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   1 /***************************************************************************
   2  *   Copyright (C) 2012 by Matthias Blaicher                               *
   3  *   Matthias Blaicher - matthias@blaicher.com                             *
   4  *                                                                         *
   5  *   Copyright (C) 2011 by Broadcom Corporation                            *
   6  *   Evan Hunter - ehunter@broadcom.com                                    *
   7  *                                                                         *
   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.                                   *
  12  *                                                                         *
  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.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program; if not, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include <helper/time_support.h>
  29 #include <jtag/jtag.h>
  30 #include "target/target.h"
  31 #include "target/target_type.h"
  32 #include "rtos.h"
  33 #include "helper/log.h"
  34 #include "rtos_chibios_stackings.h"
  35
  36
  37 /**
  38  * @brief   ChibiOS/RT memory signature record.
  39  *
  40  * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
  41  */
  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
  56                                                                                                 field.                        */
  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
  61                                                                                                 field.                        */
  62         uint8_t   cf_off_time;            /**< @brief Offset of @p p_time field.  */
  63 };
  64
  65 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
  66 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
  67 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
  68
  69 /**
  70  * @brief ChibiOS thread states.
  71  */
  72 const char *ChibiOS_thread_states[] = {
  73         "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  74         "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
  75         "FINAL"
  76 };
  77
  78 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
  79
  80 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  81  * chars ought to be enough.
  82  */
  83 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  84
  85 struct ChibiOS_params {
  86         const char *target_name;
  87
  88         struct ChibiOS_chdebug *signature;
  89         const struct rtos_register_stacking *stacking_info;
  90 };
  91
  92 struct ChibiOS_params ChibiOS_params_list[] = {
  93         {
  94         "cortex_m3",                                                    /* target_name */
  95         0,
  96         &rtos_chibios_arm_v7m_stacking,         /* stacking_info */
  97         },
  98         {
  99         "stm32_stlink",                                                 /* target_name */
 100         0,
 101         &rtos_chibios_arm_v7m_stacking,         /* stacking_info */
 102         }
 103 };
 104 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
 105
 106 static int ChibiOS_detect_rtos(struct target *target);
 107 static int ChibiOS_create(struct target *target);
 108 static int ChibiOS_update_threads(struct rtos *rtos);
 109 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
 110 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
 111
 112 struct rtos_type ChibiOS_rtos = {
 113         .name = "ChibiOS",
 114
 115         .detect_rtos = ChibiOS_detect_rtos,
 116         .create = ChibiOS_create,
 117         .update_threads = ChibiOS_update_threads,
 118         .get_thread_reg_list = ChibiOS_get_thread_reg_list,
 119         .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 120 };
 121
 122 enum ChibiOS_symbol_values {
 123         ChibiOS_VAL_rlist = 0,
 124         ChibiOS_VAL_ch_debug = 1,
 125         ChibiOS_VAL_chSysInit = 2
 126 };
 127
 128 static char *ChibiOS_symbol_list[] = {
 129         "rlist",                /* Thread ready list*/
 130         "ch_debug",             /* Memory Signatur containing offsets of fields in rlist*/
 131         "chSysInit",    /* Necessary part of API, used for ChibiOS detection*/
 132         NULL
 133 };
 134
 135 #define CHIBIOS_NUM_SYMBOLS (sizeof(ChibiOS_symbol_list)/sizeof(char *))
 136
 137 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 138 {
 139         int retval;
 140         struct ChibiOS_params *param;
 141         struct ChibiOS_chdebug *signature;
 142
 143         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 144
 145         /* Free existing memory description.*/
 146         if (param->signature) {
 147                 free(param->signature);
 148                 param->signature = 0;
 149         }
 150
 151         signature = malloc(sizeof(*signature));
 152         if (!signature) {
 153                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 154                 return -1;
 155         }
 156
 157         retval = target_read_buffer(rtos->target,
 158                                                                 rtos->symbols[ChibiOS_VAL_ch_debug].address,
 159                                                                 sizeof(*signature),
 160                                                                 (uint8_t *) signature);
 161         if (retval != ERROR_OK) {
 162                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 163                 goto errfree;
 164         }
 165
 166         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 167                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 168                 goto errfree;
 169         }
 170
 171         if (signature->ch_size < sizeof(*signature)) {
 172                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 173                                 "than expected");
 174                 goto errfree;
 175         }
 176
 177         if (signature->ch_size > sizeof(*signature)) {
 178                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 179                                         " expected. Assuming compatibility...");
 180         }
 181
 182         /* Convert endianness of version field */
 183         const uint8_t *versionTarget = (const uint8_t *)
 184                                                                                 &signature->ch_version;
 185         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 186                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 187
 188         const uint16_t ch_version = signature->ch_version;
 189         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 190                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 191                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 192
 193         param->signature = signature;
 194         return 0;
 195
 196 errfree:
 197         /* Error reading the ChibiOS memory structure */
 198         free(signature);
 199         param->signature = 0;
 200         return -1;
 201 }
 202
 203
 204 static int ChibiOS_update_stacking(struct rtos *rtos)
 205 {
 206         /* Sometimes the stacking can not be determined only by looking at the
 207          * target name but only a runtime.
