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- /***************************************************************************
- * Copyright (C) 2017 by Square, Inc. *
- * Steven Stallion <stallion@squareup.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/log.h>
- #include <helper/time_support.h>
- #include <helper/types.h>
- #include <rtos/rtos.h>
- #include <target/target.h>
- #include <target/target_type.h>
-
- #include "rtos_ucos_iii_stackings.h"
-
- #ifndef UCOS_III_MAX_STRLEN
- #define UCOS_III_MAX_STRLEN 64
- #endif
-
- #ifndef UCOS_III_MAX_THREADS
- #define UCOS_III_MAX_THREADS 256
- #endif
-
- struct ucos_iii_params {
- const char *target_name;
- const unsigned char pointer_width;
- symbol_address_t thread_stack_offset;
- symbol_address_t thread_name_offset;
- symbol_address_t thread_state_offset;
- symbol_address_t thread_priority_offset;
- symbol_address_t thread_prev_offset;
- symbol_address_t thread_next_offset;
- bool thread_offsets_updated;
- size_t threadid_start;
- const struct rtos_register_stacking *stacking_info;
- size_t num_threads;
- symbol_address_t threads[];
- };
-
- static const struct ucos_iii_params ucos_iii_params_list[] = {
- {
- "cortex_m", /* target_name */
- sizeof(uint32_t), /* pointer_width */
- 0, /* thread_stack_offset */
- 0, /* thread_name_offset */
- 0, /* thread_state_offset */
- 0, /* thread_priority_offset */
- 0, /* thread_prev_offset */
- 0, /* thread_next_offset */
- false, /* thread_offsets_updated */
- 1, /* threadid_start */
- &rtos_ucos_iii_cortex_m_stacking, /* stacking_info */
- 0, /* num_threads */
- },
- {
- "esirisc", /* target_name */
- sizeof(uint32_t), /* pointer_width */
- 0, /* thread_stack_offset */
- 0, /* thread_name_offset */
- 0, /* thread_state_offset */
- 0, /* thread_priority_offset */
- 0, /* thread_prev_offset */
- 0, /* thread_next_offset */
- false, /* thread_offsets_updated */
- 1, /* threadid_start */
- &rtos_ucos_iii_esi_risc_stacking, /* stacking_info */
- 0, /* num_threads */
- },
- };
-
- static const char * const ucos_iii_symbol_list[] = {
- "OSRunning",
- "OSTCBCurPtr",
- "OSTaskDbgListPtr",
- "OSTaskQty",
-
- /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
- "openocd_OS_TCB_StkPtr_offset",
- "openocd_OS_TCB_NamePtr_offset",
- "openocd_OS_TCB_TaskState_offset",
- "openocd_OS_TCB_Prio_offset",
- "openocd_OS_TCB_DbgPrevPtr_offset",
- "openocd_OS_TCB_DbgNextPtr_offset",
- NULL
- };
-
- enum ucos_iii_symbol_values {
- UCOS_III_VAL_OS_RUNNING,
- UCOS_III_VAL_OS_TCB_CUR_PTR,
- UCOS_III_VAL_OS_TASK_DBG_LIST_PTR,
- UCOS_III_VAL_OS_TASK_QTY,
-
- /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
- UCOS_III_VAL_OS_TCB_STK_PTR_OFFSET,
- UCOS_III_VAL_OS_TCB_NAME_PTR_OFFSET,
- UCOS_III_VAL_OS_TCB_TASK_STATE_OFFSET,
- UCOS_III_VAL_OS_TCB_PRIO_OFFSET,
- UCOS_III_VAL_OS_TCB_DBG_PREV_PTR_OFFSET,
- UCOS_III_VAL_OS_TCB_DBG_NEXT_PTR_OFFSET,
- };
-
- static const char * const ucos_iii_thread_state_list[] = {
- "Ready",
- "Delay",
- "Pend",
- "Pend Timeout",
- "Suspended",
- "Delay Suspended",
- "Pend Suspended",
- "Pend Timeout Suspended",
- };
-
- static int ucos_iii_find_or_create_thread(struct rtos *rtos, symbol_address_t thread_address,
- threadid_t *threadid)
- {
