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tcl/board: Add NXP FRDM-K64F
[openocd.git] / src / rtos / FreeRTOS.c
blobf7ce8cd564999b417ddc2761f28619bb74cb5b23
1 /***************************************************************************
2 * Copyright (C) 2011 by Broadcom Corporation *
3 * Evan Hunter - ehunter@broadcom.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/time_support.h>
24 #include <jtag/jtag.h>
25 #include "target/target.h"
26 #include "target/target_type.h"
27 #include "rtos.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"
33
34 #define FREERTOS_MAX_PRIORITIES 63
35
36 /* FIXME: none of the _width parameters are actually observed properly!
37 * you WILL need to edit more if you actually attempt to target a 8/16/64
38 * bit target!
39 */
40
41 struct freertos_params {
42 const char *target_name;
43 const unsigned char thread_count_width;
44 const unsigned char pointer_width;
45 const unsigned char list_next_offset;
46 const unsigned char list_width;
47 const unsigned char list_elem_next_offset;
48 const unsigned char list_elem_content_offset;
49 const unsigned char thread_stack_offset;
50 const unsigned char thread_name_offset;
51 const struct rtos_register_stacking *stacking_info_cm3;
52 const struct rtos_register_stacking *stacking_info_cm4f;
53 const struct rtos_register_stacking *stacking_info_cm4f_fpu;
54 };
55
56 static const struct freertos_params freertos_params_list[] = {
57 {
58 "cortex_m", /* target_name */
59 4, /* thread_count_width; */
60 4, /* pointer_width; */
61 16, /* list_next_offset; */
62 20, /* list_width; */
63 8, /* list_elem_next_offset; */
64 12, /* list_elem_content_offset */
65 0, /* thread_stack_offset; */
66 52, /* thread_name_offset; */
67 &rtos_standard_cortex_m3_stacking, /* stacking_info */
68 &rtos_standard_cortex_m4f_stacking,
69 &rtos_standard_cortex_m4f_fpu_stacking,
70 },
71 {
72 "hla_target", /* target_name */
73 4, /* thread_count_width; */
74 4, /* pointer_width; */
75 16, /* list_next_offset; */
76 20, /* list_width; */
77 8, /* list_elem_next_offset; */
78 12, /* list_elem_content_offset */
79 0, /* thread_stack_offset; */
80 52, /* thread_name_offset; */
81 &rtos_standard_cortex_m3_stacking, /* stacking_info */
82 &rtos_standard_cortex_m4f_stacking,
83 &rtos_standard_cortex_m4f_fpu_stacking,
84 },
85 {
86 "nds32_v3", /* target_name */
87 4, /* thread_count_width; */
88 4, /* pointer_width; */
89 16, /* list_next_offset; */
90 20, /* list_width; */
91 8, /* list_elem_next_offset; */
92 12, /* list_elem_content_offset */
93 0, /* thread_stack_offset; */
94 52, /* thread_name_offset; */
95 &rtos_standard_nds32_n1068_stacking, /* stacking_info */
96 &rtos_standard_cortex_m4f_stacking,
97 &rtos_standard_cortex_m4f_fpu_stacking,
98 },
99 };
100
101 static bool freertos_detect_rtos(struct target *target);
102 static int freertos_create(struct target *target);
103 static int freertos_update_threads(struct rtos *rtos);
104 static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
105 struct rtos_reg **reg_list, int *num_regs);
106 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
107
108 struct rtos_type freertos_rtos = {
109 .name = "FreeRTOS",
110
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,
116 };
117
118 enum freertos_symbol_values {
119 FREERTOS_VAL_PX_CURRENT_TCB = 0,
120 FREERTOS_VAL_PX_READY_TASKS_LISTS = 1,
121 FREERTOS_VAL_X_DELAYED_TASK_LIST1 = 2,
122 FREERTOS_VAL_X_DELAYED_TASK_LIST2 = 3,
123 FREERTOS_VAL_PX_DELAYED_TASK_LIST = 4,
124 FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST = 5,
125 FREERTOS_VAL_X_PENDING_READY_LIST = 6,
126 FREERTOS_VAL_X_TASKS_WAITING_TERMINATION = 7,
127 FREERTOS_VAL_X_SUSPENDED_TASK_LIST = 8,
128 FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS = 9,
129 FREERTOS_VAL_UX_TOP_USED_PRIORITY = 10,
130 };
131
132 struct symbols {
133 const char *name;
134 bool optional;
135 };
136
