1 /***************************************************************************
2 * Copyright (C) 2011 by Broadcom Corporation *
3 * Evan Hunter - ehunter@broadcom.com *
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. *
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. *
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 ***************************************************************************/
23 #include <helper/time_support.h>
24 #include <jtag/jtag.h>
25 #include "target/target.h"
26 #include "target/target_type.h"
28 #include "helper/log.h"
29 #include "helper/types.h"
30 #include "rtos_standard_stackings.h"
31 #include "target/armv7m.h"
32 #include "target/cortex_m.h"
36 #define FREERTOS_MAX_PRIORITIES 63
38 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
40 struct FreeRTOS_params
{
41 const char *target_name
;
42 const unsigned char thread_count_width
;
43 const unsigned char pointer_width
;
44 const unsigned char list_next_offset
;
45 const unsigned char list_width
;
46 const unsigned char list_elem_next_offset
;
47 const unsigned char list_elem_content_offset
;
48 const unsigned char thread_stack_offset
;
49 const unsigned char thread_name_offset
;
50 const struct rtos_register_stacking
*stacking_info_cm3
;
51 const struct rtos_register_stacking
*stacking_info_cm4f
;
52 const struct rtos_register_stacking
*stacking_info_cm4f_fpu
;
55 static const struct FreeRTOS_params FreeRTOS_params_list
[] = {
57 "cortex_m", /* target_name */
58 4, /* thread_count_width; */
59 4, /* pointer_width; */
60 16, /* list_next_offset; */
62 8, /* list_elem_next_offset; */
63 12, /* list_elem_content_offset */
64 0, /* thread_stack_offset; */
65 52, /* thread_name_offset; */
66 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
67 &rtos_standard_Cortex_M4F_stacking
,
68 &rtos_standard_Cortex_M4F_FPU_stacking
,
71 "hla_target", /* target_name */
72 4, /* thread_count_width; */
73 4, /* pointer_width; */
74 16, /* list_next_offset; */
76 8, /* list_elem_next_offset; */
77 12, /* list_elem_content_offset */
78 0, /* thread_stack_offset; */
79 52, /* thread_name_offset; */
80 &rtos_standard_Cortex_M3_stacking
, /* stacking_info */
81 &rtos_standard_Cortex_M4F_stacking
,
82 &rtos_standard_Cortex_M4F_FPU_stacking
,
85 "nds32_v3", /* target_name */
86 4, /* thread_count_width; */
87 4, /* pointer_width; */
88 16, /* list_next_offset; */
90 8, /* list_elem_next_offset; */
91 12, /* list_elem_content_offset */
92 0, /* thread_stack_offset; */
93 52, /* thread_name_offset; */
94 &rtos_standard_NDS32_N1068_stacking
, /* stacking_info */
95 &rtos_standard_Cortex_M4F_stacking
,
96 &rtos_standard_Cortex_M4F_FPU_stacking
,
100 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
102 static int FreeRTOS_detect_rtos(struct target
*target
);
103 static int FreeRTOS_create(struct target
*target
);
104 static int FreeRTOS_update_threads(struct rtos
*rtos
);
105 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
106 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
108 struct rtos_type FreeRTOS_rtos
= {
111 .detect_rtos
= FreeRTOS_detect_rtos
,
112 .create
= FreeRTOS_create
,
113 .update_threads
= FreeRTOS_update_threads
,
114 .get_thread_reg_list
= FreeRTOS_get_thread_reg_list
,
115 .get_symbol_list_to_lookup
= FreeRTOS_get_symbol_list_to_lookup
,
118 enum FreeRTOS_symbol_values
{
119 FreeRTOS_VAL_pxCurrentTCB
= 0,
120 FreeRTOS_VAL_pxReadyTasksLists
= 1,
121 FreeRTOS_VAL_xDelayedTaskList1
= 2,
122 FreeRTOS_VAL_xDelayedTaskList2
= 3,
123 FreeRTOS_VAL_pxDelayedTaskList
= 4,
124 FreeRTOS_VAL_pxOverflowDelayedTaskList
= 5,
125 FreeRTOS_VAL_xPendingReadyList
= 6,
126 FreeRTOS_VAL_xTasksWaitingTermination
= 7,
127 FreeRTOS_VAL_xSuspendedTaskList
= 8,
128 FreeRTOS_VAL_uxCurrentNumberOfTasks
= 9,
129 FreeRTOS_VAL_uxTopUsedPriority
= 10,
137 static const struct symbols FreeRTOS_symbol_list
[] = {
138 { "pxCurrentTCB", false },
139 { "pxReadyTasksLists", false },
