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server/telnet: Restructure commands
[openocd.git] / src / rtos / FreeRTOS.c
blob20977e07e9b0c74bc902e05489561c273cd647df
1 // SPDX-License-Identifier: GPL-2.0-or-later
2
3 /***************************************************************************
4 * Copyright (C) 2011 by Broadcom Corporation *
5 * Evan Hunter - ehunter@broadcom.com *
6 ***************************************************************************/
7
8 #ifdef HAVE_CONFIG_H
9 #include "config.h"
10 #endif
11
12 #include <helper/time_support.h>
13 #include <jtag/jtag.h>
14 #include "target/target.h"
15 #include "rtos.h"
16 #include "helper/log.h"
17 #include "helper/types.h"
18 #include "rtos_standard_stackings.h"
19 #include "target/armv7m.h"
20 #include "target/cortex_m.h"
21
22 #define FREERTOS_MAX_PRIORITIES 63
23
24 /* FIXME: none of the _width parameters are actually observed properly!
25 * you WILL need to edit more if you actually attempt to target a 8/16/64
26 * bit target!
27 */
28
29 struct freertos_params {
30 const char *target_name;
31 const unsigned char thread_count_width;
32 const unsigned char pointer_width;
33 const unsigned char list_next_offset;
34 const unsigned char list_width;
35 const unsigned char list_elem_next_offset;
36 const unsigned char list_elem_content_offset;
37 const unsigned char thread_stack_offset;
38 const unsigned char thread_name_offset;
39 const struct rtos_register_stacking *stacking_info_cm3;
40 const struct rtos_register_stacking *stacking_info_cm4f;
41 const struct rtos_register_stacking *stacking_info_cm4f_fpu;
42 };
43
44 static const struct freertos_params freertos_params_list[] = {
45 {
46 "cortex_m", /* target_name */
47 4, /* thread_count_width; */
48 4, /* pointer_width; */
49 16, /* list_next_offset; */
50 20, /* list_width; */
51 8, /* list_elem_next_offset; */
52 12, /* list_elem_content_offset */
53 0, /* thread_stack_offset; */
54 52, /* thread_name_offset; */
55 &rtos_standard_cortex_m3_stacking, /* stacking_info */
56 &rtos_standard_cortex_m4f_stacking,
57 &rtos_standard_cortex_m4f_fpu_stacking,
58 },
59 {
60 "hla_target", /* target_name */
61 4, /* thread_count_width; */
62 4, /* pointer_width; */
63 16, /* list_next_offset; */
64 20, /* list_width; */
65 8, /* list_elem_next_offset; */
66 12, /* list_elem_content_offset */
67 0, /* thread_stack_offset; */
68 52, /* thread_name_offset; */
69 &rtos_standard_cortex_m3_stacking, /* stacking_info */
70 &rtos_standard_cortex_m4f_stacking,
71 &rtos_standard_cortex_m4f_fpu_stacking,
72 },
73 };
74
75 static bool freertos_detect_rtos(struct target *target);
76 static int freertos_create(struct target *target);
77 static int freertos_update_threads(struct rtos *rtos);
78 static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
79 struct rtos_reg **reg_list, int *num_regs);
80 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
81
82 const struct rtos_type freertos_rtos = {
83 .name = "FreeRTOS",
84
85 .detect_rtos = freertos_detect_rtos,
86 .create = freertos_create,
87 .update_threads = freertos_update_threads,
88 .get_thread_reg_list = freertos_get_thread_reg_list,
89 .get_symbol_list_to_lookup = freertos_get_symbol_list_to_lookup,
90 };
91
92 enum freertos_symbol_values {
93 FREERTOS_VAL_PX_CURRENT_TCB = 0,
94 FREERTOS_VAL_PX_READY_TASKS_LISTS = 1,
95 FREERTOS_VAL_X_DELAYED_TASK_LIST1 = 2,
96 FREERTOS_VAL_X_DELAYED_TASK_LIST2 = 3,
97 FREERTOS_VAL_PX_DELAYED_TASK_LIST = 4,
98 FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST = 5,
99 FREERTOS_VAL_X_PENDING_READY_LIST = 6,
100 FREERTOS_VAL_X_TASKS_WAITING_TERMINATION = 7,
101 FREERTOS_VAL_X_SUSPENDED_TASK_LIST = 8,
102 FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS = 9,
103 FREERTOS_VAL_UX_TOP_USED_PRIORITY = 10,
104 FREERTOS_VAL_X_SCHEDULER_RUNNING = 11,
105 };
106
107 struct symbols {
108 const char *name;
109 bool optional;
110 };
111
112 static const struct symbols freertos_symbol_list[] = {
113 { "pxCurrentTCB", false },
114 { "pxReadyTasksLists", false },
115 { "xDelayedTaskList1", false },
116 { "xDelayedTaskList2", false },
117 { "pxDelayedTaskList", false },
118 { "pxOverflowDelayedTaskList", false },
119 { "xPendingReadyList", false },
120 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
121 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
122 { "uxCurrentNumberOfTasks", false },
123 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
124 { "xSchedulerRunning", false },
125 { NULL, false }
126 };
127
128 /* TODO: */
129 /* this is not safe for little endian yet */
130 /* may be problems reading if sizes are not 32 bit long integers. */
131 /* test mallocs for failure */
132
133 static int freertos_update_threads(struct rtos *rtos)
134 {
135 int retval;
136 unsigned int tasks_found = 0;
137 const struct freertos_params *param;
138
139 if (!rtos->rtos_specific_params)
140 return -1;
141
142 param = (const struct freertos_params *) rtos->rtos_specific_params;
143
144 if (!rtos->symbols) {
145 LOG_ERROR("No symbols for FreeRTOS");
146 return -3;
147 }
148
149 if (rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address == 0) {
150 LOG_ERROR("Don't have the number of threads in FreeRTOS");
151 return -2;
152 }
153
154 uint32_t thread_list_size = 0;
155 retval = target_read_u32(rtos->target,
156 rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
157 &thread_list_size);
158 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu32,
159 rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
160 thread_list_size);
161
162 if (retval != ERROR_OK) {
163 LOG_ERROR("Could not read FreeRTOS thread count from target");
164 return retval;
165 }
166
167 /* wipe out previous thread details if any */
168 rtos_free_threadlist(rtos);
169
170 /* read the current thread */
171 uint32_t pointer_casts_are_bad;
172 retval = target_read_u32(rtos->target,
173 rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
174 &pointer_casts_are_bad);
175 if (retval != ERROR_OK) {
176 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
177 return retval;
178 }
179 rtos->current_thread = pointer_casts_are_bad;
180 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64,
181 rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
182 rtos->current_thread);
183
184 /* read scheduler running */
185 uint32_t scheduler_running;
186 retval = target_read_u32(rtos->target,
187 rtos->symbols[FREERTOS_VAL_X_SCHEDULER_RUNNING].address,
188 &scheduler_running);
189 if (retval != ERROR_OK) {
190 LOG_ERROR("Error reading FreeRTOS scheduler state");
191 return retval;
192 }
193 LOG_DEBUG("FreeRTOS: Read xSchedulerRunning at 0x%" PRIx64 ", value 0x%" PRIx32,
194 rtos->symbols[FREERTOS_VAL_X_SCHEDULER_RUNNING].address,
195 scheduler_running);
196
197 if ((thread_list_size == 0) || (rtos->current_thread == 0) || (scheduler_running != 1)) {
198 /* Either : No RTOS threads - there is always at least the current execution though */
199 /* OR : No current thread - all threads suspended - show the current execution
200 * of idling */
201 char tmp_str[] = "Current Execution";
202 thread_list_size++;
203 tasks_found++;
204 rtos->thread_details = malloc(
205 sizeof(struct thread_detail) * thread_list_size);
206 if (!rtos->thread_details) {
207 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
208 return ERROR_FAIL;
209 }
210 rtos->current_thread = 1;
211 rtos->thread_details->threadid = rtos->current_thread;
212 rtos->thread_details->exists = true;
213 rtos->thread_details->extra_info_str = NULL;
214 rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
215 strcpy(rtos->thread_details->thread_name_str, tmp_str);
216
217 if (thread_list_size == 1) {
218 rtos->thread_count = 1;
219 return ERROR_OK;
220 }
221 } else {
222 /* create space for new thread details */
223 rtos->thread_details = malloc(
224 sizeof(struct thread_detail) * thread_list_size);
225 if (!rtos->thread_details) {
226 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
227 return ERROR_FAIL;
228 }
229 }
230
231 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
232 if (rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address == 0) {
233 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
234 return ERROR_FAIL;
235 }
236 uint32_t top_used_priority = 0;
237 retval = target_read_u32(rtos->target,
238 rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
239 &top_used_priority);
240 if (retval != ERROR_OK)
241 return retval;
242 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu32,
243 rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
244 top_used_priority);
245 if (top_used_priority > FREERTOS_MAX_PRIORITIES) {
246 LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32,
247 top_used_priority);
248 return ERROR_FAIL;
249 }
250
251 /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
252 * in old FreeRTOS versions (before V7.5.3)
253 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
254 * in newer FreeRTOS versions.
