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, see <http://www.gnu.org/licenses/>. *
20 ***************************************************************************/
26 #include <helper/time_support.h>
27 #include <jtag/jtag.h>
28 #include "target/target.h"
29 #include "target/target_type.h"
30 #include "target/armv7m.h"
31 #include "target/cortex_m.h"
33 #include "helper/log.h"
34 #include "helper/types.h"
35 #include "rtos_chibios_stackings.h"
38 * @brief ChibiOS/RT memory signature record.
40 * @details Definition copied from os/kernel/include/chregistry.h of ChibiOS/RT.
42 struct ChibiOS_chdebug
{
43 char ch_identifier
[4]; /**< @brief Always set to "main". */
44 uint8_t ch_zero
; /**< @brief Must be zero. */
45 uint8_t ch_size
; /**< @brief Size of this structure. */
46 uint16_t ch_version
; /**< @brief Encoded ChibiOS/RT version. */
47 uint8_t ch_ptrsize
; /**< @brief Size of a pointer. */
48 uint8_t ch_timesize
; /**< @brief Size of a @p systime_t. */
49 uint8_t ch_threadsize
; /**< @brief Size of a @p Thread struct. */
50 uint8_t cf_off_prio
; /**< @brief Offset of @p p_prio field. */
51 uint8_t cf_off_ctx
; /**< @brief Offset of @p p_ctx field. */
52 uint8_t cf_off_newer
; /**< @brief Offset of @p p_newer field. */
53 uint8_t cf_off_older
; /**< @brief Offset of @p p_older field. */
54 uint8_t cf_off_name
; /**< @brief Offset of @p p_name field. */
55 uint8_t cf_off_stklimit
; /**< @brief Offset of @p p_stklimit
57 uint8_t cf_off_state
; /**< @brief Offset of @p p_state field. */
58 uint8_t cf_off_flags
; /**< @brief Offset of @p p_flags field. */
59 uint8_t cf_off_refs
; /**< @brief Offset of @p p_refs field. */
60 uint8_t cf_off_preempt
; /**< @brief Offset of @p p_preempt
62 uint8_t cf_off_time
; /**< @brief Offset of @p p_time field. */
65 #define GET_CH_KERNEL_MAJOR(codedVersion) ((codedVersion >> 11) & 0x1f)
66 #define GET_CH_KERNEL_MINOR(codedVersion) ((codedVersion >> 6) & 0x1f)
67 #define GET_CH_KERNEL_PATCH(codedVersion) ((codedVersion >> 0) & 0x3f)
70 * @brief ChibiOS thread states.
72 static const char * const ChibiOS_thread_states
[] = {
73 "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",
74 "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE",
78 #define CHIBIOS_NUM_STATES (sizeof(ChibiOS_thread_states)/sizeof(char *))
80 /* Maximum ChibiOS thread name. There is no real limit set by ChibiOS but 64
81 * chars ought to be enough.
83 #define CHIBIOS_THREAD_NAME_STR_SIZE (64)
85 struct ChibiOS_params
{
86 const char *target_name
;
88 struct ChibiOS_chdebug
*signature
;
89 const struct rtos_register_stacking
*stacking_info
;
92 static struct ChibiOS_params ChibiOS_params_list
[] = {
94 "cortex_m", /* target_name */
96 NULL
, /* stacking_info */
99 "hla_target", /* target_name */
101 NULL
, /* stacking_info */
104 #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params)))
106 static int ChibiOS_detect_rtos(struct target
*target
);
107 static int ChibiOS_create(struct target
*target
);
108 static int ChibiOS_update_threads(struct rtos
*rtos
);
109 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
);
110 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[]);
112 struct rtos_type ChibiOS_rtos
= {
115 .detect_rtos
= ChibiOS_detect_rtos
,
116 .create
= ChibiOS_create
,
117 .update_threads
= ChibiOS_update_threads
,
118 .get_thread_reg_list
= ChibiOS_get_thread_reg_list
,
119 .get_symbol_list_to_lookup
= ChibiOS_get_symbol_list_to_lookup
,
123 /* In ChibiOS/RT 3.0 the rlist structure has become part of a system
124 * data structure ch. We declare both symbols as optional and later
125 * use whatever is available.