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 */
149 { NULL, false }
150 };
151
152 /* TODO: */
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 */
156
157 static int freertos_update_threads(struct rtos *rtos)
158 {
159 int retval;
160 unsigned int tasks_found = 0;
161 const struct freertos_params *param;
162
163 if (!rtos->rtos_specific_params)
164 return -1;
165
166 param = (const struct freertos_params *) rtos->rtos_specific_params;
167
168 if (!rtos->symbols) {
169 LOG_ERROR("No symbols for FreeRTOS");
170 return -3;
171 }
172
173 if (rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address == 0) {
174 LOG_ERROR("Don't have the number of threads in FreeRTOS");
175 return -2;
176 }
177
178 uint32_t thread_list_size = 0;
179 retval = target_read_u32(rtos->target,
180 rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
181 &thread_list_size);
182 LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu32,
183 rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
184 thread_list_size);
185
186 if (retval != ERROR_OK) {
187 LOG_ERROR("Could not read FreeRTOS thread count from target");
188 return retval;
189 }
190
191 /* wipe out previous thread details if any */
192 rtos_free_threadlist(rtos);
193
194 /* read the current thread */
195 uint32_t pointer_casts_are_bad;
196 retval = target_read_u32(rtos->target,
197 rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
198 &pointer_casts_are_bad);
199 if (retval != ERROR_OK) {
200 LOG_ERROR("Error reading current thread in FreeRTOS thread list");
201 return retval;
202 }
203 rtos->current_thread = pointer_casts_are_bad;
204 LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64,
205 rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
206 rtos->current_thread);
207
208 if ((thread_list_size == 0) || (rtos->current_thread == 0)) {
209 /* Either : No RTOS threads - there is always at least the current execution though */
210 /* OR : No current thread - all threads suspended - show the current execution
211 * of idling */
212 char tmp_str[] = "Current Execution";
213 thread_list_size++;
214 tasks_found++;
215 rtos->thread_details = malloc(
216 sizeof(struct thread_detail) * thread_list_size);
217 if (!rtos->thread_details) {
218 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
219 return ERROR_FAIL;
220 }
221 rtos->thread_details->threadid = 1;
222 rtos->thread_details->exists = true;
223 rtos->thread_details->extra_info_str = NULL;
224 rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
225 strcpy(rtos->thread_details->thread_name_str, tmp_str);
226
227 if (thread_list_size == 1) {
228 rtos->thread_count = 1;
229 return ERROR_OK;
230 }
231 } else {
232 /* create space for new thread details */
233 rtos->thread_details = malloc(
234 sizeof(struct thread_detail) * thread_list_size);
235 if (!rtos->thread_details) {
236 LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
237 return ERROR_FAIL;
238 }
239 }
240
241 /* Find out how many lists are needed to be read from pxReadyTasksLists, */
242 if (rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address == 0) {
243 LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
244 return ERROR_FAIL;
245 }
246 uint32_t top_used_priority = 0;
247 retval = target_read_u32(rtos->target,
248 rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
249 &top_used_priority);
250 if (retval != ERROR_OK)
251 return retval;
252 LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu32,
253 rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
254 top_used_priority);
255 if (top_used_priority > FREERTOS_MAX_PRIORITIES) {
256 LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32,
257 top_used_priority);
258 return ERROR_FAIL;
259 }
260
261 /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
262 * in old FreeRTOS versions (before V7.5.3)
263 * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
264 * in newer FreeRTOS versions.
