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- /***************************************************************************
- * Copyright (C) 2011 by Broadcom Corporation *
- * Evan Hunter - ehunter@broadcom.com *
- * *
- * This program is free software; you can redistribute it and/or modify *
- * it under the terms of the GNU General Public License as published by *
- * the Free Software Foundation; either version 2 of the License, or *
- * (at your option) any later version. *
- * *
- * This program is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU General Public License for more details. *
- * *
- * You should have received a copy of the GNU General Public License *
- * along with this program. If not, see <http://www.gnu.org/licenses/>. *
- ***************************************************************************/
-
- #ifdef HAVE_CONFIG_H
- #include "config.h"
- #endif
-
- #include <helper/time_support.h>
- #include <jtag/jtag.h>
- #include "target/target.h"
- #include "target/target_type.h"
- #include "rtos.h"
- #include "helper/log.h"
- #include "helper/types.h"
- #include "rtos_standard_stackings.h"
- #include "target/armv7m.h"
- #include "target/cortex_m.h"
-
- #define FREERTOS_MAX_PRIORITIES 63
-
- /* FIXME: none of the _width parameters are actually observed properly!
- * you WILL need to edit more if you actually attempt to target a 8/16/64
- * bit target!
- */
-
- struct freertos_params {
- const char *target_name;
- const unsigned char thread_count_width;
- const unsigned char pointer_width;
- const unsigned char list_next_offset;
- const unsigned char list_width;
- const unsigned char list_elem_next_offset;
- const unsigned char list_elem_content_offset;
- const unsigned char thread_stack_offset;
- const unsigned char thread_name_offset;
- const struct rtos_register_stacking *stacking_info_cm3;
- const struct rtos_register_stacking *stacking_info_cm4f;
- const struct rtos_register_stacking *stacking_info_cm4f_fpu;
- };
-
- static const struct freertos_params freertos_params_list[] = {
- {
- "cortex_m", /* target_name */
- 4, /* thread_count_width; */
- 4, /* pointer_width; */
- 16, /* list_next_offset; */
- 20, /* list_width; */
- 8, /* list_elem_next_offset; */
- 12, /* list_elem_content_offset */
- 0, /* thread_stack_offset; */
- 52, /* thread_name_offset; */
- &rtos_standard_cortex_m3_stacking, /* stacking_info */
- &rtos_standard_cortex_m4f_stacking,
- &rtos_standard_cortex_m4f_fpu_stacking,
- },
- {
- "hla_target", /* target_name */
- 4, /* thread_count_width; */
- 4, /* pointer_width; */
- 16, /* list_next_offset; */
- 20, /* list_width; */
- 8, /* list_elem_next_offset; */
- 12, /* list_elem_content_offset */
- 0, /* thread_stack_offset; */
- 52, /* thread_name_offset; */
- &rtos_standard_cortex_m3_stacking, /* stacking_info */
- &rtos_standard_cortex_m4f_stacking,
- &rtos_standard_cortex_m4f_fpu_stacking,
- },
- {
- "nds32_v3", /* target_name */
- 4, /* thread_count_width; */
- 4, /* pointer_width; */
- 16, /* list_next_offset; */
- 20, /* list_width; */
- 8, /* list_elem_next_offset; */
- 12, /* list_elem_content_offset */
- 0, /* thread_stack_offset; */
- 52, /* thread_name_offset; */
- &rtos_standard_nds32_n1068_stacking, /* stacking_info */
- &rtos_standard_cortex_m4f_stacking,
- &rtos_standard_cortex_m4f_fpu_stacking,
- },
- };
-
- static bool freertos_detect_rtos(struct target *target);
- static int freertos_create(struct target *target);
- static int freertos_update_threads(struct rtos *rtos);
- static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
- struct rtos_reg **reg_list, int *num_regs);
