src/rtos/nuttx.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2
   3 /***************************************************************************
   4  *   Copyright 2016,2017 Sony Video & Sound Products Inc.                  *
   5  *   Masatoshi Tateishi - Masatoshi.Tateishi@jp.sony.com                   *
   6  *   Masayuki Ishikawa - Masayuki.Ishikawa@jp.sony.com                     *
   7  ***************************************************************************/
   8
   9 #ifdef HAVE_CONFIG_H
  10 #include "config.h"
  11 #endif
  12
  13 #include <jtag/jtag.h>
  14 #include "target/target.h"
  15 #include "target/target_type.h"
  16 #include "target/armv7m.h"
  17 #include "target/cortex_m.h"
  18 #include "rtos.h"
  19 #include "helper/log.h"
  20 #include "helper/types.h"
  21 #include "server/gdb_server.h"
  22
  23 #include "nuttx_header.h"
  24 #include "rtos_nuttx_stackings.h"
  25
  26 int rtos_thread_packet(struct connection *connection, const char *packet, int packet_size);
  27
  28 #ifdef CONFIG_DISABLE_SIGNALS
  29 #define SIG_QUEUE_NUM 0
  30 #else
  31 #define SIG_QUEUE_NUM 1
  32 #endif /* CONFIG_DISABLE_SIGNALS */
  33
  34 #ifdef CONFIG_DISABLE_MQUEUE
  35 #define M_QUEUE_NUM 0
  36 #else
  37 #define M_QUEUE_NUM 2
  38 #endif /* CONFIG_DISABLE_MQUEUE */
  39
  40 #ifdef CONFIG_PAGING
  41 #define PAGING_QUEUE_NUM 1
  42 #else
  43 #define PAGING_QUEUE_NUM 0
  44 #endif /* CONFIG_PAGING */
  45
  46
  47 #define TASK_QUEUE_NUM (6 + SIG_QUEUE_NUM + M_QUEUE_NUM + PAGING_QUEUE_NUM)
  48
  49
  50 /* see nuttx/sched/os_start.c */
  51 static char *nuttx_symbol_list[] = {
  52         "g_readytorun",            /* 0: must be top of this array */
  53         "g_tasklisttable",
  54         NULL
  55 };
  56
  57 /* see nuttx/include/nuttx/sched.h */
  58 struct tcb {
  59         uint32_t flink;
  60         uint32_t blink;
  61         uint8_t  dat[512];
  62 };
  63
  64 static struct {
  65         uint32_t addr;
  66         uint32_t prio;
  67 } g_tasklist[TASK_QUEUE_NUM];
  68
  69 static char *task_state_str[] = {
  70         "INVALID",
  71         "PENDING",
  72         "READYTORUN",
  73         "RUNNING",
  74         "INACTIVE",
  75         "WAIT_SEM",
  76 #ifndef CONFIG_DISABLE_SIGNALS
  77         "WAIT_SIG",
  78 #endif /* CONFIG_DISABLE_SIGNALS */
  79 #ifndef CONFIG_DISABLE_MQUEUE
  80         "WAIT_MQNOTEMPTY",
  81         "WAIT_MQNOTFULL",
  82 #endif /* CONFIG_DISABLE_MQUEUE */
  83 #ifdef CONFIG_PAGING
  84         "WAIT_PAGEFILL",
  85 #endif /* CONFIG_PAGING */
  86 };
  87
  88 static int pid_offset = PID;
  89 static int state_offset = STATE;
  90 static int name_offset =  NAME;
  91 static int xcpreg_offset = XCPREG;
  92 static int name_size = NAME_SIZE;
  93
  94 static int rcmd_offset(const char *cmd, const char *name)
  95 {
  96         if (strncmp(cmd, name, strlen(name)))
  97                 return -1;
  98
  99         if (strlen(cmd) <= strlen(name) + 1)
 100                 return -1;
 101
 102         return atoi(cmd + strlen(name));
 103 }
 104
 105 static int nuttx_thread_packet(struct connection *connection,
 106         char const *packet, int packet_size)
 107 {
 108         char cmd[GDB_BUFFER_SIZE / 2 + 1] = ""; /* Extra byte for null-termination */
 109
 110         if (!strncmp(packet, "qRcmd", 5)) {
 111                 size_t len = unhexify((uint8_t *)cmd, packet + 6, sizeof(cmd));
 112                 int offset;
 113
 114                 if (len <= 0)
 115                         goto pass;
 116
 117                 offset = rcmd_offset(cmd, "nuttx.pid_offset");
 118
 119                 if (offset >= 0) {
 120                         LOG_INFO("pid_offset: %d", offset);
 121                         pid_offset = offset;
 122                         goto retok;
 123                 }
 124
 125                 offset = rcmd_offset(cmd, "nuttx.state_offset");
 126
 127                 if (offset >= 0) {
 128                         LOG_INFO("state_offset: %d", offset);
