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// SPDX-License-Identifier: GPL-2.0-or-later
/***************************************************************************
* Copyright (C) 2014 by Marian Cingel *
* cingel.marian@gmail.com *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <stdint.h>
#include <helper/time_support.h>
#include <jtag/jtag.h>
#include "target/target.h"
#include "rtos.h"
#include "helper/log.h"
#include "helper/types.h"
#include "rtos_mqx_stackings.h"
/* constants */
#define MQX_THREAD_NAME_LENGTH (255)
#define MQX_KERNEL_OFFSET_TDLIST (0x0108)
#define MQX_KERNEL_OFFSET_SYSTEM_TASK (0x0050)
#define MQX_KERNEL_OFFSET_ACTIVE_TASK (0x001C)
#define MQX_KERNEL_OFFSET_CAPABILITY (0x0000)
#define MQX_QUEUE_OFFSET_SIZE (0x0008)
#define MQX_TASK_OFFSET_STATE (0x0008)
#define MQX_TASK_OFFSET_ID (0x000c)
#define MQX_TASK_OFFSET_TEMPLATE (0x0068)
#define MQX_TASK_OFFSET_STACK (0x0014)
#define MQX_TASK_OFFSET_TDLIST (0x006C)
#define MQX_TASK_OFFSET_NEXT (0x0000)
#define MQX_TASK_TEMPLATE_OFFSET_NAME (0x0010)
#define MQX_TASK_OFFSET_ERROR_CODE (0x005C)
#define MQX_TASK_STATE_MASK (0xFFF)
/* types */
enum mqx_symbols {
MQX_VAL_MQX_KERNEL_DATA,
MQX_VAL_MQX_INIT_STRUCT,
};
enum mqx_arch {
mqx_arch_cortexm,
};
struct mqx_params {
const char *target_name;
const enum mqx_arch target_arch;
const struct rtos_register_stacking *stacking_info;
};
struct mqx_state {
uint32_t state;
char *name;
};
/* local data */
static const struct mqx_state mqx_states[] = {
{ 0x0002, "READY" },
{ 0x0003, "BLOCKED" },
{ 0x0005, "RCV_SPECIFIC_BLOCKED" },
{ 0x0007, "RCV_ANY_BLOCKED" },
{ 0x0009, "DYING" },
{ 0x000B, "UNHANDLED_INT_BLOCKED" },
{ 0x000D, "SEND_BLOCKED" },
{ 0x000F, "BREAKPOINT_BLOCKED" },
{ 0x0211, "IO_BLOCKED" },
{ 0x0021, "SEM_BLOCKED" },
{ 0x0223, "MUTEX_BLOCKED" },
{ 0x0025, "EVENT_BLOCKED" },
{ 0x0229, "TASK_QUEUE_BLOCKED" },
{ 0x042B, "LWSEM_BLOCKED" },
{ 0x042D, "LWEVENT_BLOCKED" },
};
static const char * const mqx_symbol_list[] = {
"_mqx_kernel_data",
"MQX_init_struct",
NULL
};
static const struct mqx_params mqx_params_list[] = {
{ "cortex_m", mqx_arch_cortexm, &rtos_mqx_arm_v7m_stacking },
};
/*
* Perform simple address check to avoid bus fault.
*/
static int mqx_valid_address_check(
struct rtos *rtos,
uint32_t address
)
{
enum mqx_arch arch_type = ((struct mqx_params *)rtos->rtos_specific_params)->target_arch;
const char *targetname = ((struct mqx_params *)rtos->rtos_specific_params)->target_name;
/* Cortex-M address range */
if (arch_type == mqx_arch_cortexm) {
if (
/* code and sram area */
(address && address <= 0x3FFFFFFFu) ||
/* external ram area*/
(address >= 0x6000000u && address <= 0x9FFFFFFFu)
) {
return ERROR_OK;
}
return ERROR_FAIL;
}
LOG_ERROR("MQX RTOS - unknown architecture %s", targetname);
return ERROR_FAIL;
}
/*
* Wrapper of 'target_read_buffer' fn.
* Include address check.
