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 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
22 ***************************************************************************/
28 #include <helper/time_support.h>
29 #include <jtag/jtag.h>
30 #include "target/target.h"
31 #include "target/target_type.h"
33 #include "helper/log.h"
34 #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 const char *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 struct ChibiOS_params ChibiOS_params_list
[] = {
94 "cortex_m3", /* target_name */
96 &rtos_chibios_arm_v7m_stacking
, /* stacking_info */
99 "stm32_stlink", /* target_name */
101 &rtos_chibios_arm_v7m_stacking
, /* 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
,
122 enum ChibiOS_symbol_values
{
123 ChibiOS_VAL_rlist
= 0,
124 ChibiOS_VAL_ch_debug
= 1,
125 ChibiOS_VAL_chSysInit
= 2
128 static char *ChibiOS_symbol_list
[] = {
129 "rlist", /* Thread ready list*/
130 "ch_debug", /* Memory Signatur containing offsets of fields in rlist*/
131 "chSysInit", /* Necessary part of API, used for ChibiOS detection*/
135 #define CHIBIOS_NUM_SYMBOLS (sizeof(ChibiOS_symbol_list)/sizeof(char *))
137 static int ChibiOS_update_memory_signature(struct rtos
*rtos
)
140 struct ChibiOS_params
*param
;
141 struct ChibiOS_chdebug
*signature
;
143 param
= (struct ChibiOS_params
*) rtos
->rtos_specific_params
;
145 /* Free existing memory description.*/
146 if (param
->signature
) {
147 free(param
->signature
);
148 param
->signature
= 0;
151 signature
= malloc(sizeof(*signature
));
153 LOG_ERROR("Could not allocate space for ChibiOS/RT memory signature");
157 retval
= target_read_buffer(rtos
->target
,
158 rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
,
160 (uint8_t *) signature
);
161 if (retval
!= ERROR_OK
) {
162 LOG_ERROR("Could not read ChibiOS/RT memory signature from target");
166 if (strncmp(signature
->ch_identifier
, "main", 4) != 0) {
167 LOG_ERROR("Memory signature identifier does not contain magic bytes.");
171 if (signature
->ch_size
< sizeof(*signature
)) {
172 LOG_ERROR("ChibiOS/RT memory signature claims to be smaller "
177 if (signature
->ch_size
> sizeof(*signature
)) {
178 LOG_WARNING("ChibiOS/RT memory signature claims to be bigger than"
179 " expected. Assuming compatibility...");
182 /* Convert endianness of version field */
183 const uint8_t *versionTarget
= (const uint8_t *)
184 &signature
->ch_version
;
185 signature
->ch_version
= rtos
->target
->endianness
== TARGET_LITTLE_ENDIAN
?
186 le_to_h_u32(versionTarget
) : be_to_h_u32(versionTarget
);
188 const uint16_t ch_version
= signature
->ch_version
;
189 LOG_INFO("Successfully loaded memory map of ChibiOS/RT target "
190 "running version %i.%i.%i", GET_CH_KERNEL_MAJOR(ch_version
),
191 GET_CH_KERNEL_MINOR(ch_version
), GET_CH_KERNEL_PATCH(ch_version
));
193 param
->signature
= signature
;
197 /* Error reading the ChibiOS memory structure */
199 param
->signature
= 0;
204 static int ChibiOS_update_stacking(struct rtos
*rtos
)
206 /* Sometimes the stacking can not be determined only by looking at the
207 * target name but only a runtime.
209 * For example, this is the case for cortex-m4 targets and ChibiOS which
210 * only stack the FPU registers if it is enabled during ChibiOS build.
212 * Terminating which stacking is used is target depending.
215 * - Once ChibiOS is actually initialized, the stacking is fixed.
216 * - During startup code, the FPU might not be initialized and the
217 * detection might fail.
218 * - Since no threads are running during startup, the problem is solved
219 * by delaying stacking detection until there are more threads
220 * available than the current execution. In which case
221 * ChibiOS_get_thread_reg_list is called.
