0x%" PRIx64, threadid);
+                       /* threadid of 0 indicates target should choose */
+                       if (threadid == 0)
+                               target->rtos->current_threadid = target->rtos->current_thread;
+                       else
+                               target->rtos->current_threadid = threadid;
+               }
                gdb_put_packet(connection, "OK", 2);
                return ERROR_OK;
        }
@@ -399,24 +452,125 @@ int rtos_thread_packet(struct connection *connection, char *packet, int packet_s
        return GDB_THREAD_PACKET_NOT_CONSUMED;
 }
 
+static int rtos_put_gdb_reg_list(struct connection *connection,
+               struct rtos_reg *reg_list, int num_regs)
+{
+       size_t num_bytes = 1; /* NUL */
+       for (int i = 0; i < num_regs; ++i)
+               num_bytes += DIV_ROUND_UP(reg_list[i].size, 8) * 2;
+
+       char *hex = malloc(num_bytes);
+       char *hex_p = hex;
+
+       for (int i = 0; i < num_regs; ++i) {
+               size_t count = DIV_ROUND_UP(reg_list[i].size, 8);
+               size_t n = hexify(hex_p, reg_list[i].value, count, num_bytes);
+               hex_p += n;
+               num_bytes -= n;
+       }
+
+       gdb_put_packet(connection, hex, strlen(hex));
+       free(hex);
+
+       return ERROR_OK;
+}
+
+/** Look through all registers to find this register. */
+int rtos_get_gdb_reg(struct connection *connection, int reg_num)
+{
+       struct target *target = get_target_from_connection(connection);
+       int64_t current_threadid = target->rtos->current_threadid;
+       if ((target->rtos) && (current_threadid != -1) &&
+                       (current_threadid != 0) &&
+                       ((current_threadid != target->rtos->current_thread) ||
+                       (target->smp))) {       /* in smp several current thread are possible */
+               struct rtos_reg *reg_list;
+               int num_regs;
+
+               LOG_DEBUG("getting register %d for thread 0x%" PRIx64
+                                 ", target->rtos->current_thread=0x%" PRIx64,
+                                                                               reg_num,
+                                                                               current_threadid,
+                                                                               target->rtos->current_thread);
+
+               int retval;
+               if (target->rtos->type->get_thread_reg) {
+                       reg_list = calloc(1, sizeof(*reg_list));
+                       num_regs = 1;
+                       retval = target->rtos->type->get_thread_reg(target->rtos,
+                                       current_threadid, reg_num, &reg_list[0]);
+                       if (retval != ERROR_OK) {
+                               LOG_ERROR("RTOS: failed to get register %d", reg_num);
+                               return retval;
+                       }
+               } else {
+                       retval = target->rtos->type->get_thread_reg_list(target->rtos,
+                                       current_threadid,
+                                       &reg_list,
+                                       &num_regs);
+                       if (retval != ERROR_OK) {
+                               LOG_ERROR("RTOS: failed to get register list");
+                               return retval;
+                       }
