-
Notifications
You must be signed in to change notification settings - Fork 481
/
zephyr.py
430 lines (354 loc) · 14 KB
/
zephyr.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
# pyOCD debugger
# Copyright (c) 2016-2020 Arm Limited
# Copyright (c) 2022 Intel Corporation
# Copyright (c) 2022 Chris Reed
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import logging
from .provider import (TargetThread, ThreadProvider)
from .common import (read_c_string, HandlerModeThread)
from ..core import exceptions
from ..core.target import Target
from ..core.plugin import Plugin
from ..debug.context import DebugContext
from ..coresight.cortex_m_core_registers import index_for_reg
from ..utility.mask import twos_complement
# Create a logger for this module.
LOG = logging.getLogger(__name__)
class TargetList(object):
def __init__(self, context, ptr, next_offset):
self._context = context
self._list = ptr
self._list_node_next_offset = next_offset
def __iter__(self):
node = self._context.read32(self._list)
while (node != 0):
try:
yield node
# Read next list node pointer.
node = self._context.read32(node + self._list_node_next_offset)
except exceptions.TransferError:
LOG.warning("TransferError while reading list elements (list=0x%08x, node=0x%08x), terminating list", self._list, node)
node = 0
class ZephyrThreadContext(DebugContext):
"""@brief Thread context for Zephyr."""
STACK_FRAME_OFFSETS = {
0: 0, # r0
1: 4, # r1
2: 8, # r2
3: 12, # r3
12: 16, # r12
14: 20, # lr
15: 24, # pc
16: 28, # xpsr
}
CALLEE_SAVED_OFFSETS = {
4: -32, # r4
5: -28, # r5
6: -24, # r6
7: -20, # r7
8: -16, # r8
9: -12, # r9
10: -8, # r10
11: -4, # r11
13: 0, # r13/sp
}
def __init__(self, parent, thread):
super(ZephyrThreadContext, self).__init__(parent)
self._thread = thread
self._has_fpu = self.core.has_fpu
def read_core_registers_raw(self, reg_list):
reg_list = [index_for_reg(reg) for reg in reg_list]
reg_vals = []
isCurrent = self._thread.is_current
inException = isCurrent and self._parent.read_core_register('ipsr') > 0
# If this is the current thread and we're not in an exception, just read the live registers.
if isCurrent and not inException:
LOG.debug("Reading live registers")
return self._parent.read_core_registers_raw(reg_list)
# Because of above tests, from now on, inException implies isCurrent;
# we are generating the thread view for the RTOS thread where the
# exception occurred; the actual Handler Mode thread view is produced
# by HandlerModeThread
if inException:
# Reasonable to assume PSP is still valid
sp = self._parent.read_core_register('psp')
else:
sp = self._thread.get_stack_pointer()
exceptionFrame = 0x20
for reg in reg_list:
# If this is a stack pointer register, add an offset to account for the exception stack frame
if reg == 13:
val = sp + exceptionFrame
LOG.debug("Reading register %d = 0x%x", reg, val)
reg_vals.append(val)
continue
# If this is a callee-saved register, read it from the thread structure
calleeOffset = self.CALLEE_SAVED_OFFSETS.get(reg, None)
if calleeOffset is not None:
try:
addr = self._thread._base + self._thread._offsets["t_stack_ptr"] + calleeOffset
val = self._parent.read32(addr)
reg_vals.append(val)
LOG.debug("Reading callee-saved register %d at 0x%08x = 0x%x", reg, addr, val)
except exceptions.TransferError:
reg_vals.append(0)
continue
# If this is a exception stack frame register, read it from the stack
stackFrameOffset = self.STACK_FRAME_OFFSETS.get(reg, None)
if stackFrameOffset is not None:
try:
addr = sp + stackFrameOffset
val = self._parent.read32(addr)
reg_vals.append(val)
LOG.debug("Reading stack frame register %d at 0x%08x = 0x%x", reg, addr, val)
except exceptions.TransferError:
reg_vals.append(0)
continue
# If we get here, this is a register not in any of the dictionaries
val = self._parent.read_core_register_raw(reg)
LOG.debug("Reading live register %d = 0x%x", reg, val)
reg_vals.append(val)
continue
return reg_vals
class ZephyrThread(TargetThread):
"""@brief A Zephyr task."""