 208          *
 209          * For example, this is the case for cortex-m4 targets and ChibiOS which
 210          * only stack the FPU registers if it is enabled during ChibiOS build.
 211          *
 212          * Terminating which stacking is used is target depending.
 213          *
 214          * Assumptions:
 215          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 216          *  - During startup code, the FPU might not be initialized and the
 217          *    detection might fail.
 218          *  - Since no threads are running during startup, the problem is solved
 219          *    by delaying stacking detection until there are more threads
 220          *    available than the current execution. In which case
 221          *    ChibiOS_get_thread_reg_list is called.
 222          */
 223
 224         /* TODO: Add actual detection, currently it will not work  with FPU enabled.*/
 225         return -1;
 226 }
 227
 228 static int ChibiOS_update_threads(struct rtos *rtos)
 229 {
 230         int retval;
 231         const struct ChibiOS_params *param;
 232         int tasks_found = 0;
 233         int rtos_valid = -1;
 234
 235         if (!rtos->rtos_specific_params)
 236                 return -1;
 237
 238         if (!rtos->symbols) {
 239                 LOG_ERROR("No symbols for ChibiOS");
 240                 return -3;
 241         }
 242
 243         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 244         /* Update the memory signature saved in the target memory */
 245         if (!param->signature) {
 246                 retval = ChibiOS_update_memory_signature(rtos);
 247                 if (retval != ERROR_OK) {
 248                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 249                         return retval;
 250                 }
 251         }
 252
 253         /* wipe out previous thread details if any */
 254         int j;
 255         if (rtos->thread_details) {
 256                 for (j = 0; j < rtos->thread_count; j++) {
 257                         struct thread_detail *current_thread = &rtos->thread_details[j];
 258                         if (current_thread->display_str != NULL)
 259                                 free(current_thread->display_str);
 260                         if (current_thread->thread_name_str != NULL)
 261                                 free(current_thread->thread_name_str);
 262                         if (current_thread->extra_info_str != NULL)
 263                                 free(current_thread->extra_info_str);
 264                 }
 265                 free(rtos->thread_details);
 266                 rtos->thread_details = NULL;
 267                 rtos->thread_count = 0;
 268         }
 269         /* ChibiOS does not save the current thread count. We have to first
 270          * parse the double linked thread list to check for errors and the number of
 271          * threads. */
 272         uint32_t rlist;
 273         uint32_t current;
 274         uint32_t previous;
 275         uint32_t older;
 276
 277         retval = target_read_buffer(rtos->target,
 278                 rtos->symbols[ChibiOS_VAL_rlist].address,
 279                 param->signature->ch_ptrsize,
 280                 (uint8_t *)&rlist);
 281         if (retval != ERROR_OK) {
 282                 LOG_ERROR("Could not read ChibiOS ReadyList from target");
 283                 return retval;
 284         }
 285         current = rlist;
 286         previous = rlist;
 287         while (1) {
 288                 retval = target_read_buffer(rtos->target,
 289                         current + param->signature->cf_off_newer,
 290                         param->signature->ch_ptrsize,
 291                         (uint8_t *)&current);
 292                 if (retval != ERROR_OK) {
 293                         LOG_ERROR("Could not read next ChibiOS thread");
 294                         return retval;
 295                 }
 296                 /* Could be NULL if the kernel is not initialized yet or if the
 297                  * registry is corrupted. */
 298                 if (current == 0) {
 299                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 300
 301                         rtos_valid = 0;
 302                         break;
 303                 }
 304                 /* Fetch previous thread in the list as a integrity check. */
 305                 retval = target_read_buffer(rtos->target,
 306                   current + param->signature->cf_off_older,
 307                   param->signature->ch_ptrsize,
 308                   (uint8_t *)&older);
 309                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 310                         LOG_ERROR("ChibiOS registry integrity check failed, "
 311                                                 "double linked list violation");