+               }
+
+               for (int i = 0; i < num_regs; ++i) {
+                       if (reg_list[i].number == (uint32_t)reg_num) {
+                               rtos_put_gdb_reg_list(connection, reg_list + i, 1);
+                               free(reg_list);
+                               return ERROR_OK;
+                       }
+               }
+
+               free(reg_list);
+       }
+       return ERROR_FAIL;
+}
+
+/** Return a list of general registers. */
 int rtos_get_gdb_reg_list(struct connection *connection)
 {
        struct target *target = get_target_from_connection(connection);
        int64_t current_threadid = target->rtos->current_threadid;
-       if ((target->rtos != NULL) && (current_threadid != -1) &&
+       if ((target->rtos) && (current_threadid != -1) &&
                        (current_threadid != 0) &&
                        ((current_threadid != target->rtos->current_thread) ||
                        (target->smp))) {       /* in smp several current thread are possible */
-               char *hex_reg_list;
-               target->rtos->type->get_thread_reg_list(target->rtos,
-                       current_threadid,
-                       &hex_reg_list);
-
-               if (hex_reg_list != NULL) {
-                       gdb_put_packet(connection, hex_reg_list, strlen(hex_reg_list));
-                       free(hex_reg_list);
-                       return ERROR_OK;
+               struct rtos_reg *reg_list;
+               int num_regs;
+
+               LOG_DEBUG("RTOS: getting register list for thread 0x%" PRIx64
+                                 ", target->rtos->current_thread=0x%" PRIx64 "\r\n",
+                                                                               current_threadid,
+                                                                               target->rtos->current_thread);
+
+               int retval = target->rtos->type->get_thread_reg_list(target->rtos,
+                               current_threadid,
+                               &reg_list,
+                               &num_regs);
+               if (retval != ERROR_OK) {
+                       LOG_ERROR("RTOS: failed to get register list");
+                       return retval;
                }
+
+               rtos_put_gdb_reg_list(connection, reg_list, num_regs);
+               free(reg_list);
+
+               return ERROR_OK;
+       }
+       return ERROR_FAIL;
+}
+
+int rtos_set_reg(struct connection *connection, int reg_num,
+               uint8_t *reg_value)
+{
+       struct target *target = get_target_from_connection(connection);
+       int64_t current_threadid = target->rtos->current_threadid;
+       if ((target->rtos) &&
+                       (target->rtos->type->set_reg) &&
+                       (current_threadid != -1) &&
+                       (current_threadid != 0)) {
+               return target->rtos->type->set_reg(target->rtos, reg_num, reg_value);
        }
        return ERROR_FAIL;
 }
@@ -424,12 +578,9 @@ int rtos_get_gdb_reg_list(struct connection *connection)
 int rtos_generic_stack_read(struct target *target,
        const struct rtos_register_stacking *stacking,
        int64_t stack_ptr,
-       char **hex_reg_list)
+       struct rtos_reg **reg_list,
+       int *num_regs)
 {
-       int list_size = 0;
-       char *tmp_str_ptr;
-       int64_t new_stack_ptr;
-       int i;
        int retval;
 