- static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[]);
-
- struct rtos_type freertos_rtos = {
- .name = "FreeRTOS",
-
- .detect_rtos = freertos_detect_rtos,
- .create = freertos_create,
- .update_threads = freertos_update_threads,
- .get_thread_reg_list = freertos_get_thread_reg_list,
- .get_symbol_list_to_lookup = freertos_get_symbol_list_to_lookup,
- };
-
- enum freertos_symbol_values {
- FREERTOS_VAL_PX_CURRENT_TCB = 0,
- FREERTOS_VAL_PX_READY_TASKS_LISTS = 1,
- FREERTOS_VAL_X_DELAYED_TASK_LIST1 = 2,
- FREERTOS_VAL_X_DELAYED_TASK_LIST2 = 3,
- FREERTOS_VAL_PX_DELAYED_TASK_LIST = 4,
- FREERTOS_VAL_PX_OVERFLOW_DELAYED_TASK_LIST = 5,
- FREERTOS_VAL_X_PENDING_READY_LIST = 6,
- FREERTOS_VAL_X_TASKS_WAITING_TERMINATION = 7,
- FREERTOS_VAL_X_SUSPENDED_TASK_LIST = 8,
- FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS = 9,
- FREERTOS_VAL_UX_TOP_USED_PRIORITY = 10,
- };
-
- struct symbols {
- const char *name;
- bool optional;
- };
-
- static const struct symbols freertos_symbol_list[] = {
- { "pxCurrentTCB", false },
- { "pxReadyTasksLists", false },
- { "xDelayedTaskList1", false },
- { "xDelayedTaskList2", false },
- { "pxDelayedTaskList", false },
- { "pxOverflowDelayedTaskList", false },
- { "xPendingReadyList", false },
- { "xTasksWaitingTermination", true }, /* Only if INCLUDE_vTaskDelete */
- { "xSuspendedTaskList", true }, /* Only if INCLUDE_vTaskSuspend */
- { "uxCurrentNumberOfTasks", false },
- { "uxTopUsedPriority", true }, /* Unavailable since v7.5.3 */
- { NULL, false }
- };
-
- /* TODO: */
- /* this is not safe for little endian yet */
- /* may be problems reading if sizes are not 32 bit long integers. */
- /* test mallocs for failure */
-
- static int freertos_update_threads(struct rtos *rtos)
- {
- int retval;
- unsigned int tasks_found = 0;
- const struct freertos_params *param;
-
- if (!rtos->rtos_specific_params)
- return -1;
-
- param = (const struct freertos_params *) rtos->rtos_specific_params;
-
- if (!rtos->symbols) {
- LOG_ERROR("No symbols for FreeRTOS");
- return -3;
- }
-
- if (rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address == 0) {
- LOG_ERROR("Don't have the number of threads in FreeRTOS");
- return -2;
- }
-
- uint32_t thread_list_size = 0;
- retval = target_read_u32(rtos->target,
- rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
- &thread_list_size);
- LOG_DEBUG("FreeRTOS: Read uxCurrentNumberOfTasks at 0x%" PRIx64 ", value %" PRIu32,
- rtos->symbols[FREERTOS_VAL_UX_CURRENT_NUMBER_OF_TASKS].address,
- thread_list_size);
-
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read FreeRTOS thread count from target");
- return retval;
- }
-
- /* wipe out previous thread details if any */
- rtos_free_threadlist(rtos);
-
- /* read the current thread */
- uint32_t pointer_casts_are_bad;
- retval = target_read_u32(rtos->target,
- rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
- &pointer_casts_are_bad);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading current thread in FreeRTOS thread list");
- return retval;
- }
- rtos->current_thread = pointer_casts_are_bad;
- LOG_DEBUG("FreeRTOS: Read pxCurrentTCB at 0x%" PRIx64 ", value 0x%" PRIx64,
- rtos->symbols[FREERTOS_VAL_PX_CURRENT_TCB].address,
- rtos->current_thread);
-
- if ((thread_list_size == 0) || (rtos->current_thread == 0)) {
- /* Either : No RTOS threads - there is always at least the current execution though */
- /* OR : No current thread - all threads suspended - show the current execution
- * of idling */
- char tmp_str[] = "Current Execution";
- thread_list_size++;
- tasks_found++;
