1 // SPDX-License-Identifier: GPL-2.0-or-later
3 /***************************************************************************
4 * Copyright (C) 2011 by Broadcom Corporation *
5 * Evan Hunter - ehunter@broadcom.com *
6 ***************************************************************************/
12 #include <helper/time_support.h>
13 #include <jtag/jtag.h>
14 #include "target/target.h"
15 #include "target/target_type.h"
17 #include "helper/log.h"
18 #include "helper/types.h"
19 #include "rtos_standard_stackings.h"
20 #include "target/armv7m.h"
21 #include "target/cortex_m.h"
23 #define FREERTOS_MAX_PRIORITIES 63
25 /* FIXME: none of the _width parameters are actually observed properly!
26 * you WILL need to edit more if you actually attempt to target a 8/16/64
30 struct freertos_params
{
31 const char *target_name
;
32 const unsigned char thread_count_width
;
33 const unsigned char pointer_width
;
34 const unsigned char list_next_offset
;
35 const unsigned char list_width
;
36 const unsigned char list_elem_next_offset
;
37 const unsigned char list_elem_content_offset
;
38 const unsigned char thread_stack_offset
;
39 const unsigned char thread_name_offset
;
40 const struct rtos_register_stacking
*stacking_info_cm3
;
41 const struct rtos_register_stacking
*stacking_info_cm4f
;
42 const struct rtos_register_stacking
*stacking_info_cm4f_fpu
;
45 static const struct freertos_params freertos_params_list
[] = {
47 "cortex_m", /* target_name */
48 4, /* thread_count_width; */
49 4, /* pointer_width; */
50 16, /* list_next_offset; */
52 8, /* list_elem_next_offset; */
53 12, /* list_elem_content_offset */
54 0, /* thread_stack_offset; */
55 52, /* thread_name_offset; */
56 &rtos_standard_cortex_m3_stacking
, /* stacking_info */
57 &rtos_standard_cortex_m4f_stacking
,
58 &rtos_standard_cortex_m4f_fpu_stacking
,
61 "hla_target", /* target_name */
62 4, /* thread_count_width; */
63 4, /* pointer_width; */
64 16, /* list_next_offset; */
66 8, /* list_elem_next_offset; */
67 12, /* list_elem_content_offset */
68 0, /* thread_stack_offset; */
69 52, /* thread_name_offset; */
70 &rtos_standard_cortex_m3_stacking
, /* stacking_info */
71 &rtos_standard_cortex_m4f_stacking
,
72 &rtos_standard_cortex_m4f_fpu_stacking
,
76 static bool freertos_detect_rtos(struct target
*target
);
77 static int freertos_create(struct target
*target
);
78 static int freertos_update_threads(struct rtos
*rtos
);
79 static int freertos_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
80 struct rtos_reg
**reg_list
, int *num_regs
);
81 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem
*symbol_list
[]);
83 const struct rtos_type freertos_rtos
= {
86 .detect_rtos
= freertos_detect_rtos
,
87 .create
= freertos_create
,
88 .update_threads
= freertos_update_threads
,
89 .get_thread_reg_list
= freertos_get_thread_reg_list
,
90 .get_symbol_list_to_lookup
= freertos_get_symbol_list_to_lookup
,
93 enum freertos_symbol_values
{
94 FREERTOS_VAL_PX_CURRENT_TCB
= 0,
95 FREERTOS_VAL_PX_READY_TASKS_LISTS
= 1,
96 FREERTOS_VAL_X_DELAYED_TASK_LIST1
= 2,
97 FREERTOS_VAL_X_DELAYED_TASK_LIST2
= 3,
98 FREERTOS_VAL_PX_DELAYED_TASK_LIST
= 4,
99 FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST
= 5,
100 FREERTOS_VAL_X_PENDING_READY_LIST
= 6,
101 FREERTOS_VAL_X_TASKS_WAITING_TERMINATION
= 7,
102 FREERTOS_VAL_X_SUSPENDED_TASK_LIST
= 8,
103 FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
= 9,
104 FREERTOS_VAL_UX_TOP_USED_PRIORITY
= 10,
105 FREERTOS_VAL_X_SCHEDULER_RUNNING
= 11,
113 static const struct symbols freertos_symbol_list
[] = {
114 { "pxCurrentTCB", false },
115 { "pxReadyTasksLists", false },
116 { "xDelayedTaskList1", false },
117 { "xDelayedTaskList2", false },
118 { "pxDelayedTaskList", false },
119 { "pxOverflowDelayedTaskList", false },
120 { "xPendingReadyList", false },
121 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
122 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
123 { "uxCurrentNumberOfTasks", false },
124 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
125 { "xSchedulerRunning", false },
