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// SPDX-License-Identifier: GPL-2.0-or-later
/***************************************************************************
* Copyright 2016,2017 Sony Video & Sound Products Inc. *
* Masatoshi Tateishi - Masatoshi.Tateishi@jp.sony.com *
* Masayuki Ishikawa - Masayuki.Ishikawa@jp.sony.com *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <jtag/jtag.h>
#include "target/target.h"
#include "target/armv7m.h"
#include "target/cortex_m.h"
#include "rtos.h"
#include "helper/log.h"
#include "helper/types.h"
#include "target/register.h"
#include "rtos_nuttx_stackings.h"
#define NAME_SIZE 32
#define EXTRAINFO_SIZE 256
/* Only 32-bit CPUs are supported by the current implementation. Supporting
* other CPUs will require reading this information from the target and
* adapting the code accordingly.
*/
#define PTR_WIDTH 4
struct nuttx_params {
const char *target_name;
const struct rtos_register_stacking *stacking;
const struct rtos_register_stacking *(*select_stackinfo)(struct target *target);
};
/*
* struct tcbinfo_s is located in the sched.h
* https://github.com/apache/nuttx/blob/master/include/nuttx/sched.h
*/
#define TCBINFO_TARGET_SIZE 22
struct tcbinfo {
uint16_t pid_off; /* Offset of tcb.pid */
uint16_t state_off; /* Offset of tcb.task_state */
uint16_t pri_off; /* Offset of tcb.sched_priority */
uint16_t name_off; /* Offset of tcb.name */
uint16_t regs_off; /* Offset of tcb.regs */
uint16_t basic_num; /* Num of genernal regs */
uint16_t total_num; /* Num of regs in tcbinfo.reg_offs */
target_addr_t xcpreg_off; /* Offset pointer of xcp.regs */
};
struct symbols {
const char *name;
bool optional;
};
/* Used to index the list of retrieved symbols. See nuttx_symbol_list for the order. */
enum nuttx_symbol_vals {
NX_SYM_READYTORUN = 0,
NX_SYM_PIDHASH,
NX_SYM_NPIDHASH,
NX_SYM_TCB_INFO,
};
static const struct symbols nuttx_symbol_list[] = {
{ "g_readytorun", false },
{ "g_pidhash", false },
{ "g_npidhash", false },
{ "g_tcbinfo", false },
{ NULL, false }
};
static char *task_state_str[] = {
"INVALID",
"PENDING",
"READYTORUN",
"RUNNING",
"INACTIVE",
"WAIT_SEM",
"WAIT_SIG",
"WAIT_MQNOTEMPTY",
"WAIT_MQNOTFULL",
"WAIT_PAGEFILL",
"STOPPED",
};
static const struct rtos_register_stacking *cortexm_select_stackinfo(struct target *target);
static const struct nuttx_params nuttx_params_list[] = {
{
.target_name = "cortex_m",
.stacking = NULL,
.select_stackinfo = cortexm_select_stackinfo,
},
{
.target_name = "hla_target",
.stacking = NULL,
.select_stackinfo = cortexm_select_stackinfo,
},
{
.target_name = "esp32",
.stacking = &nuttx_esp32_stacking,
},
{
.target_name = "esp32s2",
.stacking = &nuttx_esp32s2_stacking,
},
{
.target_name = "esp32s3",
.stacking = &nuttx_esp32s3_stacking,
},
{
.target_name = "esp32c3",
.stacking = &nuttx_riscv_stacking,
},
};
static bool cortexm_hasfpu(struct target *target)
{
uint32_t cpacr;
struct armv7m_common *armv7m_target = target_to_armv7m(target);
if (!is_armv7m(armv7m_target) || armv7m_target->fp_feature == FP_NONE)
return false;
int retval = target_read_u32(target, FPU_CPACR, &cpacr);
if (retval != ERROR_OK) {
LOG_ERROR("Could not read CPACR register to check FPU state");
return false;
}
return cpacr & 0x00F00000;
}
static const struct rtos_register_stacking *cortexm_select_stackinfo(struct target *target)
{
return cortexm_hasfpu(target) ? &nuttx_stacking_cortex_m_fpu : &nuttx_stacking_cortex_m;
}
static bool nuttx_detect_rtos(struct target *target)
{
if (target->rtos->symbols &&
target->rtos->symbols[NX_SYM_READYTORUN].address != 0 &&
target->rtos->symbols[NX_SYM_PIDHASH].address != 0)
return true;
return false;
}
static int nuttx_create(struct target *target)
{
const struct nuttx_params *param;
unsigned int i;
for (i = 0; i < ARRAY_SIZE(nuttx_params_list); i++) {
param = &nuttx_params_list[i];
if (strcmp(target_type_name(target), param->target_name) == 0) {
LOG_INFO("Detected target \"%s\"", param->target_name);
break;
}
}
if (i >= ARRAY_SIZE(nuttx_params_list)) {
LOG_ERROR("Could not find \"%s\" target in NuttX compatibility list", target_type_name(target));
return JIM_ERR;
}
/* We found a target in our list, copy its reference. */
target->rtos->rtos_specific_params = (void *)param;
return JIM_OK;
}
static int nuttx_smp_init(struct target *target)
{
/* Return OK for now so that the initialisation sequence doesn't stop.