- rtos->thread_details = malloc(
- sizeof(struct thread_detail) * thread_list_size);
- if (!rtos->thread_details) {
- LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
- return ERROR_FAIL;
- }
- rtos->thread_details->threadid = 1;
- rtos->thread_details->exists = true;
- rtos->thread_details->extra_info_str = NULL;
- rtos->thread_details->thread_name_str = malloc(sizeof(tmp_str));
- strcpy(rtos->thread_details->thread_name_str, tmp_str);
-
- if (thread_list_size == 1) {
- rtos->thread_count = 1;
- return ERROR_OK;
- }
- } else {
- /* create space for new thread details */
- rtos->thread_details = malloc(
- sizeof(struct thread_detail) * thread_list_size);
- if (!rtos->thread_details) {
- LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
- return ERROR_FAIL;
- }
- }
-
- /* Find out how many lists are needed to be read from pxReadyTasksLists, */
- if (rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address == 0) {
- LOG_ERROR("FreeRTOS: uxTopUsedPriority is not defined, consult the OpenOCD manual for a work-around");
- return ERROR_FAIL;
- }
- uint32_t top_used_priority = 0;
- retval = target_read_u32(rtos->target,
- rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
- &top_used_priority);
- if (retval != ERROR_OK)
- return retval;
- LOG_DEBUG("FreeRTOS: Read uxTopUsedPriority at 0x%" PRIx64 ", value %" PRIu32,
- rtos->symbols[FREERTOS_VAL_UX_TOP_USED_PRIORITY].address,
- top_used_priority);
- if (top_used_priority > FREERTOS_MAX_PRIORITIES) {
- LOG_ERROR("FreeRTOS top used priority is unreasonably big, not proceeding: %" PRIu32,
- top_used_priority);
- return ERROR_FAIL;
- }
-
- /* uxTopUsedPriority was defined as configMAX_PRIORITIES - 1
- * in old FreeRTOS versions (before V7.5.3)
- * Use contrib/rtos-helpers/FreeRTOS-openocd.c to get compatible symbol
- * in newer FreeRTOS versions.
- * Here we restore the original configMAX_PRIORITIES value */
- unsigned int config_max_priorities = top_used_priority + 1;
-
- symbol_address_t *list_of_lists =
- malloc(sizeof(symbol_address_t) * (config_max_priorities + 5));
- if (!list_of_lists) {
- LOG_ERROR("Error allocating memory for %u priorities", config_max_priorities);
- return ERROR_FAIL;
- }
-
- unsigned int num_lists;
- for (num_lists = 0; num_lists < config_max_priorities; num_lists++)
- list_of_lists[num_lists] = rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address +
- num_lists * param->list_width;
-
- list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST1].address;
- list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_DELAYED_TASK_LIST2].address;
- list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_PENDING_READY_LIST].address;
- list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_SUSPENDED_TASK_LIST].address;
- list_of_lists[num_lists++] = rtos->symbols[FREERTOS_VAL_X_TASKS_WAITING_TERMINATION].address;
-
- for (unsigned int i = 0; i < num_lists; i++) {
- if (list_of_lists[i] == 0)
- continue;
-
- /* Read the number of threads in this list */
- uint32_t list_thread_count = 0;
- retval = target_read_u32(rtos->target,
- list_of_lists[i],
- &list_thread_count);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading number of threads in FreeRTOS thread list");
- free(list_of_lists);
- return retval;
- }
- LOG_DEBUG("FreeRTOS: Read thread count for list %u at 0x%" PRIx64 ", value %" PRIu32,
- i, list_of_lists[i], list_thread_count);
-
- if (list_thread_count == 0)
- continue;
-
- /* Read the location of first list item */
- uint32_t prev_list_elem_ptr = -1;
- uint32_t list_elem_ptr = 0;
- retval = target_read_u32(rtos->target,