130 /* this is not safe for little endian yet */
131 /* may be problems reading if sizes are not 32 bit long integers. */
132 /* test mallocs for failure */
134 static int freertos_update_threads(struct rtos
*rtos
)
137 unsigned int tasks_found
= 0;
138 const struct freertos_params
*param
;
140 if (!rtos
->rtos_specific_params
)
143 param
= (const struct freertos_params
*) rtos
->rtos_specific_params
;
145 if (!rtos
->symbols
) {
146 LOG_ERROR("No symbols for FreeRTOS");
150 if (rtos
->symbols
[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
].address
== 0) {
151 LOG_ERROR("Don't have the number of threads in FreeRTOS");
155 uint32_t thread_list_size
= 0;
156 retval
= target_read_u32(rtos
->target
,
157 rtos
->symbols
[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
].address
,
159 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64
", value %" PRIu32
,
160 rtos
->symbols
[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS
].address
,
163 if (retval
!= ERROR_OK
) {
164 LOG_ERROR("Could not read FreeRTOS thread count from target");
168 /* wipe out previous thread details if any */
169 rtos_free_threadlist(rtos
);
171 /* read the current thread */
172 uint32_t pointer_casts_are_bad
;
173 retval
= target_read_u32(rtos
->target
,
174 rtos
->symbols
[FREERTOS_VAL_PX_CURRENT_TCB
].address
,
175 &pointer_casts_are_bad
);
176 if (retval
!= ERROR_OK
) {
177 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
180 rtos
->current_thread
= pointer_casts_are_bad
;
181 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64
", value 0x%" PRIx64
,
182 rtos
->symbols
[FREERTOS_VAL_PX_CURRENT_TCB
].address
,
183 rtos
->current_thread
);
185 /* read scheduler running */
186 uint32_t scheduler_running
;
187 retval
= target_read_u32(rtos
->target
,
188 rtos
->symbols
[FREERTOS_VAL_X_SCHEDULER_RUNNING
].address
,
190 if (retval
!= ERROR_OK
) {
191 LOG_ERROR("Error reading FreeRTOS scheduler state");
194 LOG_DEBUG("FreeRTOS: Read xSchedulerRunning at 0x%" PRIx64
", value 0x%" PRIx32
,
195 rtos
->symbols
[FREERTOS_VAL_X_SCHEDULER_RUNNING
].address
,
198 if ((thread_list_size
== 0) || (rtos
->current_thread
== 0) || (scheduler_running
!= 1)) {
199 /* Either : No RTOS threads - there is always at least the current execution though */
200 /* OR : No current thread - all threads suspended - show the current execution
202 char tmp_str
[] = "Current Execution";
205 rtos
->thread_details
= malloc(
206 sizeof(struct thread_detail
) * thread_list_size
);
207 if (!rtos
->thread_details
) {
208 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
211 rtos
->current_thread
= 1;
212 rtos
->thread_details
->threadid
= rtos
->current_thread
;
213 rtos
->thread_details
->exists
= true;
214 rtos
->thread_details
->extra_info_str
= NULL
;
215 rtos
->thread_details
->thread_name_str
= malloc(sizeof(tmp_str
));
216 strcpy(rtos
->thread_details
->thread_name_str
, tmp_str
);
218 if (thread_list_size
== 1) {
219 rtos
->thread_count
= 1;
223 /* create space for new thread details */
224 rtos
->thread_details
= malloc(
225 sizeof(struct thread_detail
) * thread_list_size
);
226 if (!rtos
->thread_details
) {
227 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
232 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
233 if (rtos
->symbols
[FREERTOS_VAL_UX_TOP_USED_PRIORITY
].address
== 0) {
234 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
237 uint32_t top_used_priority
= 0;
238 retval
= target_read_u32(rtos
->target
,
239 rtos
->symbols
[FREERTOS_VAL_UX_TOP_USED_PRIORITY
].address
,
241 if (retval
!= ERROR_OK
)
243 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64
", value %" PRIu32
,
244 rtos
->symbols
[FREERTOS_VAL_UX_TOP_USED_PRIORITY
].address
,
246 if (top_used_priority
> FREERTOS_MAX_PRIORITIES
) {
247 LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32
,
252 /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
253 * in old FreeRTOS versions (before V7.5.3)
254 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
255 * in newer FreeRTOS versions.