- struct ucos_iii_params *params = rtos->rtos_specific_params;
- size_t thread_index;
-
- for (thread_index = 0; thread_index < params->num_threads; thread_index++)
- if (params->threads[thread_index] == thread_address)
- goto found;
-
- if (params->num_threads == UCOS_III_MAX_THREADS) {
- LOG_WARNING("uCOS-III: too many threads; increase UCOS_III_MAX_THREADS");
- return ERROR_FAIL;
- }
-
- params->threads[thread_index] = thread_address;
- params->num_threads++;
- found:
- *threadid = thread_index + params->threadid_start;
- return ERROR_OK;
- }
-
- static int ucos_iii_find_thread_address(struct rtos *rtos, threadid_t threadid,
- symbol_address_t *thread_address)
- {
- struct ucos_iii_params *params = rtos->rtos_specific_params;
- size_t thread_index;
-
- thread_index = threadid - params->threadid_start;
- if (thread_index >= params->num_threads) {
- LOG_ERROR("uCOS-III: failed to find thread address");
- return ERROR_FAIL;
- }
-
- *thread_address = params->threads[thread_index];
- return ERROR_OK;
- }
-
- static int ucos_iii_find_last_thread_address(struct rtos *rtos, symbol_address_t *thread_address)
- {
- struct ucos_iii_params *params = rtos->rtos_specific_params;
- int retval;
-
- /* read the thread list head */
- symbol_address_t thread_list_address = 0;
-
- retval = target_read_memory(rtos->target,
- rtos->symbols[UCOS_III_VAL_OS_TASK_DBG_LIST_PTR].address,
- params->pointer_width,
- 1,
- (void *)&thread_list_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read thread list address");
- return retval;
- }
-
- /* advance to end of thread list */
- do {
- *thread_address = thread_list_address;
-
- retval = target_read_memory(rtos->target,
- thread_list_address + params->thread_next_offset,
- params->pointer_width,
- 1,
- (void *)&thread_list_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read next thread address");
- return retval;
- }
- } while (thread_list_address != 0);
-
- return ERROR_OK;
- }
-
- static int ucos_iii_update_thread_offsets(struct rtos *rtos)
- {
- struct ucos_iii_params *params = rtos->rtos_specific_params;
-
- if (params->thread_offsets_updated)
- return ERROR_OK;
-
- const struct thread_offset_map {
- enum ucos_iii_symbol_values symbol_value;
- symbol_address_t *thread_offset;
- } thread_offset_maps[] = {
- {
- UCOS_III_VAL_OS_TCB_STK_PTR_OFFSET,
- ¶ms->thread_stack_offset,
- },
- {
- UCOS_III_VAL_OS_TCB_NAME_PTR_OFFSET,
- ¶ms->thread_name_offset,
- },
- {
- UCOS_III_VAL_OS_TCB_TASK_STATE_OFFSET,
- ¶ms->thread_state_offset,
- },
- {
- UCOS_III_VAL_OS_TCB_PRIO_OFFSET,
- ¶ms->thread_priority_offset,
- },
- {
- UCOS_III_VAL_OS_TCB_DBG_PREV_PTR_OFFSET,
- ¶ms->thread_prev_offset,
- },
- {
- UCOS_III_VAL_OS_TCB_DBG_NEXT_PTR_OFFSET,
- ¶ms->thread_next_offset,
- },
- };
-
- for (size_t i = 0; i < ARRAY_SIZE(thread_offset_maps); i++) {
- const struct thread_offset_map *thread_offset_map = &thread_offset_maps[i];
-
- int retval = target_read_memory(rtos->target,
- rtos->symbols[thread_offset_map->symbol_value].address,
- params->pointer_width,
- 1,
- (void *)thread_offset_map->thread_offset);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read thread offset");
- return retval;
- }
- }
-
- params->thread_offsets_updated = true;
- return ERROR_OK;
- }
-
