1 /***************************************************************************
2 * Copyright (C) 2012 by Matthias Blaicher *
3 * Matthias Blaicher - matthias@blaicher.com *
5 * Copyright (C) 2011 by Broadcom Corporation *
6 * Evan Hunter - ehunter@broadcom.com *
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. *
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. *
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 ***************************************************************************/
28 #include <helper/time_support.h>
29 #include <jtag/jtag.h>
30 #include "target/target.h"
31 #include "target/target_type.h"
32 #include "target/armv7m.h"
33 #include "target/cortex_m.h"
35 #include "helper/log.h"
36 #include "helper/types.h"
37 #include "rtos_chibios_stackings.h"
41 * @brief ChibiOS/RT memory signature record.
43 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
45 struct ChibiOS_chdebug
{
46 char ch_identifier
[4]; /**< @brief Always set to "main". */
47 uint8_t ch_zero
; /**< @brief Must be zero. */
48 uint8_t ch_size
; /**< @brief Size of this structure. */
49 uint16_t ch_version
; /**< @brief Encoded ChibiOS/RT version. */
50 uint8_t ch_ptrsize
; /**< @brief Size of a pointer. */
51 uint8_t ch_timesize
; /**< @brief Size of a @p systime_t. */
52 uint8_t ch_threadsize
; /**< @brief Size of a @p Thread struct. */
53 uint8_t cf_off_prio
; /**< @brief Offset of @p p_prio field. */
54 uint8_t cf_off_ctx
; /**< @brief Offset of @p p_ctx field. */
55 uint8_t cf_off_newer
; /**< @brief Offset of @p p_newer field. */
56 uint8_t cf_off_older
; /**< @brief Offset of @p p_older field. */
57 uint8_t cf_off_name
; /**< @brief Offset of @p p_name field. */
58 uint8_t cf_off_stklimit
; /**< @brief Offset of @p p_stklimit
60 uint8_t cf_off_state
; /**< @brief Offset of @p p_state field. */
61 uint8_t cf_off_flags
; /**< @brief Offset of @p p_flags field. */
62 uint8_t cf_off_refs
; /**< @brief Offset of @p p_refs field. */
63 uint8_t cf_off_preempt
; /**< @brief Offset of @p p_preempt
65 uint8_t cf_off_time
; /**< @brief Offset of @p p_time field. */
68 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
69 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
70 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
73 * @brief ChibiOS thread states.
75 const char *ChibiOS_thread_states
[] = {
76 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
77 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
81 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
83 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
84 * chars ought to be enough.
86 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
88 struct ChibiOS_params
{
89 const char *target_name
;
91 struct ChibiOS_chdebug
*signature
;
92 const struct rtos_register_stacking
*stacking_info
;
95 struct ChibiOS_params ChibiOS_params_list
[] = {
97 "cortex_m3", /* target_name */
99 NULL
, /* stacking_info */
102 "stm32_stlink", /* target_name */
104 NULL
, /* stacking_info */
107 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
109 static int ChibiOS_detect_rtos(struct target
*target
);
110 static int ChibiOS_create(struct target
*target
);
111 static int ChibiOS_update_threads(struct rtos
*rtos
);
112 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
113 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
115 struct rtos_type ChibiOS_rtos
= {
118 .detect_rtos
= ChibiOS_detect_rtos
,
119 .create
= ChibiOS_create
,
120 .update_threads
= ChibiOS_update_threads
,
121 .get_thread_reg_list
= ChibiOS_get_thread_reg_list
,
122 .get_symbol_list_to_lookup
= ChibiOS_get_symbol_list_to_lookup
,
125 enum ChibiOS_symbol_values
{
126 ChibiOS_VAL_rlist
= 0,
127 ChibiOS_VAL_ch_debug
= 1,
128 ChibiOS_VAL_chSysInit
= 2
131 static char *ChibiOS_symbol_list
[] = {
132 "rlist", /* Thread ready list*/
133 "ch_debug", /* Memory Signatur containing offsets of fields in rlist*/
134 "chSysInit", /* Necessary part of API, used for ChibiOS detection*/
138 static int ChibiOS_update_memory_signature(struct rtos
*rtos
)
141 struct ChibiOS_params
*param
;
142 struct ChibiOS_chdebug
*signature
;
144 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
146 /* Free existing memory description.*/
147 if (param
->signature
) {
148 free(param
->signature
);
149 param
->signature
= 0;
152 signature
= malloc(sizeof(*signature
));
154 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
158 retval
= target_read_buffer(rtos
->target
,
159 rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
,
161 (uint8_t *) signature
);
162 if (retval
!= ERROR_OK
) {
163 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
167 if (strncmp(signature
->ch_identifier
, "main", 4) != 0) {
168 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
172 if (signature
->ch_size
< sizeof(*signature
)) {
173 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
178 if (signature
->ch_size
> sizeof(*signature
)) {
179 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
180 " expected. Assuming compatibility...");
183 /* Convert endianness of version field */
184 const uint8_t *versionTarget
= (const uint8_t *)
185 &signature
->ch_version
;
186 signature
->ch_version
= rtos
->target
->endianness
== TARGET_LITTLE_ENDIAN
?
