src/rtos/uCOS-III.c

   1 /***************************************************************************
   2  *   Copyright (C) 2017 by Square, Inc.                                    *
   3  *   Steven Stallion <stallion@squareup.com>                               *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  17  ***************************************************************************/
  18
  19 #ifdef HAVE_CONFIG_H
  20 #include "config.h"
  21 #endif
  22
  23 #include <helper/log.h>
  24 #include <helper/time_support.h>
  25 #include <helper/types.h>
  26 #include <rtos/rtos.h>
  27 #include <target/target.h>
  28 #include <target/target_type.h>
  29
  30 #include "rtos_ucos_iii_stackings.h"
  31
  32 #ifndef UCOS_III_MAX_STRLEN
  33 #define UCOS_III_MAX_STRLEN 64
  34 #endif
  35
  36 #ifndef UCOS_III_MAX_THREADS
  37 #define UCOS_III_MAX_THREADS 256
  38 #endif
  39
  40 struct uCOS_III_params {
  41         const char *target_name;
  42         const unsigned char pointer_width;
  43         symbol_address_t thread_stack_offset;
  44         symbol_address_t thread_name_offset;
  45         symbol_address_t thread_state_offset;
  46         symbol_address_t thread_priority_offset;
  47         symbol_address_t thread_prev_offset;
  48         symbol_address_t thread_next_offset;
  49         bool thread_offsets_updated;
  50         size_t threadid_start;
  51         const struct rtos_register_stacking *stacking_info;
  52         size_t num_threads;
  53         symbol_address_t threads[];
  54 };
  55
  56 static const struct uCOS_III_params uCOS_III_params_list[] = {
  57         {
  58                 "cortex_m",                                                     /* target_name */
  59                 sizeof(uint32_t),                                       /* pointer_width */
  60                 0,                                                                      /* thread_stack_offset */
  61                 0,                                                                      /* thread_name_offset */
  62                 0,                                                                      /* thread_state_offset */
  63                 0,                                                                      /* thread_priority_offset */
  64                 0,                                                                      /* thread_prev_offset */
  65                 0,                                                                      /* thread_next_offset */
  66                 false,                                                          /* thread_offsets_updated */
  67                 1,                                                                      /* threadid_start */
  68                 &rtos_uCOS_III_Cortex_M_stacking,       /* stacking_info */
  69                 0,                                                                      /* num_threads */
  70         },
  71 };
  72
  73 static const char * const uCOS_III_symbol_list[] = {
  74         "OSRunning",
  75         "OSTCBCurPtr",
  76         "OSTaskDbgListPtr",
  77         "OSTaskQty",
  78
  79         /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
  80         "openocd_OS_TCB_StkPtr_offset",
  81         "openocd_OS_TCB_NamePtr_offset",
  82         "openocd_OS_TCB_TaskState_offset",
  83         "openocd_OS_TCB_Prio_offset",
  84         "openocd_OS_TCB_DbgPrevPtr_offset",
  85         "openocd_OS_TCB_DbgNextPtr_offset",
  86         NULL
  87 };
  88
  89 enum uCOS_III_symbol_values {
  90         uCOS_III_VAL_OSRunning,
  91         uCOS_III_VAL_OSTCBCurPtr,
  92         uCOS_III_VAL_OSTaskDbgListPtr,
  93         uCOS_III_VAL_OSTaskQty,
  94
  95         /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
  96         uCOS_III_VAL_OS_TCB_StkPtr_offset,
  97         uCOS_III_VAL_OS_TCB_NamePtr_offset,
  98         uCOS_III_VAL_OS_TCB_TaskState_offset,
  99         uCOS_III_VAL_OS_TCB_Prio_offset,
 100         uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
 101         uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
 102 };
 103
 104 static const char * const uCOS_III_thread_state_list[] = {
 105         "Ready",
 106         "Delay",
