git.gag.com Git - fw/openocd/blob - src/rtos/chibios.c

   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, see <http://www.gnu.org/licenses/>. *
  20  ***************************************************************************/
  21
  22 #ifdef HAVE_CONFIG_H
  23 #include "config.h"
  24 #endif
  25
  26 #include <helper/time_support.h>
  27 #include <jtag/jtag.h>
  28 #include "target/target.h"
  29 #include "target/target_type.h"
  30 #include "target/armv7m.h"
  31 #include "target/cortex_m.h"
  32 #include "rtos.h"
  33 #include "helper/log.h"
  34 #include "helper/types.h"
  35 #include "rtos_chibios_stackings.h"
  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(coded_version) ((coded_version >> 11) & 0x1f)
  66 #define GET_CH_KERNEL_MINOR(coded_version) ((coded_version >> 6) & 0x1f)
  67 #define GET_CH_KERNEL_PATCH(coded_version) ((coded_version >> 0) & 0x3f)
  68
  69 /**
  70  * @brief ChibiOS thread states.
  71  */
  72 static const char * const chibios_thread_states[] = { "READY", "CURRENT",
  73 "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
  74 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL"
  75 };
  76
  77 #define CHIBIOS_NUM_STATES ARRAY_SIZE(chibios_thread_states)
  78
  79 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
  80  * chars ought to be enough.
  81  */
  82 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
  83
  84 struct chibios_params {
  85         const char *target_name;
  86
  87         struct chibios_chdebug *signature;
  88         const struct rtos_register_stacking *stacking_info;
  89 };
  90
  91 static struct chibios_params chibios_params_list[] = {
  92         {
  93         "cortex_m",                                                     /* target_name */
  94         0,
  95         NULL,                                                                   /* stacking_info */
  96         },
  97         {
  98         "hla_target",                                                   /* target_name */
  99         0,
 100         NULL,                                                                   /* stacking_info */
 101         }
 102 };
 103
 104 static bool chibios_detect_rtos(struct target *target);
 105 static int chibios_create(struct target *target);
 106 static int chibios_update_threads(struct rtos *rtos);
 107 static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
 108                 struct rtos_reg **reg_list, int *num_regs);
 109 static int chibios_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
 110
 111 struct rtos_type chibios_rtos = {
 112         .name = "chibios",
 113
 114         .detect_rtos = chibios_detect_rtos,
 115         .create = chibios_create,
 116         .update_threads = chibios_update_threads,
 117         .get_thread_reg_list = chibios_get_thread_reg_list,
 118         .get_symbol_list_to_lookup = chibios_get_symbol_list_to_lookup,
 119 };
 120
 121
 122 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
 123  * data structure ch. We declare both symbols as optional and later
 124  * use whatever is available.
 125  */
 126
 127 enum chibios_symbol_values {
 128         CHIBIOS_VAL_RLIST = 0,
 129         CHIBIOS_VAL_CH = 1,
 130         CHIBIOS_VAL_CH_DEBUG = 2
 131 };
 132
 133 static struct symbol_table_elem chibios_symbol_list[] = {
 134         { "rlist", 0, true},            /* Thread ready list */
 135         { "ch", 0, true},                       /* System data structure */
 136         { "ch_debug", 0, false},        /* Memory Signature containing offsets of fields in rlist */
 137         { NULL, 0, false}
 138 };
 139
 140 /* Offset of the rlist structure within the system data structure (ch) */
 141 #define CH_RLIST_OFFSET 0x00
 142
 143 static int chibios_update_memory_signature(struct rtos *rtos)
 144 {
 145         int retval;
 146         struct chibios_params *param;
 147         struct chibios_chdebug *signature;
 148
 149         param = (struct chibios_params *) rtos->rtos_specific_params;
 150
 151         /* Free existing memory description.*/
 152         free(param->signature);
 153         param->signature = NULL;
 154
 155         signature = malloc(sizeof(*signature));
 156         if (!signature) {
 157                 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
 158                 return -1;
 159         }
 160
 161         retval = target_read_buffer(rtos->target,
 162                                                                 rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address,
 163                                                                 sizeof(*signature),
 164                                                                 (uint8_t *) signature);
 165         if (retval != ERROR_OK) {
 166                 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
 167                 goto errfree;
 168         }
 169
 170         if (strncmp(signature->ch_identifier, "main", 4) != 0) {
 171                 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
 172                 goto errfree;
 173         }
 174
 175         if (signature->ch_size < sizeof(*signature)) {
 176                 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
 177                                 "than expected");
 178                 goto errfree;
 179         }
 180
 181         if (signature->ch_size > sizeof(*signature)) {
 182                 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
 183                                         " expected. Assuming compatibility...");
 184         }
 185
 186         /* Convert endianness of version field */
 187         const uint8_t *versiontarget = (const uint8_t *)
 188                                                                                 &signature->ch_version;
 189         signature->ch_version = rtos->target->endianness == TARGET_LITTLE_ENDIAN ?