187 le_to_h_u32(versionTarget
) : be_to_h_u32(versionTarget
);
189 const uint16_t ch_version
= signature
->ch_version
;
190 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
191 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version
),
192 GET_CH_KERNEL_MINOR(ch_version
), GET_CH_KERNEL_PATCH(ch_version
));
194 param
->signature
= signature
;
198 /* Error reading the ChibiOS memory structure */
200 param
->signature
= 0;
205 static int ChibiOS_update_stacking(struct rtos
*rtos
)
207 /* Sometimes the stacking can not be determined only by looking at the
208 * target name but only a runtime.
210 * For example, this is the case for cortex-m4 targets and ChibiOS which
211 * only stack the FPU registers if it is enabled during ChibiOS build.
213 * Terminating which stacking is used is target depending.
216 * - Once ChibiOS is actually initialized, the stacking is fixed.
217 * - During startup code, the FPU might not be initialized and the
218 * detection might fail.
219 * - Since no threads are running during startup, the problem is solved
220 * by delaying stacking detection until there are more threads
221 * available than the current execution. In which case
222 * ChibiOS_get_thread_reg_list is called.
226 if (!rtos
->rtos_specific_params
)
229 struct ChibiOS_params
*param
;
230 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
232 /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */
233 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
234 if (is_armv7m(armv7m_target
)) {
235 if (armv7m_target
->fp_feature
== FPv4_SP
) {
236 /* Found ARM v7m target which includes a FPU */
239 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
240 if (retval
!= ERROR_OK
) {
241 LOG_ERROR("Could not read CPACR register to check FPU state");
245 /* Check if CP10 and CP11 are set to full access.
246 * In ChibiOS this is done in ResetHandler() in crt0.c */
247 if (cpacr
& 0x00F00000) {
248 /* Found target with enabled FPU */
249 /* FIXME: Need to figure out how to specify the FPU registers */
250 LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
251 " are NOT supported");
256 /* Found ARM v7m target with no or disabled FPU */
257 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking
;
264 static int ChibiOS_update_threads(struct rtos
*rtos
)
267 const struct ChibiOS_params
*param
;
271 if (!rtos
->rtos_specific_params
)
274 if (!rtos
->symbols
) {
275 LOG_ERROR("No symbols for ChibiOS");
279 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
280 /* Update the memory signature saved in the target memory */
281 if (!param
->signature
) {
282 retval
= ChibiOS_update_memory_signature(rtos
);
283 if (retval
!= ERROR_OK
) {
284 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
289 /* wipe out previous thread details if any */
291 if (rtos
->thread_details
) {
292 for (j
= 0; j
< rtos
->thread_count
; j
++) {
293 struct thread_detail
*current_thread
= &rtos
->thread_details
[j
];
294 if (current_thread
->display_str
!= NULL
)
295 free(current_thread
->display_str
);
296 if (current_thread
->thread_name_str
!= NULL
)
297 free(current_thread
->thread_name_str
);
298 if (current_thread
->extra_info_str
!= NULL
)
299 free(current_thread
->extra_info_str
);
301 free(rtos
->thread_details
);
302 rtos
->thread_details
= NULL
;
303 rtos
->thread_count
= 0;
305 /* ChibiOS does not save the current thread count. We have to first