*/
static int mqx_target_read_buffer(
struct target *target,
uint32_t address,
uint32_t size,
uint8_t *buffer
)
{
int status = mqx_valid_address_check(target->rtos, address);
if (status != ERROR_OK) {
LOG_WARNING("MQX RTOS - target address 0x%" PRIx32 " is not allowed to read", address);
return status;
}
status = target_read_buffer(target, address, size, buffer);
if (status != ERROR_OK) {
LOG_ERROR("MQX RTOS - reading target address 0x%" PRIx32" failed", address);
return status;
}
return ERROR_OK;
}
/*
* Get symbol address if present
*/
static int mqx_get_symbol(
struct rtos *rtos,
enum mqx_symbols symbol,
void *result
)
{
/* TODO: additional check ?? */
(*(int *)result) = (uint32_t)rtos->symbols[symbol].address;
return ERROR_OK;
}
/*
* Get value of struct member by passing
* member offset, width and name (debug purpose)
*/
static int mqx_get_member(
struct rtos *rtos,
const uint32_t base_address,
int32_t member_offset,
int32_t member_width,
const char *member_name,
void *result
)
{
int status = ERROR_FAIL;
status = mqx_target_read_buffer(
rtos->target, base_address + member_offset, member_width, result
);
if (status != ERROR_OK)
LOG_WARNING("MQX RTOS - cannot read \"%s\" at address 0x%" PRIx32,
member_name, (uint32_t)(base_address + member_offset));
return status;
}
/*
* Check whether scheduler started
*/
static int mqx_is_scheduler_running(
struct rtos *rtos
)
{
uint32_t kernel_data_symbol = 0;
uint32_t kernel_data_addr = 0;
uint32_t system_td_addr = 0;
uint32_t active_td_addr = 0;
uint32_t capability_value = 0;
/* get '_mqx_kernel_data' symbol */
if (mqx_get_symbol(rtos, MQX_VAL_MQX_KERNEL_DATA, &kernel_data_symbol) != ERROR_OK)
return ERROR_FAIL;
/* get '_mqx_kernel_data' */
if (mqx_get_member(rtos, kernel_data_symbol, 0, 4,
"_mqx_kernel_data", &kernel_data_addr) != ERROR_OK)
return ERROR_FAIL;
/* return if '_mqx_kernel_data' is NULL or default 0xFFFFFFFF */
if (kernel_data_addr == 0 || kernel_data_addr == (uint32_t)(-1))
return ERROR_FAIL;
/* get kernel_data->ADDRESSING_CAPABILITY */
if (mqx_get_member(rtos, kernel_data_addr, MQX_KERNEL_OFFSET_CAPABILITY, 4,
"kernel_data->ADDRESSING_CAPABILITY", (void *)&capability_value) != ERROR_OK)
return ERROR_FAIL;
/* check first member, the '_mqx_kernel_data->ADDRESSING_CAPABILITY'.
it suppose to be set to value 8 */
if (capability_value != 8) {
LOG_WARNING("MQX RTOS - value of '_mqx_kernel_data->ADDRESSING_CAPABILITY' contains invalid value");
return ERROR_FAIL;
}
/* get active ptr */
if (mqx_get_member(rtos, kernel_data_addr, MQX_KERNEL_OFFSET_ACTIVE_TASK, 4,
"kernel_data->ACTIVE_PTR", (void *)&active_td_addr) != ERROR_OK)
return ERROR_FAIL;
/* active task is system task, scheduler has not not run yet */
system_td_addr = kernel_data_addr + MQX_KERNEL_OFFSET_SYSTEM_TASK;
if (active_td_addr == system_td_addr) {
LOG_WARNING("MQX RTOS - scheduler does not run");
return ERROR_FAIL;
}
return ERROR_OK;
}
/*
* API function, return true if MQX is present
*/
static bool mqx_detect_rtos(
struct target *target
)
{
if (
(target->rtos->symbols) &&
(target->rtos->symbols[MQX_VAL_MQX_KERNEL_DATA].address != 0)
) {
return true;
}
return false;
}
/*
* API function, pass MQX extra info to context data
*/
static int mqx_create(
struct target *target
)
{
/* check target name against supported architectures */
for (unsigned int i = 0; i < ARRAY_SIZE(mqx_params_list); i++) {
if (strcmp(mqx_params_list[i].target_name, target_type_name(target)) == 0) {
target->rtos->rtos_specific_params = (void *)&mqx_params_list[i];
/* LOG_DEBUG("MQX RTOS - valid architecture: %s", target_type_name(target)); */
return 0;
}
}
LOG_ERROR("MQX RTOS - could not find target \"%s\" in MQX compatibility list", target_type_name(target));
return -1;
}
/*
* API function, update list of threads
*/
static int mqx_update_threads(
struct rtos *rtos
)
{
uint32_t task_queue_addr = 0;
uint32_t kernel_data_addr = 0;
uint16_t task_queue_size = 0;
uint32_t active_td_addr = 0;
if (!rtos->rtos_specific_params)
return -3;
if (!rtos->symbols)
return -4;
/* clear old data */
rtos_free_threadlist(rtos);
/* check scheduler */
if (mqx_is_scheduler_running(rtos) != ERROR_OK)
return ERROR_FAIL;
/* get kernel_data symbol */
if (mqx_get_symbol(rtos, MQX_VAL_MQX_KERNEL_DATA, &kernel_data_addr) != ERROR_OK)
return ERROR_FAIL;
/* read kernel_data */
if (mqx_get_member(rtos, kernel_data_addr, 0, 4,
"_mqx_kernel_data", &kernel_data_addr) != ERROR_OK)
return ERROR_FAIL;
/* get task queue address */
task_queue_addr = kernel_data_addr + MQX_KERNEL_OFFSET_TDLIST;
/* get task queue size */
if (mqx_get_member(rtos, task_queue_addr, MQX_QUEUE_OFFSET_SIZE, 2,
"kernel_data->TD_LIST.SIZE", &task_queue_size) != ERROR_OK)
return ERROR_FAIL;
/* get active ptr */
if (mqx_get_member(rtos, kernel_data_addr, MQX_KERNEL_OFFSET_ACTIVE_TASK, 4,
"kernel_data->ACTIVE_PTR", (void *)&active_td_addr) != ERROR_OK)
return ERROR_FAIL;
/* setup threads info */
rtos->thread_count = task_queue_size;
rtos->current_thread = 0;
rtos->thread_details = calloc(rtos->thread_count, sizeof(struct thread_detail));
if (!rtos->thread_details)
return ERROR_FAIL;
/* loop over each task and setup thread details,
the current_taskpool_addr is set to queue head
NOTE: debugging functions task create/destroy
might cause to show invalid data.