 190                         le_to_h_u32(versiontarget) : be_to_h_u32(versiontarget);
 191
 192         const uint16_t ch_version = signature->ch_version;
 193         LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
 194                         "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version),
 195                         GET_CH_KERNEL_MINOR(ch_version), GET_CH_KERNEL_PATCH(ch_version));
 196
 197         /* Currently, we have the inherent assumption that all address pointers
 198          * are 32 bit wide. */
 199         if (signature->ch_ptrsize != sizeof(uint32_t)) {
 200                 LOG_ERROR("ChibiOS/RT target memory signature claims an address "
 201                                   "width unequal to 32 bits!");
 202                 free(signature);
 203                 return -1;
 204         }
 205
 206         param->signature = signature;
 207         return 0;
 208
 209 errfree:
 210         /* Error reading the ChibiOS memory structure */
 211         free(signature);
 212         param->signature = 0;
 213         return -1;
 214 }
 215
 216
 217 static int chibios_update_stacking(struct rtos *rtos)
 218 {
 219         /* Sometimes the stacking can not be determined only by looking at the
 220          * target name but only a runtime.
 221          *
 222          * For example, this is the case for Cortex-M4 targets and ChibiOS which
 223          * only stack the FPU registers if it is enabled during ChibiOS build.
 224          *
 225          * Terminating which stacking is used is target depending.
 226          *
 227          * Assumptions:
 228          *  - Once ChibiOS is actually initialized, the stacking is fixed.
 229          *  - During startup code, the FPU might not be initialized and the
 230          *    detection might fail.
 231          *  - Since no threads are running during startup, the problem is solved
 232          *    by delaying stacking detection until there are more threads
 233          *    available than the current execution. In which case
 234          *    chibios_get_thread_reg_list is called.
 235          */
 236         int retval;
 237
 238         if (!rtos->rtos_specific_params)
 239                 return -1;
 240
 241         struct chibios_params *param;
 242         param = (struct chibios_params *) rtos->rtos_specific_params;
 243
 244         /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4  */
 245         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 246         if (is_armv7m(armv7m_target)) {
 247                 if (armv7m_target->fp_feature != FP_NONE) {
 248                         /* Found ARM v7m target which includes a FPU */
 249                         uint32_t cpacr;
 250
 251                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 252                         if (retval != ERROR_OK) {
 253                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 254                                 return -1;
 255                         }
 256
 257                         /* Check if CP10 and CP11 are set to full access.
 258                          * In ChibiOS this is done in ResetHandler() in crt0.c */
 259                         if (cpacr & 0x00F00000) {
 260                                 LOG_DEBUG("Enabled FPU detected.");
 261                                 param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
 262                                 return 0;
 263                         }
 264                 }
 265
 266                 /* Found ARM v7m target with no or disabled FPU */
 267                 param->stacking_info = &rtos_chibios_arm_v7m_stacking;
 268                 return 0;
 269         }
 270
 271         return -1;
 272 }
 273
 274 static int chibios_update_threads(struct rtos *rtos)
 275 {
 276         int retval;
 277         const struct chibios_params *param;
 278         int tasks_found = 0;
 279         int rtos_valid = -1;
 280
 281         if (!rtos->rtos_specific_params)
 282                 return -1;
 283
 284         if (!rtos->symbols) {
 285                 LOG_ERROR("No symbols for ChibiOS");
 286                 return -3;
 287         }
 288
 289         param = (const struct chibios_params *) rtos->rtos_specific_params;
 290         /* Update the memory signature saved in the target memory */
 291         if (!param->signature) {
 292                 retval = chibios_update_memory_signature(rtos);
 293                 if (retval != ERROR_OK) {
 294                         LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
 295                         return retval;
 296                 }
 297         }
 298
 299         /* wipe out previous thread details if any */
 300         rtos_free_threadlist(rtos);
 301
 302         /* ChibiOS does not save the current thread count. We have to first
 303          * parse the double linked thread list to check for errors and the number of
 304          * threads. */
 305         const uint32_t rlist = rtos->symbols[CHIBIOS_VAL_RLIST].address ?