 312                         rtos_valid = 0;
 313                         break;
 314                 }
 315                 /* Check for full iteration of the linked list. */
 316                 if (current == rlist)
 317                         break;
 318                 tasks_found++;
 319                 previous = current;
 320         }
 321         if (!rtos_valid) {
 322                 /* No RTOS, there is always at least the current execution, though */
 323                 LOG_INFO("Only showing current execution because of a broken "
 324                                 "ChibiOS thread registry.");
 325
 326                 const char tmp_thread_name[] = "Current Execution";
 327                 const char tmp_thread_extra_info[] = "No RTOS thread";
 328
 329                 rtos->thread_details = (struct thread_detail *) malloc(
 330                                 sizeof(struct thread_detail));
 331                 rtos->thread_details->threadid = 1;
 332                 rtos->thread_details->exists = true;
 333                 rtos->thread_details->display_str = NULL;
 334
 335                 rtos->thread_details->extra_info_str = (char *) malloc(
 336                                 sizeof(tmp_thread_extra_info));
 337                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 338
 339                 rtos->thread_details->thread_name_str = (char *) malloc(
 340                                 sizeof(tmp_thread_name));
 341                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 342
 343                 rtos->current_thread = 1;
 344                 rtos->thread_count = 1;
 345                 return ERROR_OK;
 346         }
 347
 348         /* create space for new thread details */
 349         rtos->thread_details = (struct thread_detail *) malloc(
 350                         sizeof(struct thread_detail) * tasks_found);
 351         if (!rtos->thread_details) {
 352                 LOG_ERROR("Could not allocate space for thread details");
 353                 return -1;
 354         }
 355
 356         rtos->thread_count = tasks_found;
 357         /* Loop through linked list. */
 358         struct thread_detail *curr_thrd_details = rtos->thread_details;
 359         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 360                 uint32_t name_ptr = 0;
 361                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 362
 363                 retval = target_read_buffer(rtos->target,
 364                                                                         current + param->signature->cf_off_newer,
 365                                                                         param->signature->ch_ptrsize,
 366                                                                         (uint8_t *)&current);
 367                 if (retval != ERROR_OK) {
 368                         LOG_ERROR("Could not read next ChibiOS thread");
 369                         return -6;
 370                 }
 371
 372                 /* Check for full iteration of the linked list. */
 373                 if (current == rlist)
 374                         break;
 375
 376                 /* Save the thread pointer */
 377                 curr_thrd_details->threadid = current;
 378
 379                 /* read the name pointer */
 380                 retval = target_read_buffer(rtos->target,
 381                                                                         current + param->signature->cf_off_name,
 382                                                                         param->signature->ch_ptrsize,
 383                                                                         (uint8_t *)&name_ptr);
 384                 if (retval != ERROR_OK) {
 385                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 386                         return retval;
 387                 }
 388
 389                 /* Read the thread name */
 390                 retval = target_read_buffer(rtos->target, name_ptr,
 391                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 392                                                                         (uint8_t *)&tmp_str);
 393                 if (retval != ERROR_OK) {
 394                         LOG_ERROR("Error reading thread name from ChibiOS target");
 395                         return retval;
 396                 }
 397                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 398
 399                 if (tmp_str[0] == '\x00')
 400                         strcpy(tmp_str, "No Name");
 401
 402                 curr_thrd_details->thread_name_str = (char *)malloc(
 403                                 strlen(tmp_str) + 1);
 404                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 405
 406                 /* State info */
 407                 uint8_t threadState;
 408                 const char *state_desc;