* SMP case will be implemented later. */
return ERROR_OK;
}
static target_addr_t target_buffer_get_addr(struct target *target, const uint8_t *buffer)
{
#if PTR_WIDTH == 8
return target_buffer_get_u64(target, buffer);
#else
return target_buffer_get_u32(target, buffer);
#endif
}
static int nuttx_update_threads(struct rtos *rtos)
{
struct tcbinfo tcbinfo;
uint32_t pidhashaddr, npidhash, tcbaddr;
uint16_t pid;
uint8_t state;
if (!rtos->symbols) {
LOG_ERROR("No symbols for nuttx");
return ERROR_FAIL;
}
/* Free previous thread details */
rtos_free_threadlist(rtos);
/* NuttX provides a hash table that keeps track of all the TCBs.
* We first read its size from g_npidhash and its address from g_pidhash.
* Its content is then read from these values.
*/
int ret = target_read_u32(rtos->target, rtos->symbols[NX_SYM_NPIDHASH].address, &npidhash);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read g_npidhash: ret = %d", ret);
return ERROR_FAIL;
}
LOG_DEBUG("Hash table size (g_npidhash) = %" PRId32, npidhash);
ret = target_read_u32(rtos->target, rtos->symbols[NX_SYM_PIDHASH].address, &pidhashaddr);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read g_pidhash address: ret = %d", ret);
return ERROR_FAIL;
}
LOG_DEBUG("Hash table address (g_pidhash) = %" PRIx32, pidhashaddr);
uint8_t *pidhash = malloc(npidhash * PTR_WIDTH);
if (!pidhash) {
LOG_ERROR("Failed to allocate pidhash");
return ERROR_FAIL;
}
ret = target_read_buffer(rtos->target, pidhashaddr, PTR_WIDTH * npidhash, pidhash);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read tcbhash: ret = %d", ret);
goto errout;
}
/* NuttX provides a struct that contains TCB offsets for required members.
* Read its content from g_tcbinfo.
*/
uint8_t buff[TCBINFO_TARGET_SIZE];
ret = target_read_buffer(rtos->target, rtos->symbols[NX_SYM_TCB_INFO].address, sizeof(buff), buff);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read tcbinfo: ret = %d", ret);
goto errout;
}
tcbinfo.pid_off = target_buffer_get_u16(rtos->target, buff);
tcbinfo.state_off = target_buffer_get_u16(rtos->target, buff + 2);
tcbinfo.pri_off = target_buffer_get_u16(rtos->target, buff + 4);
tcbinfo.name_off = target_buffer_get_u16(rtos->target, buff + 6);
tcbinfo.regs_off = target_buffer_get_u16(rtos->target, buff + 8);
tcbinfo.basic_num = target_buffer_get_u16(rtos->target, buff + 10);
tcbinfo.total_num = target_buffer_get_u16(rtos->target, buff + 12);
tcbinfo.xcpreg_off = target_buffer_get_addr(rtos->target, buff + 14);
/* The head of the g_readytorun list is the currently running task.
