From 407bc04934737cdf9e473a64b4663c6aefa9312a Mon Sep 17 00:00:00 2001 From: zhuyanlin Date: Mon, 11 Oct 2021 21:38:51 +0800 Subject: [PATCH] tools: add gdbplugin for JLinkGDBServer nuttx thread aware Use `JLinkGDBServer -rtos libnuttxplugin` to add this plugin. Then in gdb can use command: - `info threads` to show all threads infos - `thread (id) ` to switch thread. - `bt` to show thread backtrace. Signed-off-by: zhuyanlin --- tools/Config.mk | 3 + tools/Makefile.host | 20 +- tools/jlink-nuttx.c | 643 ++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 663 insertions(+), 3 deletions(-) create mode 100644 tools/jlink-nuttx.c diff --git a/tools/Config.mk b/tools/Config.mk index 770950a6c1..b200e6a337 100644 --- a/tools/Config.mk +++ b/tools/Config.mk @@ -92,6 +92,9 @@ endif ifeq ($(CONFIG_HOST_WINDOWS),y) HOSTEXEEXT ?= .exe + HOSTDYNEXT ?= .dll +else ifeq ($(CONFIG_HOST_LINUX),y) + HOSTDYNEXT ?= .so endif # This define is passed as EXTRAFLAGS for kernel-mode builds. It is also passed diff --git a/tools/Makefile.host b/tools/Makefile.host index a49b397791..fdc06a4606 100644 --- a/tools/Makefile.host +++ b/tools/Makefile.host @@ -35,7 +35,8 @@ all: b16$(HOSTEXEEXT) bdf-converter$(HOSTEXEEXT) cmpconfig$(HOSTEXEEXT) \ mksymtab$(HOSTEXEEXT) mksyscall$(HOSTEXEEXT) mkversion$(HOSTEXEEXT) \ cnvwindeps$(HOSTEXEEXT) nxstyle$(HOSTEXEEXT) initialconfig$(HOSTEXEEXT) \ gencromfs$(HOSTEXEEXT) convert-comments$(HOSTEXEEXT) lowhex$(HOSTEXEEXT) \ - detab$(HOSTEXEEXT) rmcr$(HOSTEXEEXT) incdir$(HOSTEXEEXT) + detab$(HOSTEXEEXT) rmcr$(HOSTEXEEXT) incdir$(HOSTEXEEXT) \ + jlink-nuttx$(HOSTDYNEXT) default: mkconfig$(HOSTEXEEXT) mksyscall$(HOSTEXEEXT) mkdeps$(HOSTEXEEXT) \ cnvwindeps$(HOSTEXEEXT) incdir$(HOSTEXEEXT) @@ -43,9 +44,11 @@ ifdef HOSTEXEEXT .PHONY: b16 bdf-converter cmpconfig clean configure kconfig2html mkconfig \ mkdeps mksymtab mksyscall mkversion cnvwindeps nxstyle initialconfig \ gencromfs convert-comments lowhex detab rmcr incdir -else -.PHONY: clean endif +ifdef HOSTDYNEXT +.PHONY: jlink-nuttx +endif +.PHONY: clean # b16 - Fixed precision math conversion tool @@ -222,6 +225,15 @@ ifdef HOSTEXEEXT mkdeps: mkdeps$(HOSTEXEEXT) endif +# jlink-nuttx - Create jlink GDBServer nuttx plugin + +jlink-nuttx$(HOSTDYNEXT): jlink-nuttx.c + $(Q) $(HOSTCC) $(HOSTCFLAGS) -shared jlink-nuttx.c -o jlink-nuttx$(HOSTDYNEXT) + +ifdef HOSTDYNEXT +jlink-nuttx: jlink-nuttx$(HOSTDYNEXT) +endif + clean: $(call DELFILE, b16) $(call DELFILE, b16.exe) @@ -258,6 +270,8 @@ clean: $(call DELFILE, nxstyle.exe) $(call DELFILE, rmcr) $(call DELFILE, rmcr.exe) + $(call DELFILE, jlink-nuttx.so) + $(call DELFILE, jlink-nuttx.dll) ifneq ($(CONFIG_WINDOWS_NATIVE),y) $(Q) rm -rf *.dSYM endif diff --git a/tools/jlink-nuttx.c b/tools/jlink-nuttx.c new file mode 100644 index 0000000000..ee20c940f1 --- /dev/null +++ b/tools/jlink-nuttx.c @@ -0,0 +1,643 @@ +/**************************************************************************** + * tools/jlink-nuttx.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include +#include +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Marcos for J-Link plugin API */ + +#define PLUGIN_VER 100 +#define DISPLAY_LENGTH 256 +#define THREADID_BASE 1 + +/* Marco for TCB struct size */ + +#define TCB_NAMESIZE 256 + +/* Marcos for J-Link API ops */ + +#define REALLOC(ptr, size) g_plugin_priv.jops->realloc(ptr, size) +#define ALLOC(size) g_plugin_priv.jops->alloc(size) +#define FREE(ptr) g_plugin_priv.jops->free(ptr) + +#define READMEM(addr, ptr, size) g_plugin_priv.jops->readmem(addr, ptr, size) +#define