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 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 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"
40 * @brief ChibiOS/RT memory signature record.
42 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
44 struct ChibiOS_chdebug
{
45 char ch_identifier
[4]; /**< @brief Always set to "main". */
46 uint8_t ch_zero
; /**< @brief Must be zero. */
47 uint8_t ch_size
; /**< @brief Size of this structure. */
48 uint16_t ch_version
; /**< @brief Encoded ChibiOS/RT version. */
49 uint8_t ch_ptrsize
; /**< @brief Size of a pointer. */
50 uint8_t ch_timesize
; /**< @brief Size of a @p systime_t. */
51 uint8_t ch_threadsize
; /**< @brief Size of a @p Thread struct. */
52 uint8_t cf_off_prio
; /**< @brief Offset of @p p_prio field. */
53 uint8_t cf_off_ctx
; /**< @brief Offset of @p p_ctx field. */
54 uint8_t cf_off_newer
; /**< @brief Offset of @p p_newer field. */
55 uint8_t cf_off_older
; /**< @brief Offset of @p p_older field. */
56 uint8_t cf_off_name
; /**< @brief Offset of @p p_name field. */
57 uint8_t cf_off_stklimit
; /**< @brief Offset of @p p_stklimit
59 uint8_t cf_off_state
; /**< @brief Offset of @p p_state field. */
60 uint8_t cf_off_flags
; /**< @brief Offset of @p p_flags field. */
61 uint8_t cf_off_refs
; /**< @brief Offset of @p p_refs field. */
62 uint8_t cf_off_preempt
; /**< @brief Offset of @p p_preempt
64 uint8_t cf_off_time
; /**< @brief Offset of @p p_time field. */
67 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
68 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
69 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
72 * @brief ChibiOS thread states.
74 static const char * const ChibiOS_thread_states
[] = {
75 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
76 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
80 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
82 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
83 * chars ought to be enough.
85 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
87 struct ChibiOS_params
{
88 const char *target_name
;
90 struct ChibiOS_chdebug
*signature
;
91 const struct rtos_register_stacking
*stacking_info
;
94 static struct ChibiOS_params ChibiOS_params_list
[] = {
96 "cortex_m", /* target_name */
98 NULL
, /* stacking_info */
101 "hla_target", /* target_name */
103 NULL
, /* stacking_info */
106 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
108 static int ChibiOS_detect_rtos(struct target
*target
);
109 static int ChibiOS_create(struct target
*target
);
110 static int ChibiOS_update_threads(struct rtos
*rtos
);
111 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
112 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
114 struct rtos_type ChibiOS_rtos
= {
117 .detect_rtos
= ChibiOS_detect_rtos
,
118 .create
= ChibiOS_create
,
119 .update_threads
= ChibiOS_update_threads
,
120 .get_thread_reg_list
= ChibiOS_get_thread_reg_list
,
121 .get_symbol_list_to_lookup
= ChibiOS_get_symbol_list_to_lookup
,
125 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
126 * data structure ch. We declare both symbols as optional and later
127 * use whatever is available.
130 enum ChibiOS_symbol_values
{
131 ChibiOS_VAL_rlist
= 0,
133 ChibiOS_VAL_ch_debug
= 2,
134 ChibiOS_VAL_chSysInit
= 3
137 static symbol_table_elem_t ChibiOS_symbol_list
[] = {
138 { "rlist", 0, true}, /* Thread ready list */
139 { "ch", 0, true}, /* System data structure */
140 { "ch_debug", 0, false}, /* Memory Signature containing offsets of fields in rlist */
141 { "chSysInit", 0, false}, /* Necessary part of API, used for ChibiOS detection */
145 /* Offset of the rlist structure within the system data structure (ch) */
146 #define CH_RLIST_OFFSET 0x00
148 static int ChibiOS_update_memory_signature(struct rtos
*rtos
)
151 struct ChibiOS_params
*param
;
152 struct ChibiOS_chdebug
*signature
;
154 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
156 /* Free existing memory description.*/
157 if (param
->signature
) {
158 free(param
->signature
);
159 param
->signature
= 0;
162 signature
= malloc(sizeof(*signature
));
164 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
168 retval
= target_read_buffer(rtos
->target
,
169 rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
,
171 (uint8_t *) signature
);
172 if (retval
!= ERROR_OK
) {
173 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
177 if (strncmp(signature
->ch_identifier
, "main", 4) != 0) {
178 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
182 if (signature
->ch_size
< sizeof(*signature
)) {
183 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
188 if (signature
->ch_size
> sizeof(*signature
)) {
189 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
190 " expected. Assuming compatibility...");
193 /* Convert endianness of version field */
194 const uint8_t *versionTarget
= (const uint8_t *)
195 &signature
->ch_version
;
196 signature
->ch_version
= rtos
->target
->endianness
== TARGET_LITTLE_ENDIAN
?