 107         "Pend",
 108         "Pend Timeout",
 109         "Suspended",
 110         "Delay Suspended",
 111         "Pend Suspended",
 112         "Pend Timeout Suspended",
 113 };
 114
 115 static int uCOS_III_find_or_create_thread(struct rtos *rtos, symbol_address_t thread_address,
 116                 threadid_t *threadid)
 117 {
 118         struct uCOS_III_params *params = rtos->rtos_specific_params;
 119         size_t thread_index;
 120
 121         for (thread_index = 0; thread_index < params->num_threads; thread_index++)
 122                 if (params->threads[thread_index] == thread_address)
 123                         goto found;
 124
 125         if (params->num_threads == UCOS_III_MAX_THREADS) {
 126                 LOG_WARNING("uCOS-III: too many threads; increase UCOS_III_MAX_THREADS");
 127                 return ERROR_FAIL;
 128         }
 129
 130         params->threads[thread_index] = thread_address;
 131         params->num_threads++;
 132 found:
 133         *threadid = thread_index + params->threadid_start;
 134         return ERROR_OK;
 135 }
 136
 137 static int uCOS_III_find_thread_address(struct rtos *rtos, threadid_t threadid,
 138                 symbol_address_t *thread_address)
 139 {
 140         struct uCOS_III_params *params = rtos->rtos_specific_params;
 141         size_t thread_index;
 142
 143         thread_index = threadid - params->threadid_start;
 144         if (thread_index >= params->num_threads) {
 145                 LOG_ERROR("uCOS-III: failed to find thread address");
 146                 return ERROR_FAIL;
 147         }
 148
 149         *thread_address = params->threads[thread_index];
 150         return ERROR_OK;
 151 }
 152
 153 static int uCOS_III_find_last_thread_address(struct rtos *rtos, symbol_address_t *thread_address)
 154 {
 155         struct uCOS_III_params *params = rtos->rtos_specific_params;
 156         int retval;
 157
 158         /* read the thread list head */
 159         symbol_address_t thread_list_address = 0;
 160
 161         retval = target_read_memory(rtos->target,
 162                         rtos->symbols[uCOS_III_VAL_OSTaskDbgListPtr].address,
 163                         params->pointer_width,
 164                         1,
 165                         (void *)&thread_list_address);
 166         if (retval != ERROR_OK) {
 167                 LOG_ERROR("uCOS-III: failed to read thread list address");
 168                 return retval;
 169         }
 170
 171         /* advance to end of thread list */
 172         do {
 173                 *thread_address = thread_list_address;
 174
 175                 retval = target_read_memory(rtos->target,
 176                                 thread_list_address + params->thread_next_offset,
 177                                 params->pointer_width,
 178                                 1,
 179                                 (void *)&thread_list_address);
 180                 if (retval != ERROR_OK) {
 181                         LOG_ERROR("uCOS-III: failed to read next thread address");
 182                         return retval;
 183                 }
 184         } while (thread_list_address != 0);
 185
 186         return ERROR_OK;
 187 }
 188
 189 static int uCOS_III_update_thread_offsets(struct rtos *rtos)
 190 {
 191         struct uCOS_III_params *params = rtos->rtos_specific_params;
 192
 193         if (params->thread_offsets_updated)
 194                 return ERROR_OK;
 195
 196         const struct thread_offset_map {
 197                 enum uCOS_III_symbol_values symbol_value;
 198                 symbol_address_t *thread_offset;
 199         } thread_offset_maps[] = {
 200                 {
 201                         uCOS_III_VAL_OS_TCB_StkPtr_offset,
 202                         &params->thread_stack_offset,
 203                 },
 204                 {
 205                         uCOS_III_VAL_OS_TCB_NamePtr_offset,
 206                         &params->thread_name_offset,
 207                 },
 208                 {
 209                         uCOS_III_VAL_OS_TCB_TaskState_offset,
 210                         &params->thread_state_offset,
 211                 },
 212                 {
 213                         uCOS_III_VAL_OS_TCB_Prio_offset,