224 /* TODO: Add actual detection, currently it will not work with FPU enabled.*/
228 static int ChibiOS_update_threads(struct rtos
*rtos
)
231 const struct ChibiOS_params
*param
;
235 if (!rtos
->rtos_specific_params
)
238 if (!rtos
->symbols
) {
239 LOG_ERROR("No symbols for ChibiOS");
243 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
244 /* Update the memory signature saved in the target memory */
245 if (!param
->signature
) {
246 retval
= ChibiOS_update_memory_signature(rtos
);
247 if (retval
!= ERROR_OK
) {
248 LOG_ERROR("Reading the memory signature of ChibiOS/RT failed");
253 /* wipe out previous thread details if any */
255 if (rtos
->thread_details
) {
256 for (j
= 0; j
< rtos
->thread_count
; j
++) {
257 struct thread_detail
*current_thread
= &rtos
->thread_details
[j
];
258 if (current_thread
->display_str
!= NULL
)
259 free(current_thread
->display_str
);
260 if (current_thread
->thread_name_str
!= NULL
)
261 free(current_thread
->thread_name_str
);
262 if (current_thread
->extra_info_str
!= NULL
)
263 free(current_thread
->extra_info_str
);
265 free(rtos
->thread_details
);
266 rtos
->thread_details
= NULL
;
267 rtos
->thread_count
= 0;
269 /* ChibiOS does not save the current thread count. We have to first
270 * parse the double linked thread list to check for errors and the number of
277 retval
= target_read_buffer(rtos
->target
,
278 rtos
->symbols
[ChibiOS_VAL_rlist
].address
,
279 param
->signature
->ch_ptrsize
,
281 if (retval
!= ERROR_OK
) {
282 LOG_ERROR("Could not read ChibiOS ReadyList from target");
288 retval
= target_read_buffer(rtos
->target
,
289 current
+ param
->signature
->cf_off_newer
,
290 param
->signature
->ch_ptrsize
,
291 (uint8_t *)¤t
);
292 if (retval
!= ERROR_OK
) {
293 LOG_ERROR("Could not read next ChibiOS thread");
296 /* Could be NULL if the kernel is not initialized yet or if the
297 * registry is corrupted. */
299 LOG_ERROR("ChibiOS registry integrity check failed, NULL pointer");
304 /* Fetch previous thread in the list as a integrity check. */
305 retval
= target_read_buffer(rtos
->target
,
306 current
+ param
->signature
->cf_off_older
,
307 param
->signature
->ch_ptrsize
,
309 if ((retval
!= ERROR_OK
) || (older
== 0) || (older
!= previous
)) {
310 LOG_ERROR("ChibiOS registry integrity check failed, "
311 "double linked list violation");
315 /* Check for full iteration of the linked list. */
316 if (current
== rlist
)
322 /* No RTOS, there is always at least the current execution, though */
323 LOG_INFO("Only showing current execution because of a broken "
324 "ChibiOS thread registry.");
326 const char tmp_thread_name
[] = "Current Execution";
327 const char tmp_thread_extra_info
[] = "No RTOS thread";
329 rtos
->thread_details
= (struct thread_detail
*) malloc(
330 sizeof(struct thread_detail
));
331 rtos
->thread_details
->threadid
= 1;
332 rtos
->thread_details
->exists
= true;
333 rtos
->thread_details
->display_str
= NULL
;
335 rtos
->thread_details
->extra_info_str
= (char *) malloc(
336 sizeof(tmp_thread_extra_info
));
337 strcpy(rtos
->thread_details
->extra_info_str
, tmp_thread_extra_info
);
339 rtos
->thread_details
->thread_name_str
= (char *) malloc(
340 sizeof(tmp_thread_name
));
341 strcpy(rtos
->thread_details
->thread_name_str
, tmp_thread_name
);
343 rtos
->current_thread
= 1;
344 rtos
->thread_count
= 1;
348 /* create space for new thread details */
349 rtos
->thread_details
= (struct thread_detail
*) malloc(
350 sizeof(struct thread_detail
) * tasks_found
);
351 if (!rtos
->thread_details
) {
352 LOG_ERROR("Could not allocate space for thread details");
356 rtos
->thread_count
= tasks_found
;
357 /* Loop through linked list. */
358 struct thread_detail
*curr_thrd_details
= rtos
->thread_details
;
359 while (curr_thrd_details
< rtos
->thread_details
+ tasks_found
) {
360 uint32_t name_ptr
= 0;
361 char tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
];
363 retval
= target_read_buffer(rtos
->target
,
364 current
+ param
->signature
->cf_off_newer
,
365 param
->signature
->ch_ptrsize
,
366 (uint8_t *)¤t
);
367 if (retval
!= ERROR_OK
) {
368 LOG_ERROR("Could not read next ChibiOS thread");
372 /* Check for full iteration of the linked list. */
373 if (current
== rlist
)
376 /* Save the thread pointer */
377 curr_thrd_details
->threadid
= current
;
379 /* read the name pointer */
380 retval
= target_read_buffer(rtos
->target
,
381 current
+ param
->signature
->cf_off_name
,
382 param
->signature
->ch_ptrsize
,
383 (uint8_t *)&name_ptr
);
384 if (retval
!= ERROR_OK
) {
385 LOG_ERROR("Could not read ChibiOS thread name pointer from target");
389 /* Read the thread name */
390 retval
= target_read_buffer(rtos
->target
, name_ptr
,
391 CHIBIOS_THREAD_NAME_STR_SIZE
,
392 (uint8_t *)&tmp_str
);
393 if (retval
!= ERROR_OK
) {
394 LOG_ERROR("Error reading thread name from ChibiOS target");
397 tmp_str
[CHIBIOS_THREAD_NAME_STR_SIZE
- 1] = '\x00';
399 if (tmp_str
[0] == '\x00')
400 strcpy(tmp_str
, "No Name");
402 curr_thrd_details
->thread_name_str
= (char *)malloc(
403 strlen(tmp_str
) + 1);
404 strcpy(curr_thrd_details
->thread_name_str
, tmp_str
);
408 const char *state_desc
;
410 retval
= target_read_buffer(rtos
->target
,
411 current
+ param
->signature
->cf_off_state
,
413 if (retval
!= ERROR_OK
) {
414 LOG_ERROR("Error reading thread state from ChibiOS target");
419 if (threadState
< CHIBIOS_NUM_STATES
)
420 state_desc
= ChibiOS_thread_states
[threadState
];
422 state_desc
= "Unknown state";
424 curr_thrd_details
->extra_info_str
= (char *)malloc(strlen(
426 strcpy(curr_thrd_details
->extra_info_str
, state_desc
);
428 curr_thrd_details
->exists
= true;
429 curr_thrd_details
->display_str
= NULL
;
433 /* NOTE: By design, cf_off_name equals readylist_current_offset */
434 retval
= target_read_buffer(rtos
->target
,
435 rlist
+ param
->signature
->cf_off_name
,
436 param
->signature
->ch_ptrsize
,
437 (uint8_t *)&rtos
->current_thread
);
438 if (retval
!= ERROR_OK
) {
439 LOG_ERROR("Could not read current Thread from ChibiOS target");
446 static int ChibiOS_get_thread_reg_list(struct rtos
*rtos
, int64_t thread_id
, char **hex_reg_list
)
449 const struct ChibiOS_params
*param
;
450 int64_t stack_ptr
= 0;
452 *hex_reg_list
= NULL
;
453 if ((rtos
== NULL
) || (thread_id
== 0) ||
454 (rtos
->rtos_specific_params
== NULL
))
457 param
= (const struct ChibiOS_params
*) rtos
->rtos_specific_params
;
459 if (!param
->signature
)
462 /* Update stacking if it can only be determined from runtime information */
463 if ((param
->stacking_info
== 0) &&
464 (ChibiOS_update_stacking(rtos
) != ERROR_OK
)) {
465 LOG_ERROR("Failed to determine exact stacking for the target type %s", rtos
->target
->type
->name
);
469 /* Read the stack pointer */
470 retval
= target_read_buffer(rtos
->target
,
471 thread_id
+ param
->signature
->cf_off_ctx
,
472 param
->signature
->ch_ptrsize
,
473 (uint8_t *)&stack_ptr
);
474 if (retval
!= ERROR_OK
) {
475 LOG_ERROR("Error reading stack frame from ChibiOS thread");
479 return rtos_generic_stack_read(rtos
->target
, param
->stacking_info
, stack_ptr
, hex_reg_list
);
482 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t
*symbol_list
[])
485 *symbol_list
= (symbol_table_elem_t
*) malloc(
486 sizeof(symbol_table_elem_t
) * CHIBIOS_NUM_SYMBOLS
);
488 for (i
= 0; i
< CHIBIOS_NUM_SYMBOLS
; i
++)
489 (*symbol_list
)[i
].symbol_name
= ChibiOS_symbol_list
[i
];
494 static int ChibiOS_detect_rtos(struct target
*target
)
496 if ((target
->rtos
->symbols
!= NULL
) &&
497 (target
->rtos
->symbols
[ChibiOS_VAL_rlist
].address
!= 0) &&
498 (target
->rtos
->symbols
[ChibiOS_VAL_chSysInit
].address
!= 0)) {
500 if (target
->rtos
->symbols
[ChibiOS_VAL_ch_debug
].address
== 0) {
501 LOG_INFO("It looks like the target is running ChibiOS without "
506 /* looks like ChibiOS with memory map enabled.*/
513 static int ChibiOS_create(struct target
*target
)
516 while ((i
< CHIBIOS_NUM_PARAMS
) &&
517 (0 != strcmp(ChibiOS_params_list
[i
].target_name
, target
->type
->name
))) {
520 if (i
>= CHIBIOS_NUM_PARAMS
) {
521 LOG_WARNING("Could not find target \"%s\" in ChibiOS compatibility "
522 "list", target
->type
->name
);
526 target
->rtos
->rtos_specific_params
= (void *) &ChibiOS_params_list
[i
];