 306                 rtos->symbols[CHIBIOS_VAL_RLIST].address :
 307                 rtos->symbols[CHIBIOS_VAL_CH].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 308         const struct chibios_chdebug *signature = param->signature;
 309         uint32_t current;
 310         uint32_t previous;
 311         uint32_t older;
 312
 313         current = rlist;
 314         previous = rlist;
 315         while (1) {
 316                 retval = target_read_u32(rtos->target,
 317                                                                  current + signature->cf_off_newer, &current);
 318                 if (retval != ERROR_OK) {
 319                         LOG_ERROR("Could not read next ChibiOS thread");
 320                         return retval;
 321                 }
 322                 /* Could be NULL if the kernel is not initialized yet or if the
 323                  * registry is corrupted. */
 324                 if (current == 0) {
 325                         LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
 326
 327                         rtos_valid = 0;
 328                         break;
 329                 }
 330                 /* Fetch previous thread in the list as a integrity check. */
 331                 retval = target_read_u32(rtos->target,
 332                                                                  current + signature->cf_off_older, &older);
 333                 if ((retval != ERROR_OK) || (older == 0) || (older != previous)) {
 334                         LOG_ERROR("ChibiOS registry integrity check failed, "
 335                                                 "double linked list violation");
 336                         rtos_valid = 0;
 337                         break;
 338                 }
 339                 /* Check for full iteration of the linked list. */
 340                 if (current == rlist)
 341                         break;
 342                 tasks_found++;
 343                 previous = current;
 344         }
 345         if (!rtos_valid) {
 346                 /* No RTOS, there is always at least the current execution, though */
 347                 LOG_INFO("Only showing current execution because of a broken "
 348                                 "ChibiOS thread registry.");
 349
 350                 const char tmp_thread_name[] = "Current Execution";
 351                 const char tmp_thread_extra_info[] = "No RTOS thread";
 352
 353                 rtos->thread_details = malloc(
 354                                 sizeof(struct thread_detail));
 355                 rtos->thread_details->threadid = 1;
 356                 rtos->thread_details->exists = true;
 357
 358                 rtos->thread_details->extra_info_str = malloc(
 359                                 sizeof(tmp_thread_extra_info));
 360                 strcpy(rtos->thread_details->extra_info_str, tmp_thread_extra_info);
 361
 362                 rtos->thread_details->thread_name_str = malloc(
 363                                 sizeof(tmp_thread_name));
 364                 strcpy(rtos->thread_details->thread_name_str, tmp_thread_name);
 365
 366                 rtos->current_thread = 1;
 367                 rtos->thread_count = 1;
 368                 return ERROR_OK;
 369         }
 370
 371         /* create space for new thread details */
 372         rtos->thread_details = malloc(
 373                         sizeof(struct thread_detail) * tasks_found);
 374         if (!rtos->thread_details) {
 375                 LOG_ERROR("Could not allocate space for thread details");
 376                 return -1;
 377         }
 378
 379         rtos->thread_count = tasks_found;
 380         /* Loop through linked list. */
 381         struct thread_detail *curr_thrd_details = rtos->thread_details;
 382         while (curr_thrd_details < rtos->thread_details + tasks_found) {
 383                 uint32_t name_ptr = 0;
 384                 char tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE];
 385
 386                 retval = target_read_u32(rtos->target,
 387                                                                  current + signature->cf_off_newer, &current);
 388                 if (retval != ERROR_OK) {
 389                         LOG_ERROR("Could not read next ChibiOS thread");
 390                         return -6;
 391                 }
 392
 393                 /* Check for full iteration of the linked list. */
 394                 if (current == rlist)
 395                         break;
 396
 397                 /* Save the thread pointer */
 398                 curr_thrd_details->threadid = current;
 399
 400                 /* read the name pointer */
 401                 retval = target_read_u32(rtos->target,
 402                                                                  current + signature->cf_off_name, &name_ptr);
 403                 if (retval != ERROR_OK) {
 404                         LOG_ERROR("Could not read ChibiOS thread name pointer from target");
 405                         return retval;
 406                 }
 407
 408                 /* Read the thread name */
 409                 retval = target_read_buffer(rtos->target, name_ptr,
 410                                                                         CHIBIOS_THREAD_NAME_STR_SIZE,
 411                                                                         (uint8_t *)&tmp_str);
