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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 "helper/types.h"
  35 #include "rtos_chibios_stackings.h"
  36
  37
  38 /**
  39  * @brief   ChibiOS/RT memory signature record.
  40  *
  41  * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
  42  */
  43 struct ChibiOS_chdebug {
  44         char      ch_identifier[4];       /**< @brief Always set to "main".       */
  45         uint8_t   ch_zero;                /**< @brief Must be zero.               */
  46         uint8_t   ch_size;                /**< @brief Size of this structure.     */
  47         uint16_t  ch_version;             /**< @brief Encoded ChibiOS/RT version. */
  48         uint8_t   ch_ptrsize;             /**< @brief Size of a pointer.          */
  49         uint8_t   ch_timesize;            /**< @brief Size of a @p systime_t.     */
  50         uint8_t   ch_threadsize;          /**< @brief Size of a @p Thread struct. */
  51         uint8_t   cf_off_prio;            /**< @brief Offset of @p p_prio field.  */
  52         uint8_t   cf_off_ctx;             /**< @brief Offset of @p p_ctx field.   */
  53         uint8_t   cf_off_newer;           /**< @brief Offset of @p p_newer field. */
  54         uint8_t   cf_off_older;           /**< @brief Offset of @p p_older field. */
  55         uint8_t   cf_off_name;            /**< @brief Offset of @p p_name field.  */
  56         uint8_t   cf_off_stklimit;        /**< @brief Offset of @p p_stklimit
  57                                                                                                 field.                        */
  58         uint8_t   cf_off_state;           /**< @brief Offset of @p p_state field. */
  59         uint8_t   cf_off_flags;           /**< @brief Offset of @p p_flags field. */
  60         uint8_t   cf_off_refs;            /**< @brief Offset of @p p_refs field.  */
  61         uint8_t   cf_off_preempt;         /**< @brief Offset of @p p_preempt
  62                                                                                                 field.                        */
  63         uint8_t   cf_off_time;            /**< @brief Offset of @p p_time field.  */
  64 };
  65
  66 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
  67 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
  68 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
  69
  70 /**
  71  * @brief ChibiOS thread states.
  72  */
  73 const char *ChibiOS_thread_states[] = {
  74         "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  75         "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
  76         "FINAL"
  77 };
  78
  79 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
  80
  81 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  82  * chars ought to be enough.
  83  */
  84 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  85
  86 struct ChibiOS_params {
  87         const char *target_name;
  88
  89         struct ChibiOS_chdebug *signature;
  90         const struct rtos_register_stacking *stacking_info;
  91 };
  92
  93 struct ChibiOS_params ChibiOS_params_list[] = {
  94         {
  95         "cortex_m3",                                                    /* target_name */
  96         0,
  97         &rtos_chibios_arm_v7m_stacking,         /* stacking_info */
  98         },
  99         {
 100         "stm32_stlink",                                                 /* target_name */
 101         0,
 102         &rtos_chibios_arm_v7m_stacking,         /* stacking_info */
 103         }
 104 };
 105 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
 106
 107 static int ChibiOS_detect_rtos(struct target *target);
 108 static int ChibiOS_create(struct target *target);
 109 static int ChibiOS_update_threads(struct rtos *rtos);
 110 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
 111 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
 112
 113 struct rtos_type ChibiOS_rtos = {
 114         .name = "ChibiOS",
 115
 116         .detect_rtos = ChibiOS_detect_rtos,
 117         .create = ChibiOS_create,
 118         .update_threads = ChibiOS_update_threads,
 119         .get_thread_reg_list = ChibiOS_get_thread_reg_list,
 120         .get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 121 };
 122
 123 enum ChibiOS_symbol_values {
 124         ChibiOS_VAL_rlist = 0,
 125         ChibiOS_VAL_ch_debug = 1,
 126         ChibiOS_VAL_chSysInit = 2
 127 };
 128
 129 static char *ChibiOS_symbol_list[] = {
 130         "rlist",                /* Thread ready list*/
 131         "ch_debug",             /* Memory Signatur containing offsets of fields in rlist*/
 132         "chSysInit",    /* Necessary part of API, used for ChibiOS detection*/
 133         NULL
 134 };
 135
 136 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 137 {
 138         int retval;
 139         struct ChibiOS_params *param;
 140         struct ChibiOS_chdebug *signature;
 141
 142         param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 143
 144         /* Free existing memory description.*/
 145         if (param->signature) {
 146                 free(param->signature);
 147                 param->signature = 0;
 148         }
 149
 150         signature = malloc(sizeof(*signature));
 151         if (!signature) {
 152                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 153                 return -1;
 154         }
 155
 156         retval = target_read_buffer(rtos->target,
 157                                                                 rtos->symbols[ChibiOS_VAL_ch_debug].address,