 214                         &params->thread_priority_offset,
 215                 },
 216                 {
 217                         uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
 218                         &params->thread_prev_offset,
 219                 },
 220                 {
 221                         uCOS_III_VAL_OS_TCB_DbgNextPtr_offset,
 222                         &params->thread_next_offset,
 223                 },
 224         };
 225
 226         for (size_t i = 0; i < ARRAY_SIZE(thread_offset_maps); i++) {
 227                 const struct thread_offset_map *thread_offset_map = &thread_offset_maps[i];
 228
 229                 int retval = target_read_memory(rtos->target,
 230                                 rtos->symbols[thread_offset_map->symbol_value].address,
 231                                 params->pointer_width,
 232                                 1,
 233                                 (void *)thread_offset_map->thread_offset);
 234                 if (retval != ERROR_OK) {
 235                         LOG_ERROR("uCOS-III: failed to read thread offset");
 236                         return retval;
 237                 }
 238         }
 239
 240         params->thread_offsets_updated = true;
 241         return ERROR_OK;
 242 }
 243
 244 static bool uCOS_III_detect_rtos(struct target *target)
 245 {
 246         return target->rtos->symbols != NULL &&
 247                         target->rtos->symbols[uCOS_III_VAL_OSRunning].address != 0;
 248 }
 249
 250 static int uCOS_III_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv)
 251 {
 252         struct uCOS_III_params *params = target->rtos->rtos_specific_params;
 253
 254         params->thread_offsets_updated = false;
 255         params->num_threads = 0;
 256
 257         return ERROR_OK;
 258 }
 259
 260 static int uCOS_III_create(struct target *target)
 261 {
 262         struct uCOS_III_params *params;
 263
 264         for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_params_list); i++)
 265                 if (strcmp(uCOS_III_params_list[i].target_name, target->type->name) == 0) {
 266                         params = malloc(sizeof(*params) + (UCOS_III_MAX_THREADS * sizeof(*params->threads)));
 267                         if (params == NULL) {
 268                                 LOG_ERROR("uCOS-III: out of memory");
 269                                 return ERROR_FAIL;
 270                         }
 271
 272                         memcpy(params, &uCOS_III_params_list[i], sizeof(uCOS_III_params_list[i]));
 273                         target->rtos->rtos_specific_params = (void *)params;
 274
 275                         target_register_reset_callback(uCOS_III_reset_handler, NULL);
 276
 277                         return ERROR_OK;
 278                 }
 279
 280         LOG_ERROR("uCOS-III: target not supported: %s", target->type->name);
 281         return ERROR_FAIL;
 282 }
 283
 284 static int uCOS_III_update_threads(struct rtos *rtos)
 285 {
 286         struct uCOS_III_params *params = rtos->rtos_specific_params;
 287         int retval;
 288
 289         /* free previous thread details */
 290         rtos_free_threadlist(rtos);
 291
 292         /* verify RTOS is running */
 293         uint8_t rtos_running;
 294
 295         retval = target_read_u8(rtos->target,
 296                         rtos->symbols[uCOS_III_VAL_OSRunning].address,
 297                         &rtos_running);
 298         if (retval != ERROR_OK) {
 299                 LOG_ERROR("uCOS-III: failed to read RTOS running");
 300                 return retval;
 301         }
 302
 303         if (rtos_running != 1 && rtos_running != 0) {
 304                 LOG_ERROR("uCOS-III: invalid RTOS running value");
 305                 return ERROR_FAIL;
 306         }
 307
 308         if (!rtos_running) {
 309                 rtos->thread_details = calloc(1, sizeof(struct thread_detail));
 310                 if (rtos->thread_details == NULL) {
 311                         LOG_ERROR("uCOS-III: out of memory");
 312                         return ERROR_FAIL;
 313                 }
 314
 315                 rtos->thread_count = 1;
 316                 rtos->thread_details->threadid = 0;