 409
 410                 retval = target_read_buffer(rtos->target,
 411                                                                         current + param->signature->cf_off_state,
 412                                                                         1, &threadState);
 413                 if (retval != ERROR_OK) {
 414                         LOG_ERROR("Error reading thread state from ChibiOS target");
 415                         return retval;
 416                 }
 417
 418
 419                 if (threadState < CHIBIOS_NUM_STATES)
 420                         state_desc = ChibiOS_thread_states[threadState];
 421                 else
 422                         state_desc = "Unknown state";
 423
 424                 curr_thrd_details->extra_info_str = (char *)malloc(strlen(
 425                                         state_desc)+1);
 426                 strcpy(curr_thrd_details->extra_info_str, state_desc);
 427
 428                 curr_thrd_details->exists = true;
 429                 curr_thrd_details->display_str = NULL;
 430
 431                 curr_thrd_details++;
 432         }
 433         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 434         retval = target_read_buffer(rtos->target,
 435                                                                 rlist + param->signature->cf_off_name,
 436                                                                 param->signature->ch_ptrsize,
 437                                                                 (uint8_t *)&rtos->current_thread);
 438         if (retval != ERROR_OK) {
 439                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 440                 return retval;
 441         }
 442
 443         return 0;
 444 }
 445
 446 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 447 {
 448         int retval;
 449         const struct ChibiOS_params *param;
 450         int64_t stack_ptr = 0;
 451
 452         *hex_reg_list = NULL;
 453         if ((rtos == NULL) || (thread_id == 0) ||
 454                         (rtos->rtos_specific_params == NULL))
 455                 return -1;
 456
 457         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 458
 459         if (!param->signature)
 460                 return -1;
 461
 462         /* Update stacking if it can only be determined from runtime information */
 463         if ((param->stacking_info == 0) &&
 464                 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
 465                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 466                 return -1;
 467         }
 468
 469         /* Read the stack pointer */
 470         retval = target_read_buffer(rtos->target,
 471                         thread_id + param->signature->cf_off_ctx,
 472                         param->signature->ch_ptrsize,
 473                         (uint8_t *)&stack_ptr);
 474         if (retval != ERROR_OK) {
 475                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 476                 return retval;
 477         }
 478
 479         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 480 }
 481
 482 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 483 {
 484         unsigned int i;
 485         *symbol_list = (symbol_table_elem_t *) malloc(
 486                         sizeof(symbol_table_elem_t) * CHIBIOS_NUM_SYMBOLS);
 487
 488         for (i = 0; i < CHIBIOS_NUM_SYMBOLS; i++)
 489                 (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
 490
 491         return 0;
 492 }
 493
 494 static int ChibiOS_detect_rtos(struct target *target)
 495 {
 496         if ((target->rtos->symbols != NULL) &&
 497                         (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
 498                         (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 499
 500                 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
 501                         LOG_INFO("It looks like the target is running ChibiOS without "
 502                                         "ch_debug.");
 503                         return 0;
 504                 }
 505
 506                 /* looks like ChibiOS with memory map enabled.*/
 507                 return 1;
 508         }
 509
 510         return 0;
 511 }
 512
 513 static int ChibiOS_create(struct target *target)
 514 {
 515         int i = 0;
 516         while ((i < CHIBIOS_NUM_PARAMS) &&
 517                         (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
 518                 i++;
 519         }
 520         if (i >= CHIBIOS_NUM_PARAMS) {
 521                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 522                                 "list", target->type->name);
 523                 return -1;
 524         }
 525
 526         target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
 527         return 0;
 528 }