        if (stack_ptr == 0) {
@@ -437,7 +588,7 @@ int rtos_generic_stack_read(struct target *target,
                return -5;
        }
        /* Read the stack */
-       uint8_t *stack_data = (uint8_t *) malloc(stacking->stack_registers_size);
+       uint8_t *stack_data = malloc(stacking->stack_registers_size);
        uint32_t address = stack_ptr;
 
        if (stacking->stack_growth_direction == 1)
@@ -448,43 +599,44 @@ int rtos_generic_stack_read(struct target *target,
                LOG_ERROR("Error reading stack frame from thread");
                return retval;
        }
+       LOG_DEBUG("RTOS: Read stack frame at 0x%" PRIx32, address);
+
 #if 0
                LOG_OUTPUT("Stack Data :");
                for (i = 0; i < stacking->stack_registers_size; i++)
                        LOG_OUTPUT("%02X", stack_data[i]);
                LOG_OUTPUT("\r\n");
 #endif
-       for (i = 0; i < stacking->num_output_registers; i++)
-               list_size += stacking->register_offsets[i].width_bits/8;
-       *hex_reg_list = (char *)malloc(list_size*2 + 1);
-       tmp_str_ptr = *hex_reg_list;
-       new_stack_ptr = stack_ptr - stacking->stack_growth_direction *
-               stacking->stack_registers_size;
-       if (stacking->stack_alignment != 0) {
-               /* Align new stack pointer to x byte boundary */
-               new_stack_ptr =
-                       (new_stack_ptr & (~((int64_t) stacking->stack_alignment - 1))) +
-                       ((stacking->stack_growth_direction == -1) ? stacking->stack_alignment : 0);
+
+       target_addr_t new_stack_ptr;
+       if (stacking->calculate_process_stack) {
+               new_stack_ptr = stacking->calculate_process_stack(target,
+                               stack_data, stacking, stack_ptr);
+       } else {
+               new_stack_ptr = stack_ptr - stacking->stack_growth_direction *
+                       stacking->stack_registers_size;
        }
-       for (i = 0; i < stacking->num_output_registers; i++) {
-               int j;
-               for (j = 0; j < stacking->register_offsets[i].width_bits/8; j++) {
-                       if (stacking->register_offsets[i].offset == -1)
-                               tmp_str_ptr += sprintf(tmp_str_ptr, "%02x", 0);
-                       else if (stacking->register_offsets[i].offset == -2)
-                               tmp_str_ptr += sprintf(tmp_str_ptr, "%02x",
-                                               ((uint8_t *)&new_stack_ptr)[j]);
-                       else
-                               tmp_str_ptr += sprintf(tmp_str_ptr, "%02x",
-                                               stack_data[stacking->register_offsets[i].offset + j]);
-               }
+
+       *reg_list = calloc(stacking->num_output_registers, sizeof(struct rtos_reg));
+       *num_regs = stacking->num_output_registers;
+
+       for (int i = 0; i < stacking->num_output_registers; ++i) {
+               (*reg_list)[i].number = stacking->register_offsets[i].number;
+               (*reg_list)[i].size = stacking->register_offsets[i].width_bits;
+
+               int offset = stacking->register_offsets[i].offset;
+               if (offset == -2)
+                       buf_cpy(&new_stack_ptr, (*reg_list)[i].value, (*reg_list)[i].size);
+               else if (offset != -1)
+                       buf_cpy(stack_data + offset, (*reg_list)[i].value, (*reg_list)[i].size);
        }
+
        free(stack_data);
 /*     LOG_OUTPUT("Output register string: %s\r\n", *hex_reg_list); */
        return ERROR_OK;
 }
 
-int rtos_try_next(struct target *target)
+static int rtos_try_next(struct target *target)
 {
        struct rtos *os = target->rtos;
        struct rtos_type **type = rtos_types;
@@ -499,17 +651,50 @@ int rtos_try_next(struct target *target)
                return 0;
 
        os->type = *type;
-       if (os->symbols) {
-               free(os->symbols);
-               os->symbols = NULL;
-       }
+
+       free(os->symbols);
+       os->symbols = NULL;
 
        return 1;
 }
 
 int rtos_update_threads(struct target *target)
 {
-       if ((target->rtos != NULL) && (target->rtos->type != NULL))
+       if ((target->rtos) && (target->rtos->type))
                target->rtos->type->update_threads(target->rtos);
        return ERROR_OK;
 }
+
+void rtos_free_threadlist(struct rtos *rtos)
+{
+       if (rtos->thread_details) {
+               int j;
+
+               for (j = 0; j < rtos->thread_count; j++) {
+                       struct thread_detail *current_thread = &rtos->thread_details[j];
+                       free(current_thread->thread_name_str);
+                       free(current_thread->extra_info_str);
+               }
+               free(rtos->thread_details);
+               rtos->thread_details = NULL;
+               rtos->thread_count = 0;
+               rtos->current_threadid = -1;
+               rtos->current_thread = 0;
+       }
+}
+
+int rtos_read_buffer(struct target *target, target_addr_t address,
+               uint32_t size, uint8_t *buffer)
+{
+       if (target->rtos->type->read_buffer)
+               return target->rtos->type->read_buffer(target->rtos, address, size, buffer);
+       return ERROR_NOT_IMPLEMENTED;
+}
+
+int rtos_write_buffer(struct target *target, target_addr_t address,
+               uint32_t size, const uint8_t *buffer)
+{
+       if (target->rtos->type->write_buffer)
+               return target->rtos->type->write_buffer(target->rtos, address, size, buffer);
+       return ERROR_NOT_IMPLEMENTED;
+}