255 * Here we restore the original configMAX_PRIORITIES value */
256 unsigned int config_max_priorities = top_used_priority + 1;
257
258 symbol_address_t *list_of_lists =
259 malloc(sizeof(symbol_address_t) * (config_max_priorities + 5));
260 if (!list_of_lists) {
261 LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities);
262 return ERROR_FAIL;
263 }
264
265 unsigned int num_lists;
266 for (num_lists = 0; num_lists < config_max_priorities; num_lists++)
267 list_of_lists[num_lists] = rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address +
268 num_lists * param->list_width;
269
270 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST1].address;
271 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST2].address;
272 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_PENDING_READY_LIST].address;
273 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_SUSPENDED_TASK_LIST].address;
274 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION].address;
275
276 for (unsigned int i = 0; i < num_lists; i++) {
277 if (list_of_lists[i] == 0)
278 continue;
279
280 /* Read the number of threads in this list */
281 uint32_t list_thread_count = 0;
282 retval = target_read_u32(rtos->target,
283 list_of_lists[i],
284 &list_thread_count);
285 if (retval != ERROR_OK) {
286 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
287 free(list_of_lists);
288 return retval;
289 }
290 LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64 ", value %" PRIu32,
291 i, list_of_lists[i], list_thread_count);
292
293 if (list_thread_count == 0)
294 continue;
295
296 /* Read the location of first list item */
297 uint32_t prev_list_elem_ptr = -1;
298 uint32_t list_elem_ptr = 0;
299 retval = target_read_u32(rtos->target,
300 list_of_lists[i] + param->list_next_offset,
301 &list_elem_ptr);
302 if (retval != ERROR_OK) {
303 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
304 free(list_of_lists);
305 return retval;
306 }
307 LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64 ", value 0x%" PRIx32,
308 i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
309
310 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
311 (list_elem_ptr != prev_list_elem_ptr) &&
312 (tasks_found < thread_list_size)) {
313 /* Get the location of the thread structure. */
314 retval = target_read_u32(rtos->target,
315 list_elem_ptr + param->list_elem_content_offset,
316 &pointer_casts_are_bad);
317 if (retval != ERROR_OK) {
318 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
319 free(list_of_lists);
320 return retval;
321 }
322 rtos->thread_details[tasks_found].threadid = pointer_casts_are_bad;
323 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32 ", value 0x%" PRIx64,
324 list_elem_ptr + param->list_elem_content_offset,
325 rtos->thread_details[tasks_found].threadid);
326
327 /* get thread name */
328
329 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
330 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
331
332 /* Read the thread name */
333 retval = target_read_buffer(rtos->target,
334 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
335 FREERTOS_THREAD_NAME_STR_SIZE,
336 (uint8_t *)&tmp_str);
337 if (retval != ERROR_OK) {
338 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
339 free(list_of_lists);
340 return retval;
341 }
342 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
343 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value '%s'",
344 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
345 tmp_str);
346
347 if (tmp_str[0] == '\x00')
348 strcpy(tmp_str, "No Name");
349
350 rtos->thread_details[tasks_found].thread_name_str =
351 malloc(strlen(tmp_str)+1);
352 strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
353 rtos->thread_details[tasks_found].exists = true;
354
355 if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
356 char running_str[] = "State: Running";
357 rtos->thread_details[tasks_found].extra_info_str = malloc(
358 sizeof(running_str));
359 strcpy(rtos->thread_details[tasks_found].extra_info_str,
360 running_str);
361 } else
362 rtos->thread_details[tasks_found].extra_info_str = NULL;
363
364 tasks_found++;
365 list_thread_count--;
366 rtos->thread_count = tasks_found;
367
368 prev_list_elem_ptr = list_elem_ptr;
369 list_elem_ptr = 0;
370 retval = target_read_u32(rtos->target,
371 prev_list_elem_ptr + param->list_elem_next_offset,
372 &list_elem_ptr);
373 if (retval != ERROR_OK) {
374 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
375 free(list_of_lists);
376 return retval;
377 }
378 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32 ", value 0x%" PRIx32,