- static bool ucos_iii_detect_rtos(struct target *target)
- {
- return target->rtos->symbols &&
- target->rtos->symbols[UCOS_III_VAL_OS_RUNNING].address != 0;
- }
-
- static int ucos_iii_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv)
- {
- struct ucos_iii_params *params = target->rtos->rtos_specific_params;
-
- params->thread_offsets_updated = false;
- params->num_threads = 0;
-
- return ERROR_OK;
- }
-
- static int ucos_iii_create(struct target *target)
- {
- struct ucos_iii_params *params;
-
- for (size_t i = 0; i < ARRAY_SIZE(ucos_iii_params_list); i++)
- if (strcmp(ucos_iii_params_list[i].target_name, target->type->name) == 0) {
- params = malloc(sizeof(*params) + (UCOS_III_MAX_THREADS * sizeof(*params->threads)));
- if (!params) {
- LOG_ERROR("uCOS-III: out of memory");
- return ERROR_FAIL;
- }
-
- memcpy(params, &ucos_iii_params_list[i], sizeof(ucos_iii_params_list[i]));
- target->rtos->rtos_specific_params = (void *)params;
-
- target_register_reset_callback(ucos_iii_reset_handler, NULL);
-
- return ERROR_OK;
- }
-
- LOG_ERROR("uCOS-III: target not supported: %s", target->type->name);
- return ERROR_FAIL;
- }
-
- static int ucos_iii_update_threads(struct rtos *rtos)
- {
- struct ucos_iii_params *params = rtos->rtos_specific_params;
- int retval;
-
- if (!rtos->symbols) {
- LOG_ERROR("uCOS-III: symbol list not loaded");
- return ERROR_FAIL;
- }
-
- /* free previous thread details */
- rtos_free_threadlist(rtos);
-
- /* verify RTOS is running */
- uint8_t rtos_running;
-
- retval = target_read_u8(rtos->target,
- rtos->symbols[UCOS_III_VAL_OS_RUNNING].address,
- &rtos_running);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read RTOS running");
- return retval;
- }
-
- if (rtos_running != 1 && rtos_running != 0) {
- LOG_ERROR("uCOS-III: invalid RTOS running value");
- return ERROR_FAIL;
- }
-
- if (!rtos_running) {
- rtos->thread_details = calloc(1, sizeof(struct thread_detail));
- if (!rtos->thread_details) {
- LOG_ERROR("uCOS-III: out of memory");
- return ERROR_FAIL;
- }
-
- rtos->thread_count = 1;
- rtos->thread_details->threadid = 0;
- rtos->thread_details->exists = true;
- rtos->current_thread = 0;
-
- return ERROR_OK;
- }
-
- /* update thread offsets */
- retval = ucos_iii_update_thread_offsets(rtos);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to update thread offsets");
- return retval;
- }
-
- /* read current thread address */
- symbol_address_t current_thread_address = 0;
-
- retval = target_read_memory(rtos->target,
- rtos->symbols[UCOS_III_VAL_OS_TCB_CUR_PTR].address,
- params->pointer_width,
- 1,
- (void *)¤t_thread_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read current thread address");
- return retval;
- }
-
- /* read number of tasks */
- retval = target_read_u16(rtos->target,
- rtos->symbols[UCOS_III_VAL_OS_TASK_QTY].address,
- (void *)&rtos->thread_count);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read thread count");
- return retval;
- }
-
- rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
- if (!rtos->thread_details) {
- LOG_ERROR("uCOS-III: out of memory");
- return ERROR_FAIL;
- }
-
- /*
- * uC/OS-III adds tasks in LIFO order; advance to the end of the
- * list and work backwards to preserve the intended order.