306 * parse the double linked thread list to check for errors and the number of
308 const uint32_t rlist
= rtos
->symbols
[ChibiOS_VAL_rlist
].address
;
316 retval
= target_read_buffer(rtos
->target
,
317 current
+ param
->signature
->cf_off_newer
,
318 param
->signature
->ch_ptrsize
,
319 (uint8_t *)¤t
);
320 if (retval
!= ERROR_OK
) {
321 LOG_ERROR("Could not read next ChibiOS thread");
324 /* Could be NULL if the kernel is not initialized yet or if the
325 * registry is corrupted. */
327 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
332 /* Fetch previous thread in the list as a integrity check. */
333 retval
= target_read_buffer(rtos
->target
,
334 current
+ param
->signature
->cf_off_older
,
335 param
->signature
->ch_ptrsize
,
337 if ((retval
!= ERROR_OK
) || (older
== 0) || (older
!= previous
)) {
338 LOG_ERROR("ChibiOS registry integrity check failed, "
339 "double linked list violation");
343 /* Check for full iteration of the linked list. */
344 if (current
== rlist
)
350 /* No RTOS, there is always at least the current execution, though */
351 LOG_INFO("Only showing current execution because of a broken "
352 "ChibiOS thread registry.");
354 const char tmp_thread_name
[] = "Current Execution";
355 const char tmp_thread_extra_info
[] = "No RTOS thread";
357 rtos
->thread_details
= (struct thread_detail
*) malloc(
358 sizeof(struct thread_detail
));
359 rtos
->thread_details
->threadid
= 1;
360 rtos
->thread_details
->exists
= true;
361 rtos
->thread_details
->display_str
= NULL
;
363 rtos
->thread_details
->extra_info_str
= (char *) malloc(
364 sizeof(tmp_thread_extra_info
));
365 strcpy(rtos
->thread_details
->extra_info_str
, tmp_thread_extra_info
);
367 rtos
->thread_details
->thread_name_str
= (char *) malloc(
368 sizeof(tmp_thread_name
));
369 strcpy(rtos
->thread_details
->thread_name_str
, tmp_thread_name
);
371 rtos
->current_thread
= 1;
372 rtos
->thread_count
= 1;
376 /* create space for new thread details */
377 rtos
->thread_details
= (struct thread_detail
*) malloc(
378 sizeof(struct thread_detail
) * tasks_found
);
379 if (!rtos
->thread_details
) {
380 LOG_ERROR("Could not allocate space for thread details");
384 rtos
->thread_count
= tasks_found
;
385 /* Loop through linked list. */
386 struct thread_detail
*curr_thrd_details
= rtos
->thread_details
;
387 while (curr_thrd_details
< rtos
->thread_details
+ tasks_found
) {
388 uint32_t name_ptr
= 0;
389 char tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
];
391 retval
= target_read_buffer(rtos
->target
,
392 current
+ param
->signature
->cf_off_newer
,
393 param
->signature
->ch_ptrsize
,
394 (uint8_t *)¤t
);
395 if (retval
!= ERROR_OK
) {
396 LOG_ERROR("Could not read next ChibiOS thread");
400 /* Check for full iteration of the linked list. */
401 if (current
== rlist
)
404 /* Save the thread pointer */
405 curr_thrd_details
->threadid
= current
;
407 /* read the name pointer */
408 retval
= target_read_buffer(rtos
->target
,
409 current
+ param
->signature
->cf_off_name
,
410 param
->signature
->ch_ptrsize
,
411 (uint8_t *)&name_ptr
);
412 if (retval
!= ERROR_OK
) {
413 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
417 /* Read the thread name */
418 retval
= target_read_buffer(rtos
->target
, name_ptr
,
419 CHIBIOS_THREAD_NAME_STR_SIZE
,
420 (uint8_t *)&tmp_str
);
421 if (retval