128 enum ChibiOS_symbol_values
{
129 ChibiOS_VAL_rlist
= 0,
131 ChibiOS_VAL_ch_debug
= 2
134 static symbol_table_elem_t ChibiOS_symbol_list
[] = {
135 { "rlist", 0, true}, /* Thread ready list */
136 { "ch", 0, true}, /* System data structure */
137 { "ch_debug", 0, false}, /* Memory Signature containing offsets of fields in rlist */
141 /* Offset of the rlist structure within the system data structure (ch) */
142 #define CH_RLIST_OFFSET 0x00
144 static int ChibiOS_update_memory_signature(struct rtos
*rtos
)
147 struct ChibiOS_params
*param
;
148 struct ChibiOS_chdebug
*signature
;
150 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
152 /* Free existing memory description.*/
153 if (param
->signature
) {
154 free(param
->signature
);
155 param
->signature
= 0;
158 signature
= malloc(sizeof(*signature
));
160 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
164 retval
= target_read_buffer(rtos
->target
,
165 rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
,
167 (uint8_t *) signature
);
168 if (retval
!= ERROR_OK
) {
169 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
173 if (strncmp(signature
->ch_identifier
, "main", 4) != 0) {
174 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
178 if (signature
->ch_size
< sizeof(*signature
)) {
179 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
184 if (signature
->ch_size
> sizeof(*signature
)) {
185 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
186 " expected. Assuming compatibility...");
189 /* Convert endianness of version field */
190 const uint8_t *versionTarget
= (const uint8_t *)
191 &signature
->ch_version
;
192 signature
->ch_version
= rtos
->target
->endianness
== TARGET_LITTLE_ENDIAN
?
193 le_to_h_u32(versionTarget
) : be_to_h_u32(versionTarget
);
195 const uint16_t ch_version
= signature
->ch_version
;
196 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
197 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version
),
198 GET_CH_KERNEL_MINOR(ch_version
), GET_CH_KERNEL_PATCH(ch_version
));
200 /* Currently, we have the inherent assumption that all address pointers
201 * are 32 bit wide. */
202 if (signature
->ch_ptrsize
!= sizeof(uint32_t)) {
203 LOG_ERROR("ChibiOS/RT target memory signature claims an address"
204 "width unequal to 32 bits!");
209 param
->signature
= signature
;
213 /* Error reading the ChibiOS memory structure */
215 param
->signature
= 0;
220 static int ChibiOS_update_stacking(struct rtos
*rtos
)
222 /* Sometimes the stacking can not be determined only by looking at the
223 * target name but only a runtime.
225 * For example, this is the case for Cortex-M4 targets and ChibiOS which
226 * only stack the FPU registers if it is enabled during ChibiOS build.
228 * Terminating which stacking is used is target depending.
231 * - Once ChibiOS is actually initialized, the stacking is fixed.
232 * - During startup code, the FPU might not be initialized and the
233 * detection might fail.
234 * - Since no threads are running during startup, the problem is solved
235 * by delaying stacking detection until there are more threads
236 * available than the current execution. In which case
237 * ChibiOS_get_thread_reg_list is called.
241 if (!rtos
->rtos_specific_params
)
244 struct ChibiOS_params
*param
;
245 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
247 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4 */
248 struct armv7m_common
*armv7m_target
= target_to_armv7m(rtos
->target
);
249 if (is_armv7m(armv7m_target
)) {
250 if (armv7m_target
->fp_feature
== FPv4_SP
) {
251 /* Found ARM v7m target which includes a FPU */
254 retval
= target_read_u32(rtos
->target
, FPU_CPACR
, &cpacr
);
255 if (retval
!= ERROR_OK
) {
256 LOG_ERROR("Could not read CPACR register to check FPU state");
260 /* Check if CP10 and CP11 are set to full access.