- list_of_lists[i] + param->list_next_offset,
- &list_elem_ptr);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
- free(list_of_lists);
- return retval;
- }
- LOG_DEBUG("FreeRTOS: Read first item for list %u at 0x%" PRIx64 ", value 0x%" PRIx32,
- i, list_of_lists[i] + param->list_next_offset, list_elem_ptr);
-
- while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
- (list_elem_ptr != prev_list_elem_ptr) &&
- (tasks_found < thread_list_size)) {
- /* Get the location of the thread structure. */
- rtos->thread_details[tasks_found].threadid = 0;
- retval = target_read_u32(rtos->target,
- list_elem_ptr + param->list_elem_content_offset,
- &pointer_casts_are_bad);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading thread list item object in FreeRTOS thread list");
- free(list_of_lists);
- return retval;
- }
- rtos->thread_details[tasks_found].threadid = pointer_casts_are_bad;
- LOG_DEBUG("FreeRTOS: Read Thread ID at 0x%" PRIx32 ", value 0x%" PRIx64,
- list_elem_ptr + param->list_elem_content_offset,
- rtos->thread_details[tasks_found].threadid);
-
- /* get thread name */
-
- #define FREERTOS_THREAD_NAME_STR_SIZE (200)
- char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
-
- /* Read the thread name */
- retval = target_read_buffer(rtos->target,
- rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
- FREERTOS_THREAD_NAME_STR_SIZE,
- (uint8_t *)&tmp_str);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
- free(list_of_lists);
- return retval;
- }
- tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
- LOG_DEBUG("FreeRTOS: Read Thread Name at 0x%" PRIx64 ", value '%s'",
- rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
- tmp_str);
-
- if (tmp_str[0] == '\x00')
- strcpy(tmp_str, "No Name");
-
- rtos->thread_details[tasks_found].thread_name_str =
- malloc(strlen(tmp_str)+1);
- strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
- rtos->thread_details[tasks_found].exists = true;
-
- if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
- char running_str[] = "State: Running";
- rtos->thread_details[tasks_found].extra_info_str = malloc(
- sizeof(running_str));
- strcpy(rtos->thread_details[tasks_found].extra_info_str,
- running_str);
- } else
- rtos->thread_details[tasks_found].extra_info_str = NULL;
-
- tasks_found++;
- list_thread_count--;
-
- prev_list_elem_ptr = list_elem_ptr;
- list_elem_ptr = 0;
- retval = target_read_u32(rtos->target,
- prev_list_elem_ptr + param->list_elem_next_offset,
- &list_elem_ptr);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading next thread item location in FreeRTOS thread list");
- free(list_of_lists);
- return retval;
- }
- LOG_DEBUG("FreeRTOS: Read next thread location at 0x%" PRIx32 ", value 0x%" PRIx32,
- prev_list_elem_ptr + param->list_elem_next_offset,
- list_elem_ptr);
- }
- }
-
- free(list_of_lists);
- rtos->thread_count = tasks_found;
- return 0;
- }
-
- static int freertos_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
- struct rtos_reg **reg_list, int *num_regs)
- {
- int retval;
- const struct freertos_params *param;
- int64_t stack_ptr = 0;
-
- if (!rtos)
- return -1;
-
- if (thread_id == 0)
- return -2;
-
- if (!rtos->rtos_specific_params)
- return -1;
-
- param = (const struct freertos_params *) rtos->rtos_specific_params;
-
- /* Read the stack pointer */
- uint32_t pointer_casts_are_bad;
- retval = target_read_u32(rtos->target,
- thread_id + param->thread_stack_offset,
- &pointer_casts_are_bad);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading stack frame from FreeRTOS thread");
- return retval;
- }
- stack_ptr = pointer_casts_are_bad;