140 { "xDelayedTaskList1", false },
141 { "xDelayedTaskList2", false },
142 { "pxDelayedTaskList", false },
143 { "pxOverflowDelayedTaskList", false },
144 { "xPendingReadyList", false },
145 { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
146 { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
147 { "uxCurrentNumberOfTasks", false },
148 { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
153 /* this is not safe for little endian yet */
154 /* may be problems reading if sizes are not 32 bit long integers. */
155 /* test mallocs for failure */
157 static int FreeRTOS_update_threads(struct rtos
*rtos
)
162 const struct FreeRTOS_params
*param
;
164 if (rtos
->rtos_specific_params
== NULL
)
167 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
169 if (rtos
->symbols
== NULL
) {
170 LOG_ERROR("No symbols for FreeRTOS");
174 if (rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
== 0) {
175 LOG_ERROR("Don't have the number of threads in FreeRTOS");
179 int thread_list_size
= 0;
180 retval
= target_read_buffer(rtos
->target
,
181 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
182 param
->thread_count_width
,
183 (uint8_t *)&thread_list_size
);
184 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64
", value %d\r\n",
185 rtos
->symbols
[FreeRTOS_VAL_uxCurrentNumberOfTasks
].address
,
188 if (retval
!= ERROR_OK
) {
189 LOG_ERROR("Could not read FreeRTOS thread count from target");
193 /* wipe out previous thread details if any */
194 rtos_free_threadlist(rtos
);
196 /* read the current thread */
197 retval
= target_read_buffer(rtos
->target
,
198 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
199 param
->pointer_width
,
200 (uint8_t *)&rtos
->current_thread
);
201 if (retval
!= ERROR_OK
) {
202 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
205 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
206 rtos
->symbols
[FreeRTOS_VAL_pxCurrentTCB
].address
,
207 rtos
->current_thread
);
209 if ((thread_list_size
== 0) || (rtos
->current_thread
== 0)) {
210 /* Either : No RTOS threads - there is always at least the current execution though */
211 /* OR : No current thread - all threads suspended - show the current execution
213 char tmp_str
[] = "Current Execution";
216 rtos
->thread_details
= malloc(
217 sizeof(struct thread_detail
) * thread_list_size
);
218 if (!rtos
->thread_details
) {
219 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
222 rtos
->thread_details
->threadid
= 1;
223 rtos
->thread_details
->exists
= true;
224 rtos
->thread_details
->extra_info_str
= NULL
;
225 rtos
->thread_details
->thread_name_str
= malloc(sizeof(tmp_str
));
226 strcpy(rtos
->thread_details
->thread_name_str
, tmp_str
);
228 if (thread_list_size
== 1) {
229 rtos
->thread_count
= 1;
233 /* create space for new thread details */
234 rtos
->thread_details
= malloc(
235 sizeof(struct thread_detail
) * thread_list_size
);
236 if (!rtos
->thread_details
) {
237 LOG_ERROR("Error allocating memory for %d threads", thread_list_size
);
242 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
243 if (rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
== 0) {
244 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
247 int64_t max_used_priority
= 0;
248 retval
= target_read_buffer(rtos
->target
,
249 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
250 param
->pointer_width
,
251 (uint8_t *)&max_used_priority
);
252 if (retval
!= ERROR_OK
)
254 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64
", value %" PRId64
"\r\n",
255 rtos
->symbols
[FreeRTOS_VAL_uxTopUsedPriority
].address
,
257 if (max_used_priority
> FREERTOS_MAX_PRIORITIES
) {
258 LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64
"",
263 symbol_address_t
*list_of_lists
=
264 malloc(sizeof(symbol_address_t
) *
265 (max_used_priority
+1 + 5));
266 if (!list_of_lists
) {
267 LOG_ERROR("Error allocating memory for %" PRId64
" priorities", max_used_priority
);
272 for (num_lists