261 * In ChibiOS this is done in ResetHandler() in crt0.c */
262 if (cpacr
& 0x00F00000) {
263 LOG_DEBUG("Enabled FPU detected.");
264 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking_w_fpu
;
269 /* Found ARM v7m target with no or disabled FPU */
270 param
->stacking_info
= &rtos_chibios_arm_v7m_stacking
;
277 static int ChibiOS_update_threads(struct rtos
*rtos
)
280 const struct ChibiOS_params
*param
;
284 if (!rtos
->rtos_specific_params
)
287 if (!rtos
->symbols
) {
288 LOG_ERROR("No symbols for ChibiOS");
292 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
293 /* Update the memory signature saved in the target memory */
294 if (!param
->signature
) {
295 retval
= ChibiOS_update_memory_signature(rtos
);
296 if (retval
!= ERROR_OK
) {
297 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
302 /* wipe out previous thread details if any */
303 rtos_free_threadlist(rtos
);
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
?
309 rtos
->symbols
[ChibiOS_VAL_rlist
].address
:
310 rtos
->symbols
[ChibiOS_VAL_ch
].address
+ CH_RLIST_OFFSET
/* ChibiOS3 */;
311 const struct ChibiOS_chdebug
*signature
= param
->signature
;
319 retval
= target_read_u32(rtos
->target
,
320 current
+ signature
->cf_off_newer
, ¤t
);
321 if (retval
!= ERROR_OK
) {
322 LOG_ERROR("Could not read next ChibiOS thread");
325 /* Could be NULL if the kernel is not initialized yet or if the
326 * registry is corrupted. */
328 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
333 /* Fetch previous thread in the list as a integrity check. */
334 retval
= target_read_u32(rtos
->target
,
335 current
+ signature
->cf_off_older
, &older
);
336 if ((retval
!= ERROR_OK
) || (older
== 0) || (older
!= previous
)) {
337 LOG_ERROR("ChibiOS registry integrity check failed, "
338 "double linked list violation");
342 /* Check for full iteration of the linked list. */
343 if (current
== rlist
)
349 /* No RTOS, there is always at least the current execution, though */
350 LOG_INFO("Only showing current execution because of a broken "
351 "ChibiOS thread registry.");
353 const char tmp_thread_name
[] = "Current Execution";
354 const char tmp_thread_extra_info
[] = "No RTOS thread";
356 rtos
->thread_details
= malloc(
357 sizeof(struct thread_detail
));
358 rtos
->thread_details
->threadid
= 1;
359 rtos
->thread_details
->exists
= true;
361 rtos
->thread_details
->extra_info_str
= malloc(
362 sizeof(tmp_thread_extra_info
));
363 strcpy(rtos
->thread_details
->extra_info_str
, tmp_thread_extra_info
);
365 rtos
->thread_details
->thread_name_str
= malloc(
366 sizeof(tmp_thread_name
));
367 strcpy(rtos
->thread_details
->thread_name_str
, tmp_thread_name
);
369 rtos
->current_thread
= 1;
370 rtos
->thread_count
= 1;
374 /* create space for new thread details */
375 rtos
->thread_details
= malloc(
376 sizeof(struct thread_detail
) * tasks_found
);
377 if (!rtos
->thread_details
) {
378 LOG_ERROR("Could not allocate space for thread details");
382 rtos
->thread_count
= tasks_found
;
383 /* Loop through linked list. */
384 struct thread_detail
*curr_thrd_details
= rtos
->thread_details
;
385 while (curr_thrd_details
< rtos
->thread_details
+ tasks_found
) {
386 uint32_t name_ptr
= 0;
387 char tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
];
389 retval
= target_read_u32(rtos
->target
,
390 current
+ signature
->cf_off_newer
, ¤t
);
391 if (retval
!= ERROR_OK
) {
392 LOG_ERROR("Could not read next ChibiOS thread");
396 /* Check for full iteration of the linked list. */
397 if (current
== rlist
)
400 /* Save the thread pointer */
401 curr_thrd_details
->threadid