 412                 if (retval != ERROR_OK) {
 413                         LOG_ERROR("Error reading thread name from ChibiOS target");
 414                         return retval;
 415                 }
 416                 tmp_str[CHIBIOS_THREAD_NAME_STR_SIZE - 1] = '\x00';
 417
 418                 if (tmp_str[0] == '\x00')
 419                         strcpy(tmp_str, "No Name");
 420
 421                 curr_thrd_details->thread_name_str = malloc(
 422                                 strlen(tmp_str) + 1);
 423                 strcpy(curr_thrd_details->thread_name_str, tmp_str);
 424
 425                 /* State info */
 426                 uint8_t thread_state;
 427                 const char *state_desc;
 428
 429                 retval = target_read_u8(rtos->target,
 430                                                                 current + signature->cf_off_state, &thread_state);
 431                 if (retval != ERROR_OK) {
 432                         LOG_ERROR("Error reading thread state from ChibiOS target");
 433                         return retval;
 434                 }
 435
 436
 437                 if (thread_state < CHIBIOS_NUM_STATES)
 438                         state_desc = chibios_thread_states[thread_state];
 439                 else
 440                         state_desc = "Unknown";
 441
 442                 curr_thrd_details->extra_info_str = malloc(strlen(
 443                                         state_desc)+8);
 444                 sprintf(curr_thrd_details->extra_info_str, "State: %s", state_desc);
 445
 446                 curr_thrd_details->exists = true;
 447
 448                 curr_thrd_details++;
 449         }
 450
 451         uint32_t current_thrd;
 452         /* NOTE: By design, cf_off_name equals readylist_current_offset */
 453         retval = target_read_u32(rtos->target,
 454                                                          rlist + signature->cf_off_name,
 455                                                          &current_thrd);
 456         if (retval != ERROR_OK) {
 457                 LOG_ERROR("Could not read current Thread from ChibiOS target");
 458                 return retval;
 459         }
 460         rtos->current_thread = current_thrd;
 461
 462         return 0;
 463 }
 464
 465 static int chibios_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
 466                 struct rtos_reg **reg_list, int *num_regs)
 467 {
 468         int retval;
 469         const struct chibios_params *param;
 470         uint32_t stack_ptr = 0;
 471
 472         if ((!rtos) || (thread_id == 0) ||
 473                         (!rtos->rtos_specific_params))
 474                 return -1;
 475
 476         param = (const struct chibios_params *) rtos->rtos_specific_params;
 477
 478         if (!param->signature)
 479                 return -1;
 480
 481         /* Update stacking if it can only be determined from runtime information */
 482         if ((param->stacking_info == 0) &&
 483                 (chibios_update_stacking(rtos) != ERROR_OK)) {
 484                 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos->target->type->name);
 485                 return -1;
 486         }
 487
 488         /* Read the stack pointer */
 489         retval = target_read_u32(rtos->target,
 490                                                          thread_id + param->signature->cf_off_ctx, &stack_ptr);
 491         if (retval != ERROR_OK) {
 492                 LOG_ERROR("Error reading stack frame from ChibiOS thread");
 493                 return retval;
 494         }
 495
 496         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, reg_list, num_regs);
 497 }
 498
 499 static int chibios_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
 500 {
 501         *symbol_list = malloc(sizeof(chibios_symbol_list));
 502
 503         if (!*symbol_list)
 504                 return ERROR_FAIL;
 505
 506         memcpy(*symbol_list, chibios_symbol_list, sizeof(chibios_symbol_list));
 507         return 0;
 508 }
 509
 510 static bool chibios_detect_rtos(struct target *target)
 511 {
 512         if ((target->rtos->symbols) &&
 513                         ((target->rtos->symbols[CHIBIOS_VAL_RLIST].address != 0) ||
 514                          (target->rtos->symbols[CHIBIOS_VAL_CH].address != 0))) {
 515
 516                 if (target->rtos->symbols[CHIBIOS_VAL_CH_DEBUG].address == 0) {
 517                         LOG_INFO("It looks like the target may be running ChibiOS "
 518                                         "without ch_debug.");
 519                         return false;
 520                 }
 521
 522                 /* looks like ChibiOS with memory map enabled.*/
 523                 return true;
 524         }
 525
 526         return false;
 527 }
 528
 529 static int chibios_create(struct target *target)
 530 {
 531         for (unsigned int i = 0; i < ARRAY_SIZE(chibios_params_list); i++)
 532                 if (strcmp(chibios_params_list[i].target_name, target->type->name) == 0) {
 533                         target->rtos->rtos_specific_params = (void *)&chibios_params_list[i];
 534                         return 0;
 535                 }
 536
 537         LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
 538                                 "list", target->type->name);
 539         return -1;
 540 }