 129                         state_offset = offset;
 130                         goto retok;
 131                 }
 132
 133                 offset = rcmd_offset(cmd, "nuttx.name_offset");
 134
 135                 if (offset >= 0) {
 136                         LOG_INFO("name_offset: %d", offset);
 137                         name_offset = offset;
 138                         goto retok;
 139                 }
 140
 141                 offset = rcmd_offset(cmd, "nuttx.xcpreg_offset");
 142
 143                 if (offset >= 0) {
 144                         LOG_INFO("xcpreg_offset: %d", offset);
 145                         xcpreg_offset = offset;
 146                         goto retok;
 147                 }
 148
 149                 offset = rcmd_offset(cmd, "nuttx.name_size");
 150
 151                 if (offset >= 0) {
 152                         LOG_INFO("name_size: %d", offset);
 153                         name_size = offset;
 154                         goto retok;
 155                 }
 156         }
 157 pass:
 158         return rtos_thread_packet(connection, packet, packet_size);
 159 retok:
 160         gdb_put_packet(connection, "OK", 2);
 161         return ERROR_OK;
 162 }
 163
 164
 165 static bool nuttx_detect_rtos(struct target *target)
 166 {
 167         if ((target->rtos->symbols) &&
 168                         (target->rtos->symbols[0].address != 0) &&
 169                         (target->rtos->symbols[1].address != 0)) {
 170                 return true;
 171         }
 172         return false;
 173 }
 174
 175 static int nuttx_create(struct target *target)
 176 {
 177
 178         target->rtos->gdb_thread_packet = nuttx_thread_packet;
 179         LOG_INFO("target type name = %s", target->type->name);
 180         return 0;
 181 }
 182
 183 static int nuttx_update_threads(struct rtos *rtos)
 184 {
 185         uint32_t thread_count;
 186         struct tcb tcb;
 187         int ret;
 188         uint32_t head;
 189         uint32_t tcb_addr;
 190         uint32_t i;
 191         uint8_t state;
 192
 193         if (!rtos->symbols) {
 194                 LOG_ERROR("No symbols for NuttX");
 195                 return -3;
 196         }
 197
 198         /* free previous thread details */
 199         rtos_free_threadlist(rtos);
 200
 201         ret = target_read_buffer(rtos->target, rtos->symbols[1].address,
 202                 sizeof(g_tasklist), (uint8_t *)&g_tasklist);
 203         if (ret) {
 204                 LOG_ERROR("target_read_buffer : ret = %d\n", ret);
 205                 return ERROR_FAIL;
 206         }
 207
 208         thread_count = 0;
 209
 210         for (i = 0; i < TASK_QUEUE_NUM; i++) {
 211
 212                 if (g_tasklist[i].addr == 0)
 213                         continue;
 214
 215                 ret = target_read_u32(rtos->target, g_tasklist[i].addr,
 216                         &head);
 217
 218                 if (ret) {
 219                         LOG_ERROR("target_read_u32 : ret = %d\n", ret);
 220                         return ERROR_FAIL;
 221                 }
 222
 223                 /* readytorun head is current thread */
 224                 if (g_tasklist[i].addr == rtos->symbols[0].address)
 225                         rtos->current_thread = head;
 226
 227
 228                 tcb_addr = head;
 229                 while (tcb_addr) {
 230                         struct thread_detail *thread;
 231                         ret = target_read_buffer(rtos->target, tcb_addr,
 232                                 sizeof(tcb), (uint8_t *)&tcb);
 233                         if (ret) {
 234                                 LOG_ERROR("target_read_buffer : ret = %d\n",
 235                                         ret);
 236                                 return ERROR_FAIL;
 237                         }
 238                         thread_count++;
 239
 240                         rtos->thread_details = realloc(rtos->thread_details,
 241                                 sizeof(struct thread_detail) * thread_count);