197 le_to_h_u32(versionTarget
) : be_to_h_u32(versionTarget
);
199 const uint16_t ch_version
= signature
->ch_version
;
200 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
201 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version
),
202 GET_CH_KERNEL_MINOR(ch_version
), GET_CH_KERNEL_PATCH(ch_version
));
204 /* Currently, we have the inherent assumption that all address pointers
205 * are 32 bit wide. */
206 if (signature
->ch_ptrsize
!= sizeof(uint32_t)) {
207 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
208 "width unequal to 32 bits!");
213 param
->signature
= signature
;
217 /* Error reading the ChibiOS memory structure */
219 param
->signature
= 0;
224 static int ChibiOS_update_stacking(struct rtos
*rtos
)
226 /* Sometimes the stacking can not be determined only by looking at the
227 * target name but only a runtime.
229 * For example, this is the case for cortex-m4 targets and ChibiOS which
230 * only stack the FPU registers if it is enabled during ChibiOS build.
232 * Terminating which stacking is used is target depending.
235 * - Once ChibiOS is actually initialized, the stacking is fixed.
236 * - During startup code, the FPU might not be initialized and the
237 * detection might fail.
238 * - Since no threads are running during startup, the problem is solved
239 * by delaying stacking detection until there are more threads
240 * available than the current execution. In which case
241 * ChibiOS_get_thread_reg_list is called.
245 if (!rtos
->rtos_specific_params
)
248 struct ChibiOS_params
*param
;
249 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
251 /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */
252 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
253 if (is_armv7m(armv7m_target
)) {
254 if (armv7m_target
->fp_feature
== FPv4_SP
) {
255 /* Found ARM v7m target which includes a FPU */
258 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
259 if (retval
!= ERROR_OK
) {
260 LOG_ERROR("Could not read CPACR register to check FPU state");
264 /* Check if CP10 and CP11 are set to full access.
265 * In ChibiOS this is done in ResetHandler() in crt0.c */
266 if (cpacr
& 0x00F00000) {
267 LOG_DEBUG("Enabled FPU detected.");
268 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking_w_fpu
;
273 /* Found ARM v7m target with no or disabled FPU */
274 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking
;
281 static int ChibiOS_update_threads(struct rtos
*rtos
)
284 const struct ChibiOS_params
*param
;
288 if (!rtos
->rtos_specific_params
)
291 if (!rtos
->symbols
) {
292 LOG_ERROR("No symbols for ChibiOS");
296 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
297 /* Update the memory signature saved in the target memory */
298 if (!param
->signature
) {
299 retval
= ChibiOS_update_memory_signature(rtos
);
300 if (retval
!= ERROR_OK
) {
301 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
306 /* wipe out previous thread details if any */
307 rtos_free_threadlist(rtos
);
309 /* ChibiOS does not save the current thread count. We have to first
310 * parse the double linked thread list to check for errors and the number of
312 const uint32_t rlist
= rtos
->symbols
[ChibiOS_VAL_rlist
].address
?
313 rtos
->symbols
[ChibiOS_VAL_rlist
].address
:
314 rtos
->symbols
[ChibiOS_VAL_ch
].address
+ CH_RLIST_OFFSET
/* ChibiOS3 */;
315 const struct ChibiOS_chdebug
*signature
= param
->signature
;
323 retval
= target_read_u32(rtos
->target
,
324 current
+ signature
->cf_off_newer
, ¤t
);
325 if (retval
!= ERROR_OK
) {
326 LOG_ERROR("Could not read next ChibiOS thread");
329 /* Could be NULL if the kernel is not initialized yet or if the
330 * registry is corrupted. */
332 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
337 /* Fetch previous thread in the list as a integrity check. */
338 retval
= target_read_u32(rtos
->target
,
339 current
+ signature
->cf_off_older
, &older
);
340 if ((retval
!= ERROR_OK
) || (older
== 0) || (older
!= previous
)) {
341 LOG_ERROR("ChibiOS registry integrity check failed, "
342 "double linked list violation");
346 /* Check for full iteration of the linked list. */
347 if (current
== rlist
)
353 /* No RTOS, there is always at least the current execution, though */
354 LOG_INFO("Only showing current execution because of a broken "
355 "ChibiOS thread registry.");
357 const char tmp_thread_name
[] = "Current Execution";
358 const char tmp_thread_extra_info
[] = "No RTOS thread";
360 rtos