- */
- symbol_address_t thread_address = 0;
-
- retval = ucos_iii_find_last_thread_address(rtos, &thread_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to find last thread address");
- return retval;
- }
-
- for (int i = 0; i < rtos->thread_count; i++) {
- struct thread_detail *thread_detail = &rtos->thread_details[i];
- char thread_str_buffer[UCOS_III_MAX_STRLEN + 1];
-
- /* find or create new threadid */
- retval = ucos_iii_find_or_create_thread(rtos, thread_address, &thread_detail->threadid);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to find or create thread");
- return retval;
- }
-
- if (thread_address == current_thread_address)
- rtos->current_thread = thread_detail->threadid;
-
- thread_detail->exists = true;
-
- /* read thread name */
- symbol_address_t thread_name_address = 0;
-
- retval = target_read_memory(rtos->target,
- thread_address + params->thread_name_offset,
- params->pointer_width,
- 1,
- (void *)&thread_name_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to name address");
- return retval;
- }
-
- retval = target_read_buffer(rtos->target,
- thread_name_address,
- sizeof(thread_str_buffer),
- (void *)thread_str_buffer);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read thread name");
- return retval;
- }
-
- thread_str_buffer[sizeof(thread_str_buffer) - 1] = '\0';
- thread_detail->thread_name_str = strdup(thread_str_buffer);
-
- /* read thread extra info */
- uint8_t thread_state;
- uint8_t thread_priority;
-
- retval = target_read_u8(rtos->target,
- thread_address + params->thread_state_offset,
- &thread_state);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read thread state");
- return retval;
- }
-
- retval = target_read_u8(rtos->target,
- thread_address + params->thread_priority_offset,
- &thread_priority);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read thread priority");
- return retval;
- }
-
- const char *thread_state_str;
-
- if (thread_state < ARRAY_SIZE(ucos_iii_thread_state_list))
- thread_state_str = ucos_iii_thread_state_list[thread_state];
- else
- thread_state_str = "Unknown";
-
- snprintf(thread_str_buffer, sizeof(thread_str_buffer), "State: %s, Priority: %d",
- thread_state_str, thread_priority);
- thread_detail->extra_info_str = strdup(thread_str_buffer);
-
- /* read previous thread address */
- retval = target_read_memory(rtos->target,
- thread_address + params->thread_prev_offset,
- params->pointer_width,
- 1,
- (void *)&thread_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read previous thread address");
- return retval;
- }
- }
-
- return ERROR_OK;
- }
-
- static int ucos_iii_get_thread_reg_list(struct rtos *rtos, threadid_t threadid,
- struct rtos_reg **reg_list, int *num_regs)
- {
- struct ucos_iii_params *params = rtos->rtos_specific_params;
- int retval;
-
- /* find thread address for threadid */
- symbol_address_t thread_address = 0;
-
- retval = ucos_iii_find_thread_address(rtos, threadid, &thread_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to find thread address");
- return retval;
- }
-
- /* read thread stack address */
- symbol_address_t stack_address = 0;
-
- retval = target_read_memory(rtos->target,
- thread_address + params->thread_stack_offset,
- params->pointer_width,
- 1,
- (void *)&stack_address);
- if (retval != ERROR_OK) {
- LOG_ERROR("uCOS-III: failed to read stack address");
- return retval;
- }
-
- return rtos_generic_stack_read(rtos->target,
- params->stacking_info,
- stack_address,
- reg_list,
- num_regs);
- }
-
- static int ucos_iii_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
- {
- *symbol_list = calloc(ARRAY_SIZE(ucos_iii_symbol_list), sizeof(struct symbol_table_elem));
- if (!*symbol_list) {
- LOG_ERROR("uCOS-III: out of memory");
- return ERROR_FAIL;
- }
-
- for (size_t i = 0; i < ARRAY_SIZE(ucos_iii_symbol_list); i++)
- (*symbol_list)[i].symbol_name = ucos_iii_symbol_list[i];
-
- return ERROR_OK;
- }
-
- const struct rtos_type ucos_iii_rtos = {
- .name = "uCOS-III",
- .detect_rtos = ucos_iii_detect_rtos,
- .create = ucos_iii_create,
- .update_threads = ucos_iii_update_threads,
- .get_thread_reg_list = ucos_iii_get_thread_reg_list,
- .get_symbol_list_to_lookup = ucos_iii_get_symbol_list_to_lookup,
- };
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