- LOG_DEBUG("FreeRTOS: Read stack pointer at 0x%" PRIx64 ", value 0x%" PRIx64,
- thread_id + param->thread_stack_offset,
- stack_ptr);
-
- /* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4F */
- int cm4_fpu_enabled = 0;
- struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
- if (is_armv7m(armv7m_target)) {
- if (armv7m_target->fp_feature == FPV4_SP) {
- /* Found ARM v7m target which includes a FPU */
- uint32_t cpacr;
-
- retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr);
- if (retval != ERROR_OK) {
- LOG_ERROR("Could not read CPACR register to check FPU state");
- return -1;
- }
-
- /* Check if CP10 and CP11 are set to full access. */
- if (cpacr & 0x00F00000) {
- /* Found target with enabled FPU */
- cm4_fpu_enabled = 1;
- }
- }
- }
-
- if (cm4_fpu_enabled == 1) {
- /* Read the LR to decide between stacking with or without FPU */
- uint32_t lr_svc = 0;
- retval = target_read_u32(rtos->target,
- stack_ptr + 0x20,
- &lr_svc);
- if (retval != ERROR_OK) {
- LOG_OUTPUT("Error reading stack frame from FreeRTOS thread");
- return retval;
- }
- if ((lr_svc & 0x10) == 0)
- return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f_fpu, stack_ptr, reg_list, num_regs);
- else
- return rtos_generic_stack_read(rtos->target, param->stacking_info_cm4f, stack_ptr, reg_list, num_regs);
- } else
- return rtos_generic_stack_read(rtos->target, param->stacking_info_cm3, stack_ptr, reg_list, num_regs);
- }
-
- static int freertos_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
- {
- unsigned int i;
- *symbol_list = calloc(
- ARRAY_SIZE(freertos_symbol_list), sizeof(struct symbol_table_elem));
-
- for (i = 0; i < ARRAY_SIZE(freertos_symbol_list); i++) {
- (*symbol_list)[i].symbol_name = freertos_symbol_list[i].name;
- (*symbol_list)[i].optional = freertos_symbol_list[i].optional;
- }
-
- return 0;
- }
-
- #if 0
-
- static int freertos_set_current_thread(struct rtos *rtos, threadid_t thread_id)
- {
- return 0;
- }
-
- static int freertos_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
- {
- int retval;
- const struct freertos_params *param;
-
- if (!rtos)
- return -1;
-
- if (thread_id == 0)
- return -2;
-
- if (!rtos->rtos_specific_params)
- return -3;
-
- param = (const struct freertos_params *) rtos->rtos_specific_params;
-
- #define FREERTOS_THREAD_NAME_STR_SIZE (200)
- char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
-
- /* Read the thread name */
- retval = target_read_buffer(rtos->target,
- thread_id + param->thread_name_offset,
- FREERTOS_THREAD_NAME_STR_SIZE,
- (uint8_t *)&tmp_str);
- if (retval != ERROR_OK) {
- LOG_ERROR("Error reading first thread item location in FreeRTOS thread list");
- return retval;
- }
- tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
-
- if (tmp_str[0] == '\x00')
- strcpy(tmp_str, "No Name");
-
- *info = malloc(strlen(tmp_str)+1);
- strcpy(*info, tmp_str);
- return 0;
- }
-
- #endif
-
- static bool freertos_detect_rtos(struct target *target)
- {
- if ((target->rtos->symbols) &&
- (target->rtos->symbols[FREERTOS_VAL_PX_READY_TASKS_LISTS].address != 0)) {
- /* looks like FreeRTOS */
- return true;
- }
- return false;
- }
-
- static int freertos_create(struct target *target)
- {
- for (unsigned int i = 0; i < ARRAY_SIZE(freertos_params_list); i++)
- if (strcmp(freertos_params_list[i].target_name, target->type->name) == 0) {
- target->rtos->rtos_specific_params = (void *)&freertos_params_list[i];
- return 0;
- }
-
- LOG_ERROR("Could not find target in FreeRTOS compatibility list");
- return -1;
- }
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