READY = 0
PENDING = 1 << 1
PRESTART = 1 << 2
DEAD = 1 << 3
SUSPENDED = 1 << 4
POLLING = 1 << 5
RUNNING = 1 << 6
STATE_NAMES = {
READY : "Ready",
PENDING : "Pending",
PRESTART : "Prestart",
DEAD : "Dead",
SUSPENDED : "Suspended",
POLLING : "Polling",
RUNNING : "Running",
}
def __init__(self, targetContext, provider, base, offsets):
super(ZephyrThread, self).__init__()
self._target_context = targetContext
self._provider = provider
self._base = base
self._thread_context = ZephyrThreadContext(self._target_context, self)
self._offsets = offsets
self._state = ZephyrThread.READY
self._priority = 0
self._name = "Unnamed"
try:
self.update_info()
except exceptions.TransferError:
LOG.debug("Transfer error while reading thread info")
def get_stack_pointer(self):
# Get stack pointer saved in thread struct.
addr = self._base + self._offsets["t_stack_ptr"]
try:
return self._target_context.read32(addr)
except exceptions.TransferError:
LOG.debug("Transfer error while reading thread's stack pointer @ 0x%08x", addr)
return 0
def update_info(self):
try:
self._priority = twos_complement(self._target_context.read8(self._base + self._offsets["t_prio"]), width=8)
self._state = self._target_context.read8(self._base + self._offsets["t_state"])
if self._provider.version > 0:
addr = self._base + self._offsets["t_name"]
self._name = read_c_string(self._target_context, addr)
except exceptions.TransferError:
LOG.debug("Transfer error while reading thread info")
@property
def state(self):
return self._state
@state.setter
def state(self, value):
self._state = value
@property
def priority(self):
return self._priority
@property
def unique_id(self):
return self._base
@property
def name(self):
return self._name
@property
def description(self):
return "%s; Priority %d" % (self.STATE_NAMES.get(self.state, "UNKNOWN"), self.priority)
@property
def is_current(self):
return self._provider.get_actual_current_thread_id() == self.unique_id
@property
def context(self):
return self._thread_context
def __str__(self):
return "<ZephyrThread@0x%08x id=%x name=%s>" % (id(self), self.unique_id, self.name)
def __repr__(self):
return str(self)
class ZephyrThreadProvider(ThreadProvider):
"""@brief Thread provider for Zephyr."""
## Required Zephyr symbols.
ZEPHYR_SYMBOLS = [
"_kernel",
"_kernel_thread_info_offsets",
"_kernel_thread_info_size_t_size",
]
ZEPHYR_OFFSETS = [
'version',
'k_curr_thread',
'k_threads',
't_entry',
't_next_thread',
't_state',
't_user_options',
't_prio',
't_stack_ptr',
't_name',
]
def __init__(self, target):
super(ZephyrThreadProvider, self).__init__(target)
self._symbols = None
self._offsets = None
self._version = None
self._all_threads = None
self._curr_thread = None
self._threads = {}
def init(self, symbolProvider):