 158                                                                 sizeof(*signature),
 159                                                                 (uint8_t *) signature);
 160         if (retval != ERROR_OK) {
 161                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 162                 goto errfree;
 163         }
 164
 165         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 166                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 167                 goto errfree;
 168         }
 169
 170         if (signature->ch_size < sizeof(*signature)) {
 171                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 172                                 "than expected");
 173                 goto errfree;
 174         }
 175
 176         if (signature->ch_size > sizeof(*signature)) {
 177                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 178                                         " expected. Assuming compatibility...");
 179         }
 180
 181         /* Convert endianness of version field */
 182         const uint8_t *versionTarget = (const uint8_t *)
 183                                                                                 &signature->ch_version;
 184         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 185                         le_to_h_u32(versionTarget) : be_to_h_u32(versionTarget);
 186
 187         const uint16_t ch_version = signature->ch_version;
 188         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 189                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 190                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 191
 192         param->signature = signature;
 193         return 0;
 194
 195 errfree:
 196         /* Error reading the ChibiOS memory structure */
 197         free(signature);
 198         param->signature = 0;
 199         return -1;
 200 }
 201
 202
 203 static int ChibiOS_update_stacking(struct rtos *rtos)
 204 {
 205         /* Sometimes the stacking can not be determined only by looking at the
 206          * target name but only a runtime.
 207          *
 208          * For example, this is the case for cortex-m4 targets and ChibiOS which
 209          * only stack the FPU registers if it is enabled during ChibiOS build.
 210          *
 211          * Terminating which stacking is used is target depending.
 212          *
 213          * Assumptions:
 214          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 215          *  - During startup code, the FPU might not be initialized and the
 216          *    detection might fail.
 217          *  - Since no threads are running during startup, the problem is solved
 218          *    by delaying stacking detection until there are more threads
 219          *    available than the current execution. In which case
 220          *    ChibiOS_get_thread_reg_list is called.
 221          */
 222
 223         /* TODO: Add actual detection, currently it will not work  with FPU enabled.*/
 224         return -1;
 225 }
 226
 227 static int ChibiOS_update_threads(struct rtos *rtos)
 228 {
 229         int retval;
 230         const struct ChibiOS_params *param;
 231         int tasks_found = 0;
 232         int rtos_valid = -1;
 233
 234         if (!rtos->rtos_specific_params)
 235                 return -1;
 236
 237         if (!rtos->symbols) {
 238                 LOG_ERROR("No symbols for ChibiOS");
 239                 return -3;
 240         }
 241
 242         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 243         /* Update the memory signature saved in the target memory */
 244         if (!param->signature) {
 245                 retval = ChibiOS_update_memory_signature(rtos);
 246                 if (retval != ERROR_OK) {
 247                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 248                         return retval;
 249                 }
 250         }
 251
 252         /* wipe out previous thread details if any */
 253         int j;
 254         if (rtos->thread_details) {
 255                 for (j = 0; j < rtos->thread_count; j++) {
 256                         struct thread_detail *current_thread = &rtos->thread_details[j];
 257                         if (current_thread->display_str != NULL)
 258                                 free(current_thread->display_str);
 259                         if (current_thread->thread_name_str != NULL)
 260                                 free(current_thread->thread_name_str);
 261                         if (current_thread->extra_info_str != NULL)
 262                                 free(current_thread->extra_info_str);
 263                 }
 264                 free(rtos->thread_details);
 265                 rtos->thread_details = NULL;
 266                 rtos->thread_count = 0;
 267         }
 268         /* ChibiOS does not save the current thread count. We have to first
 269          * parse the double linked thread list to check for errors and the number of
 270          * threads. */
 271         uint32_t rlist;
 272         uint32_t current;
 273         uint32_t previous;
 274         uint32_t older;
 275
 276         retval = target_read_buffer(rtos->target,
 277                 rtos->symbols[ChibiOS_VAL_rlist].address,
 278                 param->signature->ch_ptrsize,
 279                 (uint8_t *)&rlist);
 280         if (retval != ERROR_OK) {
 281                 LOG_ERROR("Could not read ChibiOS ReadyList from target");
 282                 return retval;
 283         }
 284         current = rlist;
 285         previous = rlist;
