rtos: add support for ChibiOS/RT 3.0

In ChibiOS/RT 3.0 the ready list pointer "rlist" is now part of the system
data structure. Since the ready list is the first element in that
structure it can be accessed via the structure's symbol "ch".

Change-Id: Idc7eaa87cb7bbad0afa0ff1dafd54283bf429766
Signed-off-by: Christian Gudrian <christian.gudrian@gmx.de>
Reviewed-on: http://openocd.zylin.com/2352
Tested-by: jenkins
Reviewed-by: Paul Fertser <fercerpav@gmail.com>
Reviewed-by: Spencer Oliver <spen@spen-soft.co.uk>

src/rtos/ChibiOS.c

@@ -121,19 +121,30 @@ struct rtos_type ChibiOS_rtos = {
 	.get_symbol_list_to_lookup = ChibiOS_get_symbol_list_to_lookup,
 };
 
+
+/* In ChibiOS/RT 3.0 the rlist structure has become part of a system
+ * data structure ch. We declare both symbols as optional and later
+ * use whatever is available.
+ */
+
 enum ChibiOS_symbol_values {
 	ChibiOS_VAL_rlist = 0,
-	ChibiOS_VAL_ch_debug = 1,
-	ChibiOS_VAL_chSysInit = 2
+	ChibiOS_VAL_ch = 1,
+	ChibiOS_VAL_ch_debug = 2,
+	ChibiOS_VAL_chSysInit = 3
 };
 
-static const char * const ChibiOS_symbol_list[] = {
-	"rlist",		/* Thread ready list*/
-	"ch_debug",		/* Memory Signatur containing offsets of fields in rlist*/
-	"chSysInit",	/* Necessary part of API, used for ChibiOS detection*/
-	NULL
+static symbol_table_elem_t ChibiOS_symbol_list[] = {
+	{ "rlist", 0, true},		/* Thread ready list */
+	{ "ch", 0, true},			/* System data structure */
+	{ "ch_debug", 0, false},	/* Memory Signature containing offsets of fields in rlist */
+	{ "chSysInit", 0, false},	/* Necessary part of API, used for ChibiOS detection */
+	{ NULL, 0, false}
 };
 
+/* Offset of the rlist structure within the system data structure (ch) */
+#define CH_RLIST_OFFSET 0x00
+
 static int ChibiOS_update_memory_signature(struct rtos *rtos)
 {
 	int retval;
@@ -300,7 +311,9 @@ static int ChibiOS_update_threads(struct rtos *rtos)
 	/* ChibiOS does not save the current thread count. We have to first
 	 * parse the double linked thread list to check for errors and the number of
 	 * threads. */
-	const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address;
+	const uint32_t rlist = rtos->symbols[ChibiOS_VAL_rlist].address ?
+		rtos->symbols[ChibiOS_VAL_rlist].address :
+		rtos->symbols[ChibiOS_VAL_ch].address + CH_RLIST_OFFSET /* ChibiOS3 */;
 	const struct ChibiOS_chdebug *signature = param->signature;
 	uint32_t current;
 	uint32_t previous;
@@ -496,20 +509,15 @@ static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, cha
 
 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 {
-	unsigned int i;
-	*symbol_list = calloc(
-			ARRAY_SIZE(ChibiOS_symbol_list), sizeof(symbol_table_elem_t));
-
-	for (i = 0; i < ARRAY_SIZE(ChibiOS_symbol_list); i++)
-		(*symbol_list)[i].symbol_name = ChibiOS_symbol_list[i];
-
+	*symbol_list = ChibiOS_symbol_list;
 	return 0;
 }
 
 static int ChibiOS_detect_rtos(struct target *target)
 {
 	if ((target->rtos->symbols != NULL) &&
-			(target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) &&
+			((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
+			 (target->rtos->symbols[ChibiOS_VAL_ch].address != 0)) &&
 			(target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
 
 		if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {