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// SPDX-License-Identifier: GPL-2.0-or-later
/***************************************************************************
* Copyright (C) 2017 by Square, Inc. *
* Steven Stallion <stallion@squareup.com> *
***************************************************************************/
#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 "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;
size_t threadid_start;
const struct rtos_register_stacking *stacking_info;
};
struct ucos_iii_private {
const struct ucos_iii_params *params;
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 num_threads;
symbol_address_t threads[UCOS_III_MAX_THREADS];
};
static const struct ucos_iii_params ucos_iii_params_list[] = {
{
.target_name = "cortex_m",
.pointer_width = sizeof(uint32_t),
.threadid_start = 1,
.stacking_info = &rtos_ucos_iii_cortex_m_stacking,
},
{
.target_name = "esirisc",
.pointer_width = sizeof(uint32_t),
.threadid_start = 1,
.stacking_info = &rtos_ucos_iii_esi_risc_stacking,
},
};
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_private *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->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_private *params = rtos->rtos_specific_params;
size_t thread_index;
thread_index = threadid - params->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_private *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->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->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_private *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->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_private *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_private *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(target)) == 0) {
params = calloc(1, sizeof(*params));
if (!params) {
LOG_ERROR("uCOS-III: out of memory");
return ERROR_FAIL;
}
params->params = &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(target));
return ERROR_FAIL;
}
static int ucos_iii_update_threads(struct rtos *rtos)
{
struct ucos_iii_private *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->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->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->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_private *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->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->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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