!= ERROR_OK
) {
422 LOG_ERROR("Error reading thread name from ChibiOS target");
425 tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
- 1] = '\x00';
427 if (tmp_str
[0] == '\x00')
428 strcpy(tmp_str
, "No Name");
430 curr_thrd_details
->thread_name_str
= (char *)malloc(
431 strlen(tmp_str
) + 1);
432 strcpy(curr_thrd_details
->thread_name_str
, tmp_str
);
436 const char *state_desc
;
438 retval
= target_read_buffer(rtos
->target
,
439 current
+ param
->signature
->cf_off_state
,
441 if (retval
!= ERROR_OK
) {
442 LOG_ERROR("Error reading thread state from ChibiOS target");
447 if (threadState
< CHIBIOS_NUM_STATES
)
448 state_desc
= ChibiOS_thread_states
[threadState
];
450 state_desc
= "Unknown state";
452 curr_thrd_details
->extra_info_str
= (char *)malloc(strlen(
454 strcpy(curr_thrd_details
->extra_info_str
, state_desc
);
456 curr_thrd_details
->exists
= true;
457 curr_thrd_details
->display_str
= NULL
;
461 /* NOTE: By design, cf_off_name equals readylist_current_offset */
462 retval
= target_read_buffer(rtos
->target
,
463 rlist
+ param
->signature
->cf_off_name
,
464 param
->signature
->ch_ptrsize
,
465 (uint8_t *)&rtos
->current_thread
);
466 if (retval
!= ERROR_OK
) {
467 LOG_ERROR("Could not read current Thread from ChibiOS target");
474 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
477 const struct ChibiOS_params
*param
;
478 int64_t stack_ptr
= 0;
480 *hex_reg_list
= NULL
;
481 if ((rtos
== NULL
) || (thread_id
== 0) ||
482 (rtos
->rtos_specific_params
== NULL
))
485 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
487 if (!param
->signature
)
490 /* Update stacking if it can only be determined from runtime information */
491 if ((param
->stacking_info
== 0) &&
492 (ChibiOS_update_stacking(rtos
) != ERROR_OK
)) {
493 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos
->target
->type
->name
);
497 /* Read the stack pointer */
498 retval
= target_read_buffer(rtos
->target
,
499 thread_id
+ param
->signature
->cf_off_ctx
,
500 param
->signature
->ch_ptrsize
,
501 (uint8_t *)&stack_ptr
);
502 if (retval
!= ERROR_OK
) {
503 LOG_ERROR("Error reading stack frame from ChibiOS thread");
507 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info
, stack_ptr
, hex_reg_list
);
510 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
513 *symbol_list
= (symbol_table_elem_t
*) malloc(
514 sizeof(symbol_table_elem_t
) * ARRAY_SIZE(ChibiOS_symbol_list
));
516 for (i
= 0; i
< ARRAY_SIZE(ChibiOS_symbol_list
); i
++)
517 (*symbol_list
)[i
].symbol_name
= ChibiOS_symbol_list
[i
];
522 static int ChibiOS_detect_rtos(struct target
*target
)
524 if ((target
->rtos
->symbols
!= NULL
) &&
525 (target
->rtos
->symbols
[ChibiOS_VAL_rlist
].address
!= 0) &&
526 (target
->rtos
->symbols
[ChibiOS_VAL_chSysInit
].address
!= 0)) {
528 if (target
->rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
== 0) {
529 LOG_INFO("It looks like the target is running ChibiOS without "
534 /* looks like ChibiOS with memory map enabled.*/
541 static int ChibiOS_create(struct target
*target
)
544 while ((i
< CHIBIOS_NUM_PARAMS
) &&
545 (0 != strcmp(ChibiOS_params_list
[i
].target_name
, target
->type
->name
))) {
548 if (i
>= CHIBIOS_NUM_PARAMS
) {
549 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
550 "list", target
->type
->name
);
554 target
->rtos
->rtos_specific_params
= (void *) &ChibiOS_params_list
[i
];