 317                 rtos->thread_details->exists = true;
 318                 rtos->current_thread = 0;
 319
 320                 return ERROR_OK;
 321         }
 322
 323         /* update thread offsets */
 324         retval = uCOS_III_update_thread_offsets(rtos);
 325         if (retval != ERROR_OK) {
 326                 LOG_ERROR("uCOS-III: failed to update thread offsets");
 327                 return retval;
 328         }
 329
 330         /* read current thread address */
 331         symbol_address_t current_thread_address = 0;
 332
 333         retval = target_read_memory(rtos->target,
 334                         rtos->symbols[uCOS_III_VAL_OSTCBCurPtr].address,
 335                         params->pointer_width,
 336                         1,
 337                         (void *)&current_thread_address);
 338         if (retval != ERROR_OK) {
 339                 LOG_ERROR("uCOS-III: failed to read current thread address");
 340                 return retval;
 341         }
 342
 343         /* read number of tasks */
 344         retval = target_read_u16(rtos->target,
 345                         rtos->symbols[uCOS_III_VAL_OSTaskQty].address,
 346                         (void *)&rtos->thread_count);
 347         if (retval != ERROR_OK) {
 348                 LOG_ERROR("uCOS-III: failed to read thread count");
 349                 return retval;
 350         }
 351
 352         rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
 353         if (rtos->thread_details == NULL) {
 354                 LOG_ERROR("uCOS-III: out of memory");
 355                 return ERROR_FAIL;
 356         }
 357
 358         /*
 359          * uC/OS-III adds tasks in LIFO order; advance to the end of the
 360          * list and work backwards to preserve the intended order.
 361          */
 362         symbol_address_t thread_address = 0;
 363
 364         retval = uCOS_III_find_last_thread_address(rtos, &thread_address);
 365         if (retval != ERROR_OK) {
 366                 LOG_ERROR("uCOS-III: failed to find last thread address");
 367                 return retval;
 368         }
 369
 370         for (int i = 0; i < rtos->thread_count; i++) {
 371                 struct thread_detail *thread_detail = &rtos->thread_details[i];
 372                 char thread_str_buffer[UCOS_III_MAX_STRLEN + 1];
 373
 374                 /* find or create new threadid */
 375                 retval = uCOS_III_find_or_create_thread(rtos, thread_address, &thread_detail->threadid);
 376                 if (retval != ERROR_OK) {
 377                         LOG_ERROR("uCOS-III: failed to find or create thread");
 378                         return retval;
 379                 }
 380
 381                 if (thread_address == current_thread_address)
 382                         rtos->current_thread = thread_detail->threadid;
 383
 384                 thread_detail->exists = true;
 385
 386                 /* read thread name */
 387                 symbol_address_t thread_name_address = 0;
 388
 389                 retval = target_read_memory(rtos->target,
 390                                 thread_address + params->thread_name_offset,
 391                                 params->pointer_width,
 392                                 1,
 393                                 (void *)&thread_name_address);
 394                 if (retval != ERROR_OK) {
 395                         LOG_ERROR("uCOS-III: failed to name address");
 396                         return retval;
 397                 }
 398
 399                 retval = target_read_buffer(rtos->target,
 400                                 thread_name_address,
 401                                 sizeof(thread_str_buffer),
 402                                 (void *)thread_str_buffer);
 403                 if (retval != ERROR_OK) {
 404                         LOG_ERROR("uCOS-III: failed to read thread name");
 405                         return retval;
 406                 }
 407
 408                 thread_str_buffer[sizeof(thread_str_buffer) - 1] = '\0';
 409                 thread_detail->thread_name_str = strdup(thread_str_buffer);
 410
 411                 /* read thread extra info */
 412                 uint8_t thread_state;
 413                 uint8_t thread_priority;