*/
for (
uint32_t i = 0, taskpool_addr = task_queue_addr;
i < (uint32_t)rtos->thread_count;
i++
) {
uint8_t task_name[MQX_THREAD_NAME_LENGTH + 1];
uint32_t task_addr = 0, task_template = 0, task_state = 0;
uint32_t task_name_addr = 0, task_id = 0, task_errno = 0;
uint32_t state_index = 0;
uint32_t extra_info_length = 0;
char *state_name = "Unknown";
/* set current taskpool address */
if (mqx_get_member(rtos, taskpool_addr, MQX_TASK_OFFSET_NEXT, 4,
"td_struct_ptr->NEXT", &taskpool_addr) != ERROR_OK)
return ERROR_FAIL;
/* get task address from taskpool */
task_addr = taskpool_addr - MQX_TASK_OFFSET_TDLIST;
/* get address of 'td_struct_ptr->TEMPLATE_LIST_PTR' */
if (mqx_get_member(rtos, task_addr, MQX_TASK_OFFSET_TEMPLATE, 4,
"td_struct_ptr->TEMPLATE_LIST_PTR", &task_template) != ERROR_OK)
return ERROR_FAIL;
/* get address of 'td_struct_ptr->TEMPLATE_LIST_PTR->NAME' */
if (mqx_get_member(rtos, task_template, MQX_TASK_TEMPLATE_OFFSET_NAME, 4,
"td_struct_ptr->TEMPLATE_LIST_PTR->NAME", &task_name_addr) != ERROR_OK)
return ERROR_FAIL;
/* get value of 'td_struct->TEMPLATE_LIST_PTR->NAME' */
if (mqx_get_member(rtos, task_name_addr, 0, MQX_THREAD_NAME_LENGTH,
"*td_struct_ptr->TEMPLATE_LIST_PTR->NAME", task_name) != ERROR_OK)
return ERROR_FAIL;
/* always terminate last character by force,
otherwise openocd might fail if task_name
has corrupted data */
task_name[MQX_THREAD_NAME_LENGTH] = '\0';
/* get value of 'td_struct_ptr->TASK_ID' */
if (mqx_get_member(rtos, task_addr, MQX_TASK_OFFSET_ID, 4,
"td_struct_ptr->TASK_ID", &task_id) != ERROR_OK)
return ERROR_FAIL;
/* get task errno */
if (mqx_get_member(rtos, task_addr, MQX_TASK_OFFSET_ERROR_CODE, 4,
"td_struct_ptr->TASK_ERROR_CODE", &task_errno) != ERROR_OK)
return ERROR_FAIL;
/* get value of 'td_struct_ptr->STATE' */
if (mqx_get_member(rtos, task_addr, MQX_TASK_OFFSET_STATE, 4,
"td_struct_ptr->STATE", &task_state) != ERROR_OK)
return ERROR_FAIL;
task_state &= MQX_TASK_STATE_MASK;
/* and search for defined state */
for (state_index = 0; state_index < ARRAY_SIZE(mqx_states); state_index++) {
if (mqx_states[state_index].state == task_state) {
state_name = mqx_states[state_index].name;
break;
}
}
/* setup thread details struct */
rtos->thread_details[i].threadid = task_id;
rtos->thread_details[i].exists = true;
/* set thread name */
rtos->thread_details[i].thread_name_str = malloc(strlen((void *)task_name) + 1);
if (!rtos->thread_details[i].thread_name_str)
return ERROR_FAIL;
strcpy(rtos->thread_details[i].thread_name_str, (void *)task_name);
/* set thread extra info
* - task state
* - task address
* - task errno
* calculate length as:
* state length + address length + errno length + formatter length
*/
extra_info_length += strlen((void *)state_name) + 7 + 13 + 8 + 15 + 8;
rtos->thread_details[i].extra_info_str = malloc(extra_info_length + 1);
if (!rtos->thread_details[i].extra_info_str)
return ERROR_FAIL;
snprintf(rtos->thread_details[i].extra_info_str, extra_info_length,
"State: %s, Address: 0x%" PRIx32 ", Error Code: %" PRIu32,