* Reading in a temporary variable first to avoid endianness issues,
* rtos->current_thread is int64_t. */
uint32_t current_thread;
ret = target_read_u32(rtos->target, rtos->symbols[NX_SYM_READYTORUN].address, ¤t_thread);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read g_readytorun: ret = %d", ret);
goto errout;
}
rtos->current_thread = current_thread;
uint32_t thread_count = 0;
for (unsigned int i = 0; i < npidhash; i++) {
tcbaddr = target_buffer_get_u32(rtos->target, &pidhash[i * PTR_WIDTH]);
if (!tcbaddr)
continue;
ret = target_read_u16(rtos->target, tcbaddr + tcbinfo.pid_off, &pid);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read PID of TCB@0x%x from pidhash[%d]: ret = %d",
tcbaddr, i, ret);
goto errout;
}
ret = target_read_u8(rtos->target, tcbaddr + tcbinfo.state_off, &state);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read state of TCB@0x%x from pidhash[%d]: ret = %d",
tcbaddr, i, ret);
goto errout;
}
struct thread_detail *new_thread_details = realloc(rtos->thread_details,
sizeof(struct thread_detail) * (thread_count + 1));
if (!new_thread_details) {
ret = ERROR_FAIL;
goto errout;
}
struct thread_detail *thread = &new_thread_details[thread_count];
thread->threadid = tcbaddr;
thread->exists = true;
thread->extra_info_str = NULL;
rtos->thread_details = new_thread_details;
thread_count++;
if (state < ARRAY_SIZE(task_state_str)) {
thread->extra_info_str = malloc(EXTRAINFO_SIZE);
if (!thread->extra_info_str) {
ret = ERROR_FAIL;
goto errout;
}
snprintf(thread->extra_info_str, EXTRAINFO_SIZE, "pid:%d, %s",
pid,
task_state_str[state]);
}
if (tcbinfo.name_off) {
thread->thread_name_str = calloc(NAME_SIZE + 1, sizeof(char));
if (!thread->thread_name_str) {
ret = ERROR_FAIL;
goto errout;
}
ret = target_read_buffer(rtos->target, tcbaddr + tcbinfo.name_off,
sizeof(char) * NAME_SIZE, (uint8_t *)thread->thread_name_str);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read thread's name: ret = %d", ret);
goto errout;
}
} else {
thread->thread_name_str = strdup("None");
}
}
ret = ERROR_OK;
rtos->thread_count = thread_count;
errout:
free(pidhash);
return ret;
}
static int nuttx_getreg_current_thread(struct rtos *rtos,
struct rtos_reg **reg_list, int *num_regs)
{
struct reg **gdb_reg_list;
/* Registers for currently running thread are not on task's stack and
* should be retrieved from reg caches via target_get_gdb_reg_list */
int ret = target_get_gdb_reg_list(rtos->target, &gdb_reg_list, num_regs,
REG_CLASS_GENERAL);
if (ret != ERROR_OK) {
LOG_ERROR("target_get_gdb_reg_list failed %d", ret);
return ret;
}
*reg_list = calloc(*num_regs, sizeof(struct rtos_reg));
if (!(*reg_list)) {
LOG_ERROR("Failed to alloc memory for %d", *num_regs);
free(gdb_reg_list);
return ERROR_FAIL;
}
for (int i = 0; i < *num_regs; i++) {
(*reg_list)[i].number = gdb_reg_list[i]->number;
(*reg_list)[i].size = gdb_reg_list[i]->size;
memcpy((*reg_list)[i].value, gdb_reg_list[i]->value, ((*reg_list)[i].size + 7) / 8);
}
free(gdb_reg_list);
return ERROR_OK;
}
static int nuttx_getregs_fromstack(struct rtos *rtos, int64_t thread_id,
struct rtos_reg **reg_list, int *num_regs)
{
uint16_t xcpreg_off;
uint32_t regsaddr;
const struct nuttx_params *priv = rtos->rtos_specific_params;
const struct rtos_register_stacking *stacking = priv->stacking;
if (!stacking) {
if (priv->select_stackinfo) {
stacking = priv->select_stackinfo(rtos->target);
} else {
LOG_ERROR("Can't find a way to get stacking info");
return ERROR_FAIL;
}
}
int ret = target_read_u16(rtos->target,
rtos->symbols[NX_SYM_TCB_INFO].address + offsetof(struct tcbinfo, regs_off),
&xcpreg_off);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read registers' offset: ret = %d", ret);
return ERROR_FAIL;
}
ret = target_read_u32(rtos->target, thread_id + xcpreg_off, ®saddr);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to read registers' address: ret = %d", ret);
return ERROR_FAIL;
}
return rtos_generic_stack_read(rtos->target, stacking, regsaddr, reg_list, num_regs);
}
static int nuttx_get_thread_reg_list(struct rtos *rtos, int64_t thread_id,
struct rtos_reg **reg_list, int *num_regs)
{
if (!rtos) {
LOG_ERROR("NUTTX: out of memory");
return ERROR_FAIL;
}
if (thread_id == rtos->current_thread)
return nuttx_getreg_current_thread(rtos, reg_list, num_regs);
return nuttx_getregs_fromstack(rtos, thread_id, reg_list, num_regs);
}
static int nuttx_get_symbol_list_to_lookup(struct symbol_table_elem *symbol_list[])
{
*symbol_list = calloc(ARRAY_SIZE(nuttx_symbol_list), sizeof(**symbol_list));
if (!*symbol_list) {
LOG_ERROR("NUTTX: out of memory");
return ERROR_FAIL;
}
for (unsigned int i = 0; i < ARRAY_SIZE(nuttx_symbol_list); i++) {
(*symbol_list)[i].symbol_name = nuttx_symbol_list[i].name;
(*symbol_list)[i].optional = nuttx_symbol_list[i].optional;
}
return ERROR_OK;
}
const struct rtos_type nuttx_rtos = {
.name = "nuttx",
.detect_rtos = nuttx_detect_rtos,
.create = nuttx_create,
.smp_init = nuttx_smp_init,
.update_threads = nuttx_update_threads,
.get_thread_reg_list = nuttx_get_thread_reg_list,
.get_symbol_list_to_lookup = nuttx_get_symbol_list_to_lookup,
};
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