256 * Here we restore the original configMAX_PRIORITIES value */
257 unsigned int config_max_priorities
= top_used_priority
+ 1;
259 symbol_address_t
*list_of_lists
=
260 malloc(sizeof(symbol_address_t
) * (config_max_priorities
+ 5));
261 if (!list_of_lists
) {
262 LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities
);
266 unsigned int num_lists
;
267 for (num_lists
= 0; num_lists
< config_max_priorities
; num_lists
++)
268 list_of_lists
[num_lists
] = rtos
->symbols
[FREERTOS_VAL_PX_READY_TASKS_LISTS
].address
+
269 num_lists
* param
->list_width
;
271 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_DELAYED_TASK_LIST1
].address
;
272 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_DELAYED_TASK_LIST2
].address
;
273 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_PENDING_READY_LIST
].address
;
274 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_SUSPENDED_TASK_LIST
].address
;
275 list_of_lists
[num_lists
++] = rtos
->symbols
[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION
].address
;
277 for (unsigned int i
= 0; i
< num_lists
; i
++) {
278 if (list_of_lists
[i
] == 0)
281 /* Read the number of threads in this list */
282 uint32_t list_thread_count
= 0;
283 retval
= target_read_u32(rtos
->target
,
286 if (retval
!= ERROR_OK
) {
287 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
291 LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64
", value %" PRIu32
,
292 i
, list_of_lists
[i
], list_thread_count
);
294 if (list_thread_count
== 0)
297 /* Read the location of first list item */
298 uint32_t prev_list_elem_ptr
= -1;
299 uint32_t list_elem_ptr
= 0;
300 retval
= target_read_u32(rtos
->target
,
301 list_of_lists
[i
] + param
->list_next_offset
,
303 if (retval
!= ERROR_OK
) {
304 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
308 LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64
", value 0x%" PRIx32
,
309 i
, list_of_lists
[i
] + param
->list_next_offset
, list_elem_ptr
);
311 while ((list_thread_count
> 0) && (list_elem_ptr
!= 0) &&
312 (list_elem_ptr
!= prev_list_elem_ptr
) &&
313 (tasks_found
< thread_list_size
)) {
314 /* Get the location of the thread structure. */
315 retval
= target_read_u32(rtos
->target
,
316 list_elem_ptr
+ param
->list_elem_content_offset
,
317 &pointer_casts_are_bad
);
318 if (retval
!= ERROR_OK
) {
319 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
323 rtos
->thread_details
[tasks_found
].threadid
= pointer_casts_are_bad
;
324 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32
", value 0x%" PRIx64
,
325 list_elem_ptr
+ param
->list_elem_content_offset
,
326 rtos
->thread_details
[tasks_found
].threadid
);
328 /* get thread name */
330 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
331 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
333 /* Read the thread name */
334 retval
= target_read_buffer(rtos
->target
,
335 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
336 FREERTOS_THREAD_NAME_STR_SIZE
,
337 (uint8_t *)&tmp_str
);
338 if (retval
!= ERROR_OK
) {
339 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
343 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
344 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64
", value '%s'",
345 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
348 if (tmp_str
[0] == '\x00')
349 strcpy(tmp_str
, "No Name");
351 rtos
->thread_details
[tasks_found
].thread_name_str
=
352 malloc(strlen(tmp_str
)+1);
353 strcpy(rtos
->thread_details
[tasks_found
].thread_name_str
, tmp_str
);
354 rtos
->thread_details
[tasks_found
].exists
= true;
356 if (rtos
->thread_details
[tasks_found
].threadid
== rtos
->current_thread
) {
357 char running_str
[] = "State: Running";
358 rtos
->thread_details
[tasks_found
].extra_info_str
= malloc(
359 sizeof(running_str
));
360 strcpy(rtos
->thread_details
[tasks_found
].extra_info_str
,
363 rtos
->thread_details
[tasks_found
].extra_info_str
= NULL
;
367 rtos
->thread_count
= tasks_found
;
369 prev_list_elem_ptr
= list_elem_ptr
;
371 retval
= target_read_u32(rtos
->target
,
372 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