->thread_details
= malloc(
361 sizeof(struct thread_detail
));
362 rtos
->thread_details
->threadid
= 1;
363 rtos
->thread_details
->exists
= true;
364 rtos
->thread_details
->display_str
= NULL
;
366 rtos
->thread_details
->extra_info_str
= malloc(
367 sizeof(tmp_thread_extra_info
));
368 strcpy(rtos
->thread_details
->extra_info_str
, tmp_thread_extra_info
);
370 rtos
->thread_details
->thread_name_str
= malloc(
371 sizeof(tmp_thread_name
));
372 strcpy(rtos
->thread_details
->thread_name_str
, tmp_thread_name
);
374 rtos
->current_thread
= 1;
375 rtos
->thread_count
= 1;
379 /* create space for new thread details */
380 rtos
->thread_details
= malloc(
381 sizeof(struct thread_detail
) * tasks_found
);
382 if (!rtos
->thread_details
) {
383 LOG_ERROR("Could not allocate space for thread details");
387 rtos
->thread_count
= tasks_found
;
388 /* Loop through linked list. */
389 struct thread_detail
*curr_thrd_details
= rtos
->thread_details
;
390 while (curr_thrd_details
< rtos
->thread_details
+ tasks_found
) {
391 uint32_t name_ptr
= 0;
392 char tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
];
394 retval
= target_read_u32(rtos
->target
,
395 current
+ signature
->cf_off_newer
, ¤t
);
396 if (retval
!= ERROR_OK
) {
397 LOG_ERROR("Could not read next ChibiOS thread");
401 /* Check for full iteration of the linked list. */
402 if (current
== rlist
)
405 /* Save the thread pointer */
406 curr_thrd_details
->threadid
= current
;
408 /* read the name pointer */
409 retval
= target_read_u32(rtos
->target
,
410 current
+ signature
->cf_off_name
, &name_ptr
);
411 if (retval
!= ERROR_OK
) {
412 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
416 /* Read the thread name */
417 retval
= target_read_buffer(rtos
->target
, name_ptr
,
418 CHIBIOS_THREAD_NAME_STR_SIZE
,
419 (uint8_t *)&tmp_str
);
420 if (retval
!= ERROR_OK
) {
421 LOG_ERROR("Error reading thread name from ChibiOS target");
424 tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
- 1] = '\x00';
426 if (tmp_str
[0] == '\x00')
427 strcpy(tmp_str
, "No Name");
429 curr_thrd_details
->thread_name_str
= malloc(
430 strlen(tmp_str
) + 1);
431 strcpy(curr_thrd_details
->thread_name_str
, tmp_str
);
435 const char *state_desc
;
437 retval
= target_read_u8(rtos
->target
,
438 current
+ signature
->cf_off_state
, &threadState
);
439 if (retval
!= ERROR_OK
) {
440 LOG_ERROR("Error reading thread state from ChibiOS target");
445 if (threadState
< CHIBIOS_NUM_STATES
)
446 state_desc
= ChibiOS_thread_states
[threadState
];
448 state_desc
= "Unknown state";
450 curr_thrd_details
->extra_info_str
= malloc(strlen(
452 strcpy(curr_thrd_details
->extra_info_str
, state_desc
);
454 curr_thrd_details
->exists
= true;
455 curr_thrd_details
->display_str
= NULL
;
460 uint32_t current_thrd
;
461 /* NOTE: By design, cf_off_name equals readylist_current_offset */
462 retval
= target_read_u32(rtos
->target
,
463 rlist
+ signature
->cf_off_name
,
465 if (retval
!= ERROR_OK
) {
466 LOG_ERROR("Could not read current Thread from ChibiOS target");
469 rtos
->current_thread
= current_thrd
;
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 uint32_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_u32(rtos
->target
,
499 thread_id
+ param
->signature
->cf_off_ctx
, &stack_ptr
);
500 if (retval
!= ERROR_OK
) {
501 LOG_ERROR("Error reading stack frame from ChibiOS thread");
505 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info
, stack_ptr
, hex_reg_list
);
508 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
510 *symbol_list
= ChibiOS_symbol_list
;
514 static int ChibiOS_detect_rtos(struct target
*target
)
516 if ((target
->rtos
->symbols
!= NULL
) &&
517 ((target
->rtos
->symbols
[ChibiOS_VAL_rlist
].address
!= 0) ||
518 (target
->rtos
->symbols
[ChibiOS_VAL_ch
].address
!= 0)) &&
519 (target
->rtos
->symbols
[ChibiOS_VAL_chSysInit
].address
!= 0)) {
521 if (target
->rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
== 0) {
522 LOG_INFO("It looks like the target is running ChibiOS without "
527 /* looks like ChibiOS with memory map enabled.*/
534 static int ChibiOS_create(struct target
*target
)
537 while ((i
< CHIBIOS_NUM_PARAMS
) &&
538 (0 != strcmp(ChibiOS_params_list
[i
].target_name
, target
->type
->name
))) {
541 if (i
>= CHIBIOS_NUM_PARAMS
) {
542 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
543 "list", target
->type
->name
);
547 target
->rtos
->rtos_specific_params
= (void *) &ChibiOS_params_list
[i
];