= current
;
403 /* read the name pointer */
404 retval
= target_read_u32(rtos
->target
,
405 current
+ signature
->cf_off_name
, &name_ptr
);
406 if (retval
!= ERROR_OK
) {
407 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
411 /* Read the thread name */
412 retval
= target_read_buffer(rtos
->target
, name_ptr
,
413 CHIBIOS_THREAD_NAME_STR_SIZE
,
414 (uint8_t *)&tmp_str
);
415 if (retval
!= ERROR_OK
) {
416 LOG_ERROR("Error reading thread name from ChibiOS target");
419 tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
- 1] = '\x00';
421 if (tmp_str
[0] == '\x00')
422 strcpy(tmp_str
, "No Name");
424 curr_thrd_details
->thread_name_str
= malloc(
425 strlen(tmp_str
) + 1);
426 strcpy(curr_thrd_details
->thread_name_str
, tmp_str
);
430 const char *state_desc
;
432 retval
= target_read_u8(rtos
->target
,
433 current
+ signature
->cf_off_state
, &threadState
);
434 if (retval
!= ERROR_OK
) {
435 LOG_ERROR("Error reading thread state from ChibiOS target");
440 if (threadState
< CHIBIOS_NUM_STATES
)
441 state_desc
= ChibiOS_thread_states
[threadState
];
443 state_desc
= "Unknown";
445 curr_thrd_details
->extra_info_str
= malloc(strlen(
447 sprintf(curr_thrd_details
->extra_info_str
, "State: %s", state_desc
);
449 curr_thrd_details
->exists
= true;
454 uint32_t current_thrd
;
455 /* NOTE: By design, cf_off_name equals readylist_current_offset */
456 retval
= target_read_u32(rtos
->target
,
457 rlist
+ signature
->cf_off_name
,
459 if (retval
!= ERROR_OK
) {
460 LOG_ERROR("Could not read current Thread from ChibiOS target");
463 rtos
->current_thread
= current_thrd
;
468 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
471 const struct ChibiOS_params
*param
;
472 uint32_t stack_ptr
= 0;
474 *hex_reg_list
= NULL
;
475 if ((rtos
== NULL
) || (thread_id
== 0) ||
476 (rtos
->rtos_specific_params
== NULL
))
479 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
481 if (!param
->signature
)
484 /* Update stacking if it can only be determined from runtime information */
485 if ((param
->stacking_info
== 0) &&
486 (ChibiOS_update_stacking(rtos
) != ERROR_OK
)) {
487 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos
->target
->type
->name
);
491 /* Read the stack pointer */
492 retval
= target_read_u32(rtos
->target
,
493 thread_id
+ param
->signature
->cf_off_ctx
, &stack_ptr
);
494 if (retval
!= ERROR_OK
) {
495 LOG_ERROR("Error reading stack frame from ChibiOS thread");
499 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info
, stack_ptr
, hex_reg_list
);
502 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
504 *symbol_list
= malloc(sizeof(ChibiOS_symbol_list
));
506 if (*symbol_list
== NULL
)
509 memcpy(*symbol_list
, ChibiOS_symbol_list
, sizeof(ChibiOS_symbol_list
));
513 static int ChibiOS_detect_rtos(struct target
*target
)
515 if ((target
->rtos
->symbols
!= NULL
) &&
516 ((target
->rtos
->symbols
[ChibiOS_VAL_rlist
].address
!= 0) ||
517 (target
->rtos
->symbols
[ChibiOS_VAL_ch
].address
!= 0))) {
519 if (target
->rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
== 0) {
520 LOG_INFO("It looks like the target may be running ChibiOS "
521 "without ch_debug.");
525 /* looks like ChibiOS with memory map enabled.*/
532 static int ChibiOS_create(struct target
*target
)
535 while ((i
< CHIBIOS_NUM_PARAMS
) &&
536 (0 != strcmp(ChibiOS_params_list
[i
].target_name
, target
->type
->name
))) {
539 if (i
>= CHIBIOS_NUM_PARAMS
) {
540 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
541 "list", target
->type
->name
);
545 target
->rtos
->rtos_specific_params
= (void *) &ChibiOS_params_list
[i
];