 242                         thread = &rtos->thread_details[thread_count - 1];
 243                         thread->threadid = tcb_addr;
 244                         thread->exists = true;
 245
 246                         state = tcb.dat[state_offset - 8];
 247                         thread->extra_info_str = NULL;
 248                         if (state < ARRAY_SIZE(task_state_str)) {
 249                                 thread->extra_info_str = malloc(256);
 250                                 snprintf(thread->extra_info_str, 256, "pid:%d, %s",
 251                                     tcb.dat[pid_offset - 8] |
 252                                     tcb.dat[pid_offset - 8 + 1] << 8,
 253                                     task_state_str[state]);
 254                         }
 255
 256                         if (name_offset) {
 257                                 thread->thread_name_str = malloc(name_size + 1);
 258                                 snprintf(thread->thread_name_str, name_size,
 259                                     "%s", (char *)&tcb.dat[name_offset - 8]);
 260                         } else {
 261                                 thread->thread_name_str = malloc(sizeof("None"));
 262                                 strcpy(thread->thread_name_str, "None");
 263                         }
 264
 265                         tcb_addr = tcb.flink;
 266                 }
 267         }
 268         rtos->thread_count = thread_count;
 269
 270         return 0;
 271 }
 272
 273
 274 /*
 275  * thread_id = tcb address;
 276  */
 277 static int nuttx_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
 278         struct rtos_reg **reg_list, int *num_regs)
 279 {
 280         int retval;
 281
 282         /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
 283         bool cm4_fpu_enabled = false;
 284         struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 285         if (is_armv7m(armv7m_target)) {
 286                 if (armv7m_target->fp_feature == FPV4_SP) {
 287                         /* Found ARM v7m target which includes a FPU */
 288                         uint32_t cpacr;
 289
 290                         retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
 291                         if (retval != ERROR_OK) {
 292                                 LOG_ERROR("Could not read CPACR register to check FPU state");
 293                                 return -1;
 294                         }
 295
 296                         /* Check if CP10 and CP11 are set to full access. */
 297                         if (cpacr & 0x00F00000) {
 298                                 /* Found target with enabled FPU */
 299                                 cm4_fpu_enabled = 1;
 300                         }
 301                 }
 302         }
 303
 304         const struct rtos_register_stacking *stacking;
 305         if (cm4_fpu_enabled)
 306                 stacking = &nuttx_stacking_cortex_m_fpu;
 307         else
 308                 stacking = &nuttx_stacking_cortex_m;
 309
 310         return rtos_generic_stack_read(rtos->target, stacking,
 311             (uint32_t)thread_id + xcpreg_offset, reg_list, num_regs);
 312 }
 313
 314 static int nuttx_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
 315 {
 316         unsigned int i;
 317
 318         *symbol_list = (struct symbol_table_elem *) calloc(1,
 319                 sizeof(struct symbol_table_elem) * ARRAY_SIZE(nuttx_symbol_list));
 320
 321         for (i = 0; i < ARRAY_SIZE(nuttx_symbol_list); i++)
 322                 (*symbol_list)[i].symbol_name = nuttx_symbol_list[i];
 323
 324         return 0;
 325 }
 326
 327 const struct rtos_type nuttx_rtos = {
 328         .name = "nuttx",
 329         .detect_rtos = nuttx_detect_rtos,
 330         .create = nuttx_create,
 331         .update_threads = nuttx_update_threads,
 332         .get_thread_reg_list = nuttx_get_thread_reg_list,
 333         .get_symbol_list_to_lookup = nuttx_get_symbol_list_to_lookup,
 334 };