 414
 415                 retval = target_read_u8(rtos->target,
 416                                 thread_address + params->thread_state_offset,
 417                                 &thread_state);
 418                 if (retval != ERROR_OK) {
 419                         LOG_ERROR("uCOS-III: failed to read thread state");
 420                         return retval;
 421                 }
 422
 423                 retval = target_read_u8(rtos->target,
 424                                 thread_address + params->thread_priority_offset,
 425                                 &thread_priority);
 426                 if (retval != ERROR_OK) {
 427                         LOG_ERROR("uCOS-III: failed to read thread priority");
 428                         return retval;
 429                 }
 430
 431                 const char *thread_state_str;
 432
 433                 if (thread_state < ARRAY_SIZE(uCOS_III_thread_state_list))
 434                         thread_state_str = uCOS_III_thread_state_list[thread_state];
 435                 else
 436                         thread_state_str = "Unknown";
 437
 438                 snprintf(thread_str_buffer, sizeof(thread_str_buffer), "State: %s, Priority: %d",
 439                                 thread_state_str, thread_priority);
 440                 thread_detail->extra_info_str = strdup(thread_str_buffer);
 441
 442                 /* read previous thread address */
 443                 retval = target_read_memory(rtos->target,
 444                                 thread_address + params->thread_prev_offset,
 445                                 params->pointer_width,
 446                                 1,
 447                                 (void *)&thread_address);
 448                 if (retval != ERROR_OK) {
 449                         LOG_ERROR("uCOS-III: failed to read previous thread address");
 450                         return retval;
 451                 }
 452         }
 453
 454         return ERROR_OK;
 455 }
 456
 457 static int uCOS_III_get_thread_reg_list(struct rtos *rtos, threadid_t threadid, char **hex_reg_list)
 458 {
 459         struct uCOS_III_params *params = rtos->rtos_specific_params;
 460         int retval;
 461
 462         /* find thread address for threadid */
 463         symbol_address_t thread_address = 0;
 464
 465         retval = uCOS_III_find_thread_address(rtos, threadid, &thread_address);
 466         if (retval != ERROR_OK) {
 467                 LOG_ERROR("uCOS-III: failed to find thread address");
 468                 return retval;
 469         }
 470
 471         /* read thread stack address */
 472         symbol_address_t stack_address = 0;
 473
 474         retval = target_read_memory(rtos->target,
 475                         thread_address + params->thread_stack_offset,
 476                         params->pointer_width,
 477                         1,
 478                         (void *)&stack_address);
 479         if (retval != ERROR_OK) {
 480                 LOG_ERROR("uCOS-III: failed to read stack address");
 481                 return retval;
 482         }
 483
 484         return rtos_generic_stack_read(rtos->target,
 485                         params->stacking_info,
 486                         stack_address,
 487                         hex_reg_list);
 488 }
 489
 490 static int uCOS_III_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 491 {
 492         *symbol_list = calloc(ARRAY_SIZE(uCOS_III_symbol_list), sizeof(symbol_table_elem_t));
 493         if (*symbol_list == NULL) {
 494                 LOG_ERROR("uCOS-III: out of memory");
 495                 return ERROR_FAIL;
 496         }
 497
 498         for (size_t i = 0; i < ARRAY_SIZE(uCOS_III_symbol_list); i++)
 499                 (*symbol_list)[i].symbol_name = uCOS_III_symbol_list[i];
 500
 501         return ERROR_OK;
 502 }
 503
 504 const struct rtos_type uCOS_III_rtos = {
 505         .name = "uCOS-III",
 506         .detect_rtos = uCOS_III_detect_rtos,
 507         .create = uCOS_III_create,
 508         .update_threads = uCOS_III_update_threads,
 509         .get_thread_reg_list = uCOS_III_get_thread_reg_list,
 510         .get_symbol_list_to_lookup = uCOS_III_get_symbol_list_to_lookup,
 511 };