= 0; num_lists
<= max_used_priority
; num_lists
++)
273 list_of_lists
[num_lists
] = rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
+
274 num_lists
* param
->list_width
;
276 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList1
].address
;
277 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xDelayedTaskList2
].address
;
278 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xPendingReadyList
].address
;
279 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xSuspendedTaskList
].address
;
280 list_of_lists
[num_lists
++] = rtos
->symbols
[FreeRTOS_VAL_xTasksWaitingTermination
].address
;
282 for (i
= 0; i
< num_lists
; i
++) {
283 if (list_of_lists
[i
] == 0)
286 /* Read the number of threads in this list */
287 int64_t list_thread_count
= 0;
288 retval
= target_read_buffer(rtos
->target
,
290 param
->thread_count_width
,
291 (uint8_t *)&list_thread_count
);
292 if (retval
!= ERROR_OK
) {
293 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
297 LOG_DEBUG("FreeRTOS: Read thread count for list %d at 0x%" PRIx64
", value %" PRId64
"\r\n",
298 i
, list_of_lists
[i
], list_thread_count
);
300 if (list_thread_count
== 0)
303 /* Read the location of first list item */
304 uint64_t prev_list_elem_ptr
= -1;
305 uint64_t list_elem_ptr
= 0;
306 retval
= target_read_buffer(rtos
->target
,
307 list_of_lists
[i
] + param
->list_next_offset
,
308 param
->pointer_width
,
309 (uint8_t *)&list_elem_ptr
);
310 if (retval
!= ERROR_OK
) {
311 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
315 LOG_DEBUG("FreeRTOS: Read first item for list %d at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
316 i
, list_of_lists
[i
] + param
->list_next_offset
, list_elem_ptr
);
318 while ((list_thread_count
> 0) && (list_elem_ptr
!= 0) &&
319 (list_elem_ptr
!= prev_list_elem_ptr
) &&
320 (tasks_found
< thread_list_size
)) {
321 /* Get the location of the thread structure. */
322 rtos
->thread_details
[tasks_found
].threadid
= 0;
323 retval
= target_read_buffer(rtos
->target
,
324 list_elem_ptr
+ param
->list_elem_content_offset
,
325 param
->pointer_width
,
326 (uint8_t *)&(rtos
->thread_details
[tasks_found
].threadid
));
327 if (retval
!= ERROR_OK
) {
328 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
332 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
333 list_elem_ptr
+ param
->list_elem_content_offset
,
334 rtos
->thread_details
[tasks_found
].threadid
);
336 /* get thread name */
338 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
339 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
341 /* Read the thread name */
342 retval
= target_read_buffer(rtos
->target
,
343 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
344 FREERTOS_THREAD_NAME_STR_SIZE
,
345 (uint8_t *)&tmp_str
);
346 if (retval
!= ERROR_OK
) {
347 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
351 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
352 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64
", value \"%s\"\r\n",
353 rtos
->thread_details
[tasks_found
].threadid
+ param
->thread_name_offset
,
356 if (tmp_str
[0] == '\x00')
357 strcpy(tmp_str
, "No Name");
359 rtos
->thread_details
[tasks_found
].thread_name_str
=
360 malloc(strlen(tmp_str
)+1);
361 strcpy(rtos
->thread_details
[tasks_found
].thread_name_str
, tmp_str
);
362 rtos
->thread_details
[tasks_found
].exists
= true;
364 if (rtos
->thread_details
[tasks_found
].threadid
== rtos
->current_thread
) {
365 char running_str
[] = "State: Running";
366 rtos
->thread_details
[tasks_found
].extra_info_str
= malloc(
367 sizeof(running_str
));
368 strcpy(rtos
->thread_details
[tasks_found
].extra_info_str
,
371 rtos
->thread_details
[tasks_found
].extra_info_str
= NULL
;
376 prev_list_elem_ptr
= list_elem_ptr
;
378 retval
= target_read_buffer(rtos
->target
,
379 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
380 param
->pointer_width
,
381 (uint8_t *)&list_elem_ptr
);
382 if (retval