374 if (retval
!= ERROR_OK
) {
375 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
379 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32
", value 0x%" PRIx32
,
380 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
389 static int freertos_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
,
390 struct rtos_reg
**reg_list
, int *num_regs
)
393 const struct freertos_params
*param
;
394 int64_t stack_ptr
= 0;
402 if (!rtos
->rtos_specific_params
)
405 param
= (const struct freertos_params
*) rtos
->rtos_specific_params
;
407 /* Read the stack pointer */
408 uint32_t pointer_casts_are_bad
;
409 retval
= target_read_u32(rtos
->target
,
410 thread_id
+ param
->thread_stack_offset
,
411 &pointer_casts_are_bad
);
412 if (retval
!= ERROR_OK
) {
413 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
416 stack_ptr
= pointer_casts_are_bad
;
417 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64
", value 0x%" PRIx64
,
418 thread_id
+ param
->thread_stack_offset
,
421 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
422 int cm4_fpu_enabled
= 0;
423 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
424 if (is_armv7m(armv7m_target
)) {
425 if ((armv7m_target
->fp_feature
== FPV4_SP
) || (armv7m_target
->fp_feature
== FPV5_SP
) ||
426 (armv7m_target
->fp_feature
== FPV5_DP
)) {
427 /* Found ARM v7m target which includes a FPU */
430 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
431 if (retval
!= ERROR_OK
) {
432 LOG_ERROR("Could not read CPACR register to check FPU state");
436 /* Check if CP10 and CP11 are set to full access. */
437 if (cpacr
& 0x00F00000) {
438 /* Found target with enabled FPU */
444 if (cm4_fpu_enabled
== 1) {
445 /* Read the LR to decide between stacking with or without FPU */
447 retval
= target_read_u32(rtos
->target
,
450 if (retval
!= ERROR_OK
) {
451 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread");
454 if ((lr_svc
& 0x10) == 0)
455 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f_fpu
, stack_ptr
, reg_list
, num_regs
);
457 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f
, stack_ptr
, reg_list
, num_regs
);
459 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm3
, stack_ptr
, reg_list
, num_regs
);
462 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem
*symbol_list
[])
465 *symbol_list
= calloc(
466 ARRAY_SIZE(freertos_symbol_list
), sizeof(struct symbol_table_elem
));
468 for (i
= 0; i
< ARRAY_SIZE(freertos_symbol_list
); i
++) {
469 (*symbol_list
)[i
].symbol_name
= freertos_symbol_list
[i
].name
;
470 (*symbol_list
)[i
].optional
= freertos_symbol_list
[i
].optional
;
478 static int freertos_set_current_thread(struct rtos
*rtos
, threadid_t thread_id
)
483 static int freertos_get_thread_ascii_info(struct rtos
*rtos
, threadid_t thread_id
, char **info
)
486 const struct freertos_params
*param
;
494 if (!rtos
->rtos_specific_params
)
497 param
= (const struct freertos_params
*) rtos
->rtos_specific_params
;
499 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
500 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
502 /* Read the thread name */
503 retval
= target_read_buffer(rtos
->target
,
504 thread_id
+ param
->thread_name_offset
,
505 FREERTOS_THREAD_NAME_STR_SIZE
,
506 (uint8_t *)&tmp_str
);
507 if (retval
!= ERROR_OK
) {
508 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
511 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
513 if (tmp_str
[0] == '\x00')
514 strcpy(tmp_str
, "No Name");
516 *info
= malloc(strlen(tmp_str
)+1);
517 strcpy(*info
, tmp_str
);
523 static bool freertos_detect_rtos(struct target
*target
)
525 if ((target
->rtos
->symbols
) &&
526 (target
->rtos
->symbols
[FREERTOS_VAL_PX_READY_TASKS_LISTS
].address
!= 0)) {
527 /* looks like FreeRTOS */
533 static int freertos_create(struct target
*target
)
535 for (unsigned int i
= 0; i
< ARRAY_SIZE(freertos_params_list
); i
++)
536 if (strcmp(freertos_params_list
[i
].target_name
, target
->type
->name
) == 0) {
537 target
->rtos
->rtos_specific_params
= (void *)&freertos_params_list
[i
];
541 LOG_ERROR("Could not find target in FreeRTOS compatibility list");