 286         while (1) {
 287                 retval = target_read_buffer(rtos->target,
 288                         current + param->signature->cf_off_newer,
 289                         param->signature->ch_ptrsize,
 290                         (uint8_t *)&current);
 291                 if (retval != ERROR_OK) {
 292                         LOG_ERROR("Could not read next ChibiOS thread");
 293                         return retval;
 294                 }
 295                 /* Could be NULL if the kernel is not initialized yet or if the
 296                  * registry is corrupted. */
 297                 if (current == 0) {
 298                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 299
 300                         rtos_valid = 0;
 301                         break;
 302                 }
 303                 /* Fetch previous thread in the list as a integrity check. */
 304                 retval = target_read_buffer(rtos->target,
 305                   current + param->signature->cf_off_older,
 306                   param->signature->ch_ptrsize,
 307                   (uint8_t *)&older);
 308                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 309                         LOG_ERROR("ChibiOS registry integrity check failed, "
 310                                                 "double linked list violation");
 311                         rtos_valid = 0;
 312                         break;
 313                 }
 314                 /* Check for full iteration of the linked list. */
 315                 if (current == rlist)
 316                         break;
 317                 tasks_found++;
 318                 previous = current;
 319         }
 320         if (!rtos_valid) {
 321                 /* No RTOS, there is always at least the current execution, though */
 322                 LOG_INFO("Only showing current execution because of a broken "
 323                                 "ChibiOS thread registry.");
 324
 325                 const char tmp_thread_name[] = "Current Execution";
 326                 const char tmp_thread_extra_info[] = "No RTOS thread";
 327
 328                 rtos->thread_details = (struct thread_detail *) malloc(
 329                                 sizeof(struct thread_detail));
 330                 rtos->thread_details->threadid = 1;
 331                 rtos->thread_details->exists = true;
 332                 rtos->thread_details->display_str = NULL;
 333
 334                 rtos->thread_details->extra_info_str = (char *) malloc(
 335                                 sizeof(tmp_thread_extra_info));
 336                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 337
 338                 rtos->thread_details->thread_name_str = (char *) malloc(
 339                                 sizeof(tmp_thread_name));
 340                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 341
 342                 rtos->current_thread = 1;
 343                 rtos->thread_count = 1;
 344                 return ERROR_OK;
 345         }
 346
 347         /* create space for new thread details */
 348         rtos->thread_details = (struct thread_detail *) malloc(
 349                         sizeof(struct thread_detail) * tasks_found);
 350         if (!rtos->thread_details) {
 351                 LOG_ERROR("Could not allocate space for thread details");
 352                 return -1;
 353         }
 354
 355         rtos->thread_count = tasks_found;
 356         /* Loop through linked list. */
 357         struct thread_detail *curr_thrd_details = rtos->thread_details;
 358         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 359                 uint32_t name_ptr = 0;
 360                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 361
 362                 retval = target_read_buffer(rtos->target,
 363                                                                         current + param->signature->cf_off_newer,
 364                                                                         param->signature->ch_ptrsize,
 365                                                                         (uint8_t *)&current);
 366                 if (retval != ERROR_OK) {
 367                         LOG_ERROR("Could not read next ChibiOS thread");
 368                         return -6;
 369                 }
 370
 371                 /* Check for full iteration of the linked list. */
 372                 if (current == rlist)
 373                         break;
 374
 375                 /* Save the thread pointer */
 376                 curr_thrd_details->threadid = current;
 377
 378                 /* read the name pointer */
 379                 retval = target_read_buffer(rtos->target,
 380                                                                         current + param->signature->cf_off_name,
 381                                                                         param->signature->ch_ptrsize,
 382                                                                         (uint8_t *)&name_ptr);
 383                 if (retval != ERROR_OK) {
 384                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 385                         return retval;
 386                 }
 387
 388                 /* Read the thread name */
 389                 retval = target_read_buffer(rtos->target, name_ptr,
 390                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 391                                                                         (uint8_t *)&tmp_str);
 392                 if (retval != ERROR_OK) {