379 prev_list_elem_ptr + param->list_elem_next_offset,
380 list_elem_ptr);
381 }
382 }
383
384 free(list_of_lists);
385 return 0;
386 }
387
388 static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
389 struct rtos_reg **reg_list, int *num_regs)
390 {
391 int retval;
392 const struct freertos_params *param;
393 int64_t stack_ptr = 0;
394
395 if (!rtos)
396 return -1;
397
398 if (thread_id == 0)
399 return -2;
400
401 if (!rtos->rtos_specific_params)
402 return -1;
403
404 param = (const struct freertos_params *) rtos->rtos_specific_params;
405
406 /* Read the stack pointer */
407 uint32_t pointer_casts_are_bad;
408 retval = target_read_u32(rtos->target,
409 thread_id + param->thread_stack_offset,
410 &pointer_casts_are_bad);
411 if (retval != ERROR_OK) {
412 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
413 return retval;
414 }
415 stack_ptr = pointer_casts_are_bad;
416 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64,
417 thread_id + param->thread_stack_offset,
418 stack_ptr);
419
420 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
421 int cm4_fpu_enabled = 0;
422 struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
423 if (is_armv7m(armv7m_target)) {
424 if ((armv7m_target->fp_feature == FPV4_SP) || (armv7m_target->fp_feature == FPV5_SP) ||
425 (armv7m_target->fp_feature == FPV5_DP)) {
426 /* Found ARM v7m target which includes a FPU */
427 uint32_t cpacr;
428
429 retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
430 if (retval != ERROR_OK) {
431 LOG_ERROR("Could not read CPACR register to check FPU state");
432 return -1;
433 }
434
435 /* Check if CP10 and CP11 are set to full access. */
436 if (cpacr & 0x00F00000) {
437 /* Found target with enabled FPU */
438 cm4_fpu_enabled = 1;
439 }
440 }
441 }
442
443 if (cm4_fpu_enabled == 1) {
444 /* Read the LR to decide between stacking with or without FPU */
445 uint32_t lr_svc = 0;
446 retval = target_read_u32(rtos->target,
447 stack_ptr + 0x20,
448 &lr_svc);
449 if (retval != ERROR_OK) {
450 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread");
451 return retval;
452 }
453 if ((lr_svc & 0x10) == 0)
454 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs);
455 else
456 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs);
457 } else
458 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs);
459 }
460
461 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
462 {
463 unsigned int i;
464 *symbol_list = calloc(
465 ARRAY_SIZE(freertos_symbol_list), sizeof(struct symbol_table_elem));
466
467 for (i = 0; i < ARRAY_SIZE(freertos_symbol_list); i++) {
468 (*symbol_list)[i].symbol_name = freertos_symbol_list[i].name;
469 (*symbol_list)[i].optional = freertos_symbol_list[i].optional;
470 }
471
472 return 0;
473 }
474
475 #if 0
476
477 static int freertos_set_current_thread(struct rtos *rtos, threadid_t thread_id)
478 {
479 return 0;
480 }
481
482 static int freertos_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
483 {
484 int retval;
485 const struct freertos_params *param;
486
487 if (!rtos)
488 return -1;
489
490 if (thread_id == 0)
491 return -2;
492
493 if (!rtos->rtos_specific_params)
494 return -3;
495
496 param = (const struct freertos_params *) rtos->rtos_specific_params;
497
498 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
499 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
500
501 /* Read the thread name */
502 retval = target_read_buffer(rtos->target,
503 thread_id + param->thread_name_offset,
504 FREERTOS_THREAD_NAME_STR_SIZE,
505 (uint8_t *)&tmp_str);
506 if (retval != ERROR_OK) {
507 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
508 return retval;
509 }
510 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
511
512 if (tmp_str[0] == '\x00')
513 strcpy(tmp_str, "No Name");
514
515 *info = malloc(strlen(tmp_str)+1);
516 strcpy(*info, tmp_str);
517 return 0;
518 }
519
520 #endif
521
522 static bool freertos_detect_rtos(struct target *target)
523 {
524 if ((target->rtos->symbols) &&
525 (target->rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address != 0)) {
526 /* looks like FreeRTOS */
527 return true;
528 }
529 return false;
530 }
531
532 static int freertos_create(struct target *target)
533 {
534 for (unsigned int i = 0; i < ARRAY_SIZE(freertos_params_list); i++)
535 if (strcmp(freertos_params_list[i].target_name, target_type_name(target)) == 0) {
536 target->rtos->rtos_specific_params = (void *)&freertos_params_list[i];
537 return 0;
538 }
539
540 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
541 return -1;
542 }
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