265 * Here we restore the original configMAX_PRIORITIES value */
266 unsigned int config_max_priorities = top_used_priority + 1;
267
268 symbol_address_t *list_of_lists =
269 malloc(sizeof(symbol_address_t) * (config_max_priorities + 5));
270 if (!list_of_lists) {
271 LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities);
272 return ERROR_FAIL;
273 }
274
275 unsigned int num_lists;
276 for (num_lists = 0; num_lists < config_max_priorities; num_lists++)
277 list_of_lists[num_lists] = rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address +
278 num_lists * param->list_width;
279
280 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST1].address;
281 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST2].address;
282 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_PENDING_READY_LIST].address;
283 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_SUSPENDED_TASK_LIST].address;
284 list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION].address;
285
286 for (unsigned int i = 0; i < num_lists; i++) {
287 if (list_of_lists[i] == 0)
288 continue;
289
290 /* Read the number of threads in this list */
291 uint32_t list_thread_count = 0;
292 retval = target_read_u32(rtos->target,
293 list_of_lists[i],
294 &list_thread_count);
295 if (retval != ERROR_OK) {
296 LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
297 free(list_of_lists);
298 return retval;
299 }
300 LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64 ", value %" PRIu32,
301 i, list_of_lists[i], list_thread_count);
302
303 if (list_thread_count == 0)
304 continue;
305
306 /* Read the location of first list item */
307 uint32_t prev_list_elem_ptr = -1;
308 uint32_t list_elem_ptr = 0;
309 retval = target_read_u32(rtos->target,
310 list_of_lists[i] + param->list_next_offset,
311 &list_elem_ptr);
312 if (retval != ERROR_OK) {
313 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
314 free(list_of_lists);
315 return retval;
316 }
317 LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64 ", value 0x%" PRIx32,
318 i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
319
320 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
321 (list_elem_ptr != prev_list_elem_ptr) &&
322 (tasks_found < thread_list_size)) {
323 /* Get the location of the thread structure. */
324 rtos->thread_details[tasks_found].threadid = 0;
325 retval = target_read_u32(rtos->target,
326 list_elem_ptr + param->list_elem_content_offset,
327 &pointer_casts_are_bad);
328 if (retval != ERROR_OK) {
329 LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
330 free(list_of_lists);
331 return retval;
332 }
333 rtos->thread_details[tasks_found].threadid = pointer_casts_are_bad;
334 LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32 ", value 0x%" PRIx64,
335 list_elem_ptr + param->list_elem_content_offset,
336 rtos->thread_details[tasks_found].threadid);
337
338 /* get thread name */
339
340 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
341 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
342
343 /* Read the thread name */
344 retval = target_read_buffer(rtos->target,
345 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
346 FREERTOS_THREAD_NAME_STR_SIZE,
347 (uint8_t *)&tmp_str);
348 if (retval != ERROR_OK) {
349 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
350 free(list_of_lists);
351 return retval;
352 }
353 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
354 LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value '%s'",
355 rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
356 tmp_str);
357
358 if (tmp_str[0] == '\x00')
359 strcpy(tmp_str, "No Name");
360
361 rtos->thread_details[tasks_found].thread_name_str =
362 malloc(strlen(tmp_str)+1);
363 strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
364 rtos->thread_details[tasks_found].exists = true;
365
366 if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
367 char running_str[] = "State: Running";
368 rtos->thread_details[tasks_found].extra_info_str = malloc(
369 sizeof(running_str));
370 strcpy(rtos->thread_details[tasks_found].extra_info_str,
371 running_str);
372 } else
373 rtos->thread_details[tasks_found].extra_info_str = NULL;
374
375 tasks_found++;
376 list_thread_count--;
377
378 prev_list_elem_ptr = list_elem_ptr;
379 list_elem_ptr = 0;
380 retval = target_read_u32(rtos->target,
381 prev_list_elem_ptr + param->list_elem_next_offset,
382 &list_elem_ptr);
383 if (retval != ERROR_OK) {
384 LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
385 free(list_of_lists);
386 return retval;
387 }
388 LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32 ", value 0x%" PRIx32,