!= ERROR_OK
) {
383 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
387 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
388 prev_list_elem_ptr
+ param
->list_elem_next_offset
,
394 rtos
->thread_count
= tasks_found
;
398 static int FreeRTOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
401 const struct FreeRTOS_params
*param
;
402 int64_t stack_ptr
= 0;
404 *hex_reg_list
= NULL
;
411 if (rtos
->rtos_specific_params
== NULL
)
414 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
416 /* Read the stack pointer */
417 retval
= target_read_buffer(rtos
->target
,
418 thread_id
+ param
->thread_stack_offset
,
419 param
->pointer_width
,
420 (uint8_t *)&stack_ptr
);
421 if (retval
!= ERROR_OK
) {
422 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
425 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64
", value 0x%" PRIx64
"\r\n",
426 thread_id
+ param
->thread_stack_offset
,
429 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
430 int cm4_fpu_enabled
= 0;
431 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
432 if (is_armv7m(armv7m_target
)) {
433 if (armv7m_target
->fp_feature
== FPv4_SP
) {
434 /* Found ARM v7m target which includes a FPU */
437 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
438 if (retval
!= ERROR_OK
) {
439 LOG_ERROR("Could not read CPACR register to check FPU state");
443 /* Check if CP10 and CP11 are set to full access. */
444 if (cpacr
& 0x00F00000) {
445 /* Found target with enabled FPU */
451 if (cm4_fpu_enabled
== 1) {
452 /* Read the LR to decide between stacking with or without FPU */
454 retval
= target_read_buffer(rtos
->target
,
456 param
->pointer_width
,
458 if (retval
!= ERROR_OK
) {
459 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
462 if ((LR_svc
& 0x10) == 0)
463 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f_fpu
, stack_ptr
, hex_reg_list
);
465 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm4f
, stack_ptr
, hex_reg_list
);
467 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info_cm3
, stack_ptr
, hex_reg_list
);
470 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
473 *symbol_list
= calloc(
474 ARRAY_SIZE(FreeRTOS_symbol_list
), sizeof(symbol_table_elem_t
));
476 for (i
= 0; i
< ARRAY_SIZE(FreeRTOS_symbol_list
); i
++) {
477 (*symbol_list
)[i
].symbol_name
= FreeRTOS_symbol_list
[i
].name
;
478 (*symbol_list
)[i
].optional
= FreeRTOS_symbol_list
[i
].optional
;
486 static int FreeRTOS_set_current_thread(struct rtos
*rtos
, threadid_t thread_id
)
491 static int FreeRTOS_get_thread_ascii_info(struct rtos
*rtos
, threadid_t thread_id
, char **info
)
494 const struct FreeRTOS_params
*param
;
502 if (rtos
->rtos_specific_params
== NULL
)
505 param
= (const struct FreeRTOS_params
*) rtos
->rtos_specific_params
;
507 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
508 char tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
];
510 /* Read the thread name */
511 retval
= target_read_buffer(rtos
->target
,
512 thread_id
+ param
->thread_name_offset
,
513 FREERTOS_THREAD_NAME_STR_SIZE
,
514 (uint8_t *)&tmp_str
);
515 if (retval
!= ERROR_OK
) {
516 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
519 tmp_str
[FREERTOS_THREAD_NAME_STR_SIZE
-1] = '\x00';
521 if (tmp_str
[0] == '\x00')
522 strcpy(tmp_str
, "No Name");
524 *info
= malloc(strlen(tmp_str
)+1);
525 strcpy(*info
, tmp_str
);
531 static int FreeRTOS_detect_rtos(struct target
*target
)
533 if ((target
->rtos
->symbols
!= NULL
) &&
534 (target
->rtos
->symbols
[FreeRTOS_VAL_pxReadyTasksLists
].address
!= 0)) {
535 /* looks like FreeRTOS */
541 static int FreeRTOS_create(struct target
*target
)
544 while ((i
< FREERTOS_NUM_PARAMS
) &&
545 (0 != strcmp(FreeRTOS_params_list
[i
].target_name
, target
->type
->name
))) {
548 if (i
>= FREERTOS_NUM_PARAMS
) {
549 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
553 target
->rtos
->rtos_specific_params
= (void *) &FreeRTOS_params_list
[i
];