state_name, task_addr, task_errno
);
/* set active thread */
if (active_td_addr == task_addr)
rtos->current_thread = task_id;
}
return ERROR_OK;
}
/*
* API function, get info of selected thread
*/
static int mqx_get_thread_reg_list(
struct rtos *rtos,
int64_t thread_id,
struct rtos_reg **reg_list,
int *num_regs
)
{
int64_t stack_ptr = 0;
uint32_t my_task_addr = 0;
uint32_t task_queue_addr = 0;
uint32_t task_queue_size = 0;
uint32_t kernel_data_addr = 0;
if (thread_id == 0) {
LOG_ERROR("MQX RTOS - invalid threadid: 0x%X", (int)thread_id);
return ERROR_FAIL;
}
if (mqx_is_scheduler_running(rtos) != ERROR_OK)
return ERROR_FAIL;
/* get kernel_data symbol */
if (mqx_get_symbol(rtos, MQX_VAL_MQX_KERNEL_DATA, &kernel_data_addr) != ERROR_OK)
return ERROR_FAIL;
/* read kernel_data */
if (mqx_get_member(rtos, kernel_data_addr, 0, 4,
"_mqx_kernel_data", &kernel_data_addr) != ERROR_OK)
return ERROR_FAIL;
/* get task queue address */
task_queue_addr = kernel_data_addr + MQX_KERNEL_OFFSET_TDLIST;
/* get task queue size */
if (mqx_get_member(rtos, task_queue_addr, MQX_QUEUE_OFFSET_SIZE, 2,
"kernel_data->TD_LIST.SIZE", &task_queue_size) != ERROR_OK)
return ERROR_FAIL;
/* search for taskid */
for (
uint32_t i = 0, taskpool_addr = task_queue_addr;
i < (uint32_t)rtos->thread_count;
i++
) {
uint32_t tmp_address = 0, task_addr = 0;
uint32_t task_id = 0;
/* set current taskpool address */
tmp_address = taskpool_addr;
if (mqx_get_member(rtos, tmp_address, MQX_TASK_OFFSET_NEXT, 4,
"td_struct_ptr->NEXT", &taskpool_addr) != ERROR_OK)
return ERROR_FAIL;
/* get task address from taskpool */
task_addr = taskpool_addr - MQX_TASK_OFFSET_TDLIST;
/* get value of td_struct->TASK_ID */
if (mqx_get_member(rtos, task_addr, MQX_TASK_OFFSET_ID, 4,
"td_struct_ptr->TASK_ID", &task_id) != ERROR_OK)
return ERROR_FAIL;
/* found taskid, break */
if (task_id == thread_id) {
my_task_addr = task_addr;
break;
}
}
if (!my_task_addr) {
LOG_ERROR("MQX_RTOS - threadid %" PRId64 " does not match any task", thread_id);
return ERROR_FAIL;
}
/* get task stack head address */
if (mqx_get_member(rtos, my_task_addr, MQX_TASK_OFFSET_STACK, 4,
"task->STACK_PTR", &stack_ptr) != ERROR_OK)
return ERROR_FAIL;
return rtos_generic_stack_read(
rtos->target, ((struct mqx_params *)rtos->rtos_specific_params)->stacking_info, stack_ptr, reg_list, num_regs
);
}
/* API function, export list of required symbols */
static int mqx_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
{
*symbol_list = calloc(ARRAY_SIZE(mqx_symbol_list), sizeof(struct symbol_table_elem));
if (!*symbol_list)
return ERROR_FAIL;
/* export required symbols */
for (int i = 0; i < (int)(ARRAY_SIZE(mqx_symbol_list)); i++)
(*symbol_list)[i].symbol_name = mqx_symbol_list[i];
return ERROR_OK;
}
const struct rtos_type mqx_rtos = {
.name = "mqx",
.detect_rtos = mqx_detect_rtos,
.create = mqx_create,
.update_threads = mqx_update_threads,
.get_thread_reg_list = mqx_get_thread_reg_list,
.get_symbol_list_to_lookup = mqx_get_symbol_list_to_lookup,
};
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