389 prev_list_elem_ptr + param->list_elem_next_offset,
390 list_elem_ptr);
391 }
392 }
393
394 free(list_of_lists);
395 rtos->thread_count = tasks_found;
396 return 0;
397 }
398
399 static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
400 struct rtos_reg **reg_list, int *num_regs)
401 {
402 int retval;
403 const struct freertos_params *param;
404 int64_t stack_ptr = 0;
405
406 if (!rtos)
407 return -1;
408
409 if (thread_id == 0)
410 return -2;
411
412 if (!rtos->rtos_specific_params)
413 return -1;
414
415 param = (const struct freertos_params *) rtos->rtos_specific_params;
416
417 /* Read the stack pointer */
418 uint32_t pointer_casts_are_bad;
419 retval = target_read_u32(rtos->target,
420 thread_id + param->thread_stack_offset,
421 &pointer_casts_are_bad);
422 if (retval != ERROR_OK) {
423 LOG_ERROR("Error reading stack frame from FreeRTOS thread");
424 return retval;
425 }
426 stack_ptr = pointer_casts_are_bad;
427 LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64,
428 thread_id + param->thread_stack_offset,
429 stack_ptr);
430
431 /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
432 int cm4_fpu_enabled = 0;
433 struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
434 if (is_armv7m(armv7m_target)) {
435 if (armv7m_target->fp_feature == FPV4_SP) {
436 /* Found ARM v7m target which includes a FPU */
437 uint32_t cpacr;
438
439 retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
440 if (retval != ERROR_OK) {
441 LOG_ERROR("Could not read CPACR register to check FPU state");
442 return -1;
443 }
444
445 /* Check if CP10 and CP11 are set to full access. */
446 if (cpacr & 0x00F00000) {
447 /* Found target with enabled FPU */
448 cm4_fpu_enabled = 1;
449 }
450 }
451 }
452
453 if (cm4_fpu_enabled == 1) {
454 /* Read the LR to decide between stacking with or without FPU */
455 uint32_t lr_svc = 0;
456 retval = target_read_u32(rtos->target,
457 stack_ptr + 0x20,
458 &lr_svc);
459 if (retval != ERROR_OK) {
460 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread");
461 return retval;
462 }
463 if ((lr_svc & 0x10) == 0)
464 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs);
465 else
466 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs);
467 } else
468 return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs);
469 }
470
471 static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
472 {
473 unsigned int i;
474 *symbol_list = calloc(
475 ARRAY_SIZE(freertos_symbol_list), sizeof(struct symbol_table_elem));
476
477 for (i = 0; i < ARRAY_SIZE(freertos_symbol_list); i++) {
478 (*symbol_list)[i].symbol_name = freertos_symbol_list[i].name;
479 (*symbol_list)[i].optional = freertos_symbol_list[i].optional;
480 }
481
482 return 0;
483 }
484
485 #if 0
486
487 static int freertos_set_current_thread(struct rtos *rtos, threadid_t thread_id)
488 {
489 return 0;
490 }
491
492 static int freertos_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
493 {
494 int retval;
495 const struct freertos_params *param;
496
497 if (!rtos)
498 return -1;
499
500 if (thread_id == 0)
501 return -2;
502
503 if (!rtos->rtos_specific_params)
504 return -3;
505
506 param = (const struct freertos_params *) rtos->rtos_specific_params;
507
508 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
509 char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
510
511 /* Read the thread name */
512 retval = target_read_buffer(rtos->target,
513 thread_id + param->thread_name_offset,
514 FREERTOS_THREAD_NAME_STR_SIZE,
515 (uint8_t *)&tmp_str);
516 if (retval != ERROR_OK) {
517 LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
518 return retval;
519 }
520 tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
521
522 if (tmp_str[0] == '\x00')
523 strcpy(tmp_str, "No Name");
524
525 *info = malloc(strlen(tmp_str)+1);
526 strcpy(*info, tmp_str);
527 return 0;
528 }
529
530 #endif
531
532 static bool freertos_detect_rtos(struct target *target)
533 {
534 if ((target->rtos->symbols) &&
535 (target->rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address != 0)) {
536 /* looks like FreeRTOS */
537 return true;
538 }
539 return false;
540 }
541
542 static int freertos_create(struct target *target)
543 {
544 for (unsigned int i = 0; i < ARRAY_SIZE(freertos_params_list); i++)
545 if (strcmp(freertos_params_list[i].target_name, target->type->name) == 0) {
546 target->rtos->rtos_specific_params = (void *)&freertos_params_list[i];
547 return 0;
548 }
549
550 LOG_ERROR("Could not find target in FreeRTOS compatibility list");
551 return -1;
552 }
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