# Lookup required symbols.
self._symbols = self._lookup_symbols(self.ZEPHYR_SYMBOLS, symbolProvider)
if self._symbols is None:
return False
self._update()
self._target.session.subscribe(self.event_handler, Target.Event.POST_FLASH_PROGRAM)
self._target.session.subscribe(self.event_handler, Target.Event.POST_RESET)
return True
def _get_offsets(self):
# Read the kernel and thread structure member offsets
size = self._target_context.read8(self._symbols["_kernel_thread_info_size_t_size"])
LOG.debug("_kernel_thread_info_size_t_size = %d", size)
if size != 4:
LOG.error("Unsupported _kernel_thread_info_size_t_size")
return None
offsets = {}
for index, name in enumerate(self.ZEPHYR_OFFSETS):
offset = self._symbols["_kernel_thread_info_offsets"] + index * size
offsets[name] = self._target_context.read32(offset)
LOG.debug("%s = 0x%04x", name, offsets[name])
return offsets
def _update(self):
self._offsets = self._get_offsets()
if self._offsets is None:
self._version = None
self._all_threads = None
self._curr_thread = None
LOG.debug("_offsets, _all_threads, and _curr_thread are invalid")
else:
self._version = self._offsets["version"]
self._all_threads = self._symbols["_kernel"] + self._offsets["k_threads"]
self._curr_thread = self._symbols["_kernel"] + self._offsets["k_curr_thread"]
LOG.debug("version = %d, _all_threads = 0x%08x, _curr_thread = 0x%08x", self._version, self._all_threads, self._curr_thread)
def invalidate(self):
self._threads = {}
def event_handler(self, notification):
if notification.event == Target.Event.POST_RESET:
LOG.debug("Invalidating threads list: %s" % (repr(notification)))
self.invalidate();
elif notification.event == Target.Event.POST_FLASH_PROGRAM:
self._update()
def _build_thread_list(self):
allThreads = TargetList(self._target_context, self._all_threads, self._offsets["t_next_thread"])
newThreads = {}
currentThread = self._target_context.read32(self._curr_thread)
LOG.debug("currentThread = 0x%08x", currentThread)
for threadBase in allThreads:
try:
# Reuse existing thread objects.
if threadBase in self._threads:
t = self._threads[threadBase]
# Ask the thread object to update its state and priority.
t.update_info()
else:
t = ZephyrThread(self._target_context, self, threadBase, self._offsets)
# Set thread state.
if threadBase == currentThread:
t.state = ZephyrThread.RUNNING
LOG.debug("Thread 0x%08x (%s)", threadBase, t.name)
newThreads[t.unique_id] = t
except exceptions.TransferError:
LOG.debug("TransferError while examining thread 0x%08x", threadBase)
# Create fake handler mode thread.
if self._target_context.read_core_register('ipsr') > 0:
LOG.debug("creating handler mode thread")
t = HandlerModeThread(self._target_context, self)
newThreads[t.unique_id] = t
self._threads = newThreads
def get_threads(self):
if not self.is_enabled:
return []
self.update_threads()
return list(self._threads.values())
def get_thread(self, threadId):
if not self.is_enabled:
return None
self.update_threads()
return self._threads.get(threadId, None)
@property
def is_enabled(self):
return self._symbols is not None and self.get_is_running()
@property
def current_thread(self):
if not self.is_enabled:
return None
self.update_threads()
id = self.get_current_thread_id()
try:
return self._threads[id]
except KeyError:
return None
def is_valid_thread_id(self, threadId):
if not self.is_enabled:
return False
self.update_threads()
return threadId in self._threads
def get_current_thread_id(self):
if not self.is_enabled:
return None
if self._target_context.read_core_register('ipsr') > 0:
return HandlerModeThread.UNIQUE_ID
return self.get_actual_current_thread_id()
def get_actual_current_thread_id(self):
if not self.is_enabled:
return None
return self._target_context.read32(self._curr_thread)
def get_is_running(self):
if self._symbols is None or self._offsets is None:
return False
# TODO
return True
@property
def version(self):
return self._version
class ZephyrPlugin(Plugin):
"""@brief Plugin class for the Zephyr RTOS."""
def load(self):
return ZephyrThreadProvider
@property
def name(self):
return "zephyr"
@property
def description(self):
return "Zephyr"