 393                         LOG_ERROR("Error reading thread name from ChibiOS target");
 394                         return retval;
 395                 }
 396                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 397
 398                 if (tmp_str[0] == '\x00')
 399                         strcpy(tmp_str, "No Name");
 400
 401                 curr_thrd_details->thread_name_str = (char *)malloc(
 402                                 strlen(tmp_str) + 1);
 403                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 404
 405                 /* State info */
 406                 uint8_t threadState;
 407                 const char *state_desc;
 408
 409                 retval = target_read_buffer(rtos->target,
 410                                                                         current + param->signature->cf_off_state,
 411                                                                         1, &threadState);
 412                 if (retval != ERROR_OK) {
 413                         LOG_ERROR("Error reading thread state from ChibiOS target");
 414                         return retval;
 415                 }
 416
 417
 418                 if (threadState < CHIBIOS_NUM_STATES)
 419                         state_desc = ChibiOS_thread_states[threadState];
 420                 else
 421                         state_desc = "Unknown state";
 422
 423                 curr_thrd_details->extra_info_str = (char *)malloc(strlen(
 424                                         state_desc)+1);
 425                 strcpy(curr_thrd_details->extra_info_str, state_desc);
 426
 427                 curr_thrd_details->exists = true;
 428                 curr_thrd_details->display_str = NULL;
 429
 430                 curr_thrd_details++;
 431         }
 432         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 433         retval = target_read_buffer(rtos->target,
 434                                                                 rlist + param->signature->cf_off_name,
 435                                                                 param->signature->ch_ptrsize,
 436                                                                 (uint8_t *)&rtos->current_thread);
 437         if (retval != ERROR_OK) {
 438                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 439                 return retval;
 440         }
 441
 442         return 0;
 443 }
 444
 445 static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 446 {
 447         int retval;
 448         const struct ChibiOS_params *param;
 449         int64_t stack_ptr = 0;
 450
 451         *hex_reg_list = NULL;
 452         if ((rtos == NULL) || (thread_id == 0) ||
 453                         (rtos->rtos_specific_params == NULL))
 454                 return -1;
 455
 456         param = (const struct ChibiOS_params *) rtos->rtos_specific_params;
 457
 458         if (!param->signature)
 459                 return -1;
 460
 461         /* Update stacking if it can only be determined from runtime information */
 462         if ((param->stacking_info == 0) &&
 463                 (ChibiOS_update_stacking(rtos) != ERROR_OK)) {
 464                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 465                 return -1;
 466         }
 467
 468         /* Read the stack pointer */
 469         retval = target_read_buffer(rtos->target,
 470                         thread_id + param->signature->cf_off_ctx,
 471                         param->signature->ch_ptrsize,
 472                         (uint8_t *)&stack_ptr);
 473         if (retval != ERROR_OK) {
 474                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 475                 return retval;
 476         }
 477
 478         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 479 }
 480
 481 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 482 {
 483         unsigned int i;
 484         *symbol_list = (symbol_table_elem_t *) malloc(
 485                         sizeof(symbol_table_elem_t) * ARRAY_SIZE(ChibiOS_symbol_list));
 486
 487         for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
 488                 (*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
 489
 490         return 0;
 491 }
 492
 493 static int ChibiOS_detect_rtos(struct target *target)
 494 {
 495         if ((target->rtos->symbols != NULL) &&
 496                         (target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
 497                         (target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 498
 499                 if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
 500                         LOG_INFO("It looks like the target is running ChibiOS without "
 501                                         "ch_debug.");
 502                         return 0;
 503                 }
 504
 505                 /* looks like ChibiOS with memory map enabled.*/
 506                 return 1;
 507         }
 508
 509         return 0;
 510 }
 511
 512 static int ChibiOS_create(struct target *target)
 513 {
 514         int i = 0;
 515         while ((i < CHIBIOS_NUM_PARAMS) &&
 516                         (0 != strcmp(ChibiOS_params_list[i].target_name, target->type->name))) {
 517                 i++;
 518         }
 519         if (i >= CHIBIOS_NUM_PARAMS) {
 520                 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 521                                 "list", target->type->name);
 522                 return -1;
 523         }
 524
 525         target->rtos->rtos_specific_params = (void *) &ChibiOS_params_list[i];
 526         return 0;
 527 }