READU32(addr, data) g_plugin_priv.jops->readu32(addr, data) +#define READU16(addr, data) g_plugin_priv.jops->readu16(addr, data) +#define READU8(addr, data) g_plugin_priv.jops->readu8(addr, data) + +#define WRITEU32(addr, data) g_plugin_priv.jops->writeu32(addr, data) + +#define PERROR g_plugin_priv.jops->erroroutf +#define PLOG g_plugin_priv.jops->logoutf + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +enum symbol_e +{ + PIDHASH = 0, + NPIDHASH, + TCBINFO, + READYTORUN, + NSYMBOLS +}; + +struct tcbinfo_s +{ + uint16_t pid_off; + uint16_t state_off; + uint16_t pri_off; + uint16_t name_off; + uint16_t reg_num; + uint16_t reg_offs[0]; +}; + +struct symbols_s +{ + const char *name; + int optional; + uint32_t address; +}; + +/* J-Link server functions that can be called by the plugin */ + +struct jlink_ops_s +{ + /* API version v1.0 and higher */ + + void (*free) (void *p); + void *(*alloc) (unsigned size); + void *(*realloc) (void *p, unsigned size); + void (*logoutf) (const char *sformat, ...); + void (*debugoutf) (const char *sformat, ...); + void (*warnoutf) (const char *sformat, ...); + void (*erroroutf) (const char *sformat, ...); + int (*readmem) (uint32_t addr, char *pdata, + unsigned int numbytes); + char (*readu8) (uint32_t addr, uint8_t *pdata); + char (*readu16) (uint32_t addr, uint16_t *pdata); + char (*readu32) (uint32_t addr, uint32_t *pdata); + int (*writemem) (uint32_t addr, const char *pdata, + unsigned numbytes); + void (*writeu8) (uint32_t addr, uint8_t data); + void (*writeu16) (uint32_t addr, uint16_t data); + void (*writeu32) (uint32_t addr, uint32_t data); + uint32_t (*load16te) (const uint8_t *p); + uint32_t (*load24te) (const uint8_t *p); + uint32_t (*load32te) (const uint8_t *p); + + /* API version v1.1 and higher */ + + uint32_t (*readreg) (uint32_t regindex); + void (*writereg) (uint32_t regindex, uint32_t value); + + /* End marker */ + + void *dummy; +}; + +struct plugin_priv_s +{ + uint32_t *pidhash; + uint32_t npidhash; + struct tcbinfo_s *tcbinfo; + uint16_t running; + uint32_t ntcb; + const struct jlink_ops_s *jops; +}; + +/**************************************************************************** + * Private data + ****************************************************************************/ + +static struct symbols_s g_symbols[] = +{ + {"g_pidhash", 0, 0}, + {"g_npidhash", 0, 0}, + {"g_tcbinfo", 0, 0}, + {"g_readytorun", 0, 0}, + { NULL, 0, 0} +}; + +static struct plugin_priv_s g_plugin_priv; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static inline int encode_hex(char *line, uint32_t value) +{ + /* output line in intel hex format */ + + return snprintf(line, 9, "%02x%02x%02x%02x", value & 0xff, + (value & 0xff00) >> 8, (value & 0xff0000) >> 16, + (value & 0xff000000) >> 24); +} + +static inline uint32_t decode_hex(const char *line) +{ + /* Get value from hex format line */ + + uint32_t i; + uint32_t value = 0; + + for (i = 7; i >= 0; ) + { + value += (value << 8) + (line[i--] - '0'); + value += (line[i--] - '0') << 4; + } + + return value; +} + +static int get_pid(struct plugin_priv_s *priv, uint32_t idx, + uint16_t *pid) +{ + int ret; + + ret = READU16(priv->pidhash[idx] + priv->tcbinfo->pid_off, pid); + if (ret != 0) + { + PERROR("read %d pid error return %d\n", idx, ret); + return ret; + } + + return 0; +} + +static int get_idx_from_pid(struct plugin_priv_s *priv, + uint32_t pid) +{ + int idx; + + for (idx = 0; idx < priv->ntcb; idx++) + { + uint16_t tmppid; + + if (get_pid(priv, idx, &tmppid)) + { + return -1; + } + + if (tmppid == pid) + { + return idx; + } + } + + return -1; +} + +static int setget_reg(struct plugin_priv_s *priv, uint32_t idx, + uint32_t regidx, uint32_t *regval, bool write) +{ + uint32_t regaddr; + int ret = 0; + + regaddr = priv->pidhash[idx] + priv->tcbinfo->reg_offs[regidx]; + + if (write) + { + WRITEU32(regaddr, *regval); + } + else + { + ret = READU32(regaddr, regval); + if (ret != 0) + { + PERROR("regread %d regidx %d error %d\n", idx, regidx, ret); + return ret; + } + } + + return ret; +} + +static int update_tcbinfo(struct plugin_priv_s *priv) +{ + if (!priv->tcbinfo) + { + uint16_t reg_num; + int ret; + + ret = READU16(g_symbols[TCBINFO].address + + offsetof(struct tcbinfo_s, reg_num), ®_num); + if (ret != 0 || !reg_num) + { + PERROR("error reading regs ret %d\n", ret); + return ret; + } + + priv->tcbinfo = ALLOC(sizeof(struct tcbinfo_s) + + reg_num * sizeof(uint16_t)); + + if (!priv->tcbinfo) + { + PERROR("error in malloc tcbinfo_s\n"); + return -ENOMEM; + } + + ret = READMEM(g_symbols[TCBINFO].address, (char *)priv->tcbinfo, + sizeof(struct tcbinfo_s) + reg_num * sizeof(uint16_t)); + if (ret != sizeof(struct tcbinfo_s) + reg_num * sizeof(uint16_t)) + { + PERROR("error in read tcbinfo_s ret %d\n", ret); + return ret; + } + + PLOG("setup success! regs %d\n", priv->tcbinfo->reg_num); + } + + return 0; +} + +static int update_pidhash(struct plugin_priv_s *priv) +{ + uint32_t npidhash; + uint32_t pidhashaddr; + int ret; + + ret = READU32(g_symbols[NPIDHASH].address, &npidhash); + if (ret != 0 || npidhash == 0) + { + PERROR("error reading npidhash ret %d\n", ret); + return ret; + } + + if (npidhash != priv->npidhash) + { + priv->pidhash = REALLOC(priv->pidhash, + npidhash * sizeof(uint32_t *)); + if (!priv->pidhash) + { + PERROR("error in malloc pidhash\n"); + return -ENOMEM; + } + + PLOG("npidhash change from %d to %d!\n", priv->npidhash, npidhash); + priv->npidhash = npidhash; + } + + ret = READU32(g_symbols[PIDHASH].address, &pidhashaddr); + if (ret != 0 || pidhashaddr == 0) + { + PERROR("error in read pidhashaddr ret %d\n", ret); + return ret; + } + + ret = READMEM(pidhashaddr, (char *)priv->pidhash, + priv->npidhash * sizeof(uint32_t *)); + if (ret != priv->npidhash * sizeof(uint32_t *)) + { + PERROR("error in read pidhash ret %d\n", ret); + return ret; + } + + return 0; +} + +static int normalize_tcb(struct plugin_priv_s *priv) +{ + uint32_t i; + uint32_t tcbaddr; + int ret; + + priv->ntcb = 0; + + for (i = 0; i < priv->npidhash; i++) + { + if (priv->pidhash[i]) + { + priv->pidhash[priv->ntcb++] = priv->pidhash[i]; + } + } + + ret = READU32(g_symbols[READYTORUN].address, &tcbaddr); + if (ret != 0) + { + PERROR("read readytorun error return %d\n", ret); + } + + ret = READU16(tcbaddr + priv->tcbinfo->pid_off, &priv->running); + if (ret != 0) + { + PERROR("read readytorun pid error return %d\n", ret); + return ret; + } + + return 0; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int RTOS_Init(const struct jlink_ops_s *api, uint32_t core) +{ + g_plugin_priv.jops = api; + + return 1; +} + +uint32_t RTOS_GetVersion(void) +{ + return PLUGIN_VER; +} + +struct symbols_s *RTOS_GetSymbols(void) +{ + return g_symbols; +} + +uint32_t RTOS_GetNumThreads(void) +{ + return g_plugin_priv.ntcb; +} + +uint32_t RTOS_GetCurrentThreadId(void) +{ + return THREADID_BASE + g_plugin_priv.running; +} + +uint32_t RTOS_GetThreadId(uint32_t n) +{ + if (n < g_plugin_priv.ntcb) + { + uint16_t pid; + + if (get_pid(&g_plugin_priv, n, &pid) == 0) + { + return THREADID_BASE + pid; + } + } + + return 0; +} + +int RTOS_GetThreadDisplay(char *display, uint32_t threadid) +{ + int idx; + uint32_t len = 0; + char name[TCB_NAMESIZE]; + uint8_t readval; + int ret; + + threadid -= THREADID_BASE; + + idx = get_idx_from_pid(&g_plugin_priv, threadid); + if (idx < 0) + { + PERROR("error in get_idx_from_pid return %d\n", idx); + return -1; + } + + len += snprintf(display + len, + DISPLAY_LENGTH - len, "[PID:%03d]", threadid); + + ret = READMEM(g_plugin_priv.pidhash[idx] + + g_plugin_priv.tcbinfo->name_off, name, TCB_NAMESIZE); + if (ret != TCB_NAMESIZE) + { + PERROR("error in read tcb name return %d\n", ret); + } + + /* check tcb name is valid or not */ + + if ((name[0] > 'a' && name[0] < 'z') + || (name[0] > 'A' && name[0] < 'Z')) + { + len += snprintf(display + len, DISPLAY_LENGTH - len, + "%s", name); + } + else + { + len += snprintf(display + len, DISPLAY_LENGTH - len, + "thread-%d", threadid); + } + + ret = READU8(g_plugin_priv.pidhash[idx] + + g_plugin_priv.tcbinfo->state_off, &readval); + if (ret != 0) + { + PERROR("error in read tcb state return %d\n", ret); + } + + len += snprintf(display + len, DISPLAY_LENGTH - len, ":%04d", + readval); + + ret = READU8(g_plugin_priv.pidhash[idx] + + g_plugin_priv.tcbinfo->pri_off, &readval); + if (ret != 0) + { + PERROR("error in read tcb pri return %d\n", ret); + } + + len += snprintf(display + len, + DISPLAY_LENGTH - len, "[PRI:%03d]", readval); + + return len; +} + +int RTOS_GetThreadReg(char *hexregval, uint32_t regindex, uint32_t threadid) +{ + int idx; + uint32_t regval = 0; + + threadid -= THREADID_BASE; + + /* current task read by J-Link self */ + + if (threadid == g_plugin_priv.running) + { + return -1; + } + + if (regindex > g_plugin_priv.tcbinfo->reg_num) + { + return -1; + } + + idx = get_idx_from_pid(&g_plugin_priv, threadid); + if (idx < 0) + { + PERROR("error in get_idx_from_pid return %d\n", idx); + return -1; + } + + if (g_plugin_priv.tcbinfo->reg_offs[regindex]) + { + setget_reg(&g_plugin_priv, idx, regindex, ®val, false); + + encode_hex(hexregval, regval); + return 0; + } + + return -1; +} + +int RTOS_GetThreadRegList(char *hexreglist, uint32_t threadid) +{ + int idx; + uint32_t j; + uint32_t regval; + + threadid -= THREADID_BASE; + + /* current task read by J-Link self */ + + if (threadid == g_plugin_priv.running) + { + return -1; + } + + idx = get_idx_from_pid(&g_plugin_priv, threadid); + if (idx < 0) + { + PERROR("error in get_idx_from_pid return %d\n", idx); + return -1; + } + + for (j = 0; j < 17; j++) + { + regval = 0; + + if (g_plugin_priv.tcbinfo->reg_offs[j]) + { + setget_reg(&g_plugin_priv, idx, j, ®val, false); + } + + hexreglist += encode_hex(hexreglist, regval); + } + + return 0; +} + +int RTOS_SetThreadReg(char *hexregval, + uint32_t regindex, uint32_t threadid) +{ + int idx; + uint32_t regval; + + threadid -= THREADID_BASE; + + if (threadid == g_plugin_priv.running) + { + return -1; + } + + if (regindex > g_plugin_priv.tcbinfo->reg_num) + { + return -1; + } + + idx = get_idx_from_pid(&g_plugin_priv, threadid); + if (idx < 0) + { + PERROR("error in get_idx_from_pid return %d\n", idx); + return -1; + } + + if (g_plugin_priv.tcbinfo->reg_offs[regindex]) + { + regval = decode_hex(hexregval); + + setget_reg(&g_plugin_priv, idx, regindex, ®val, true); + return 0; + } + + return -1; +} + +int RTOS_SetThreadRegList(char *hexreglist, uint32_t threadid) +{ + int idx; + uint32_t j; + uint32_t regval; + + threadid -= THREADID_BASE; + + if (threadid == g_plugin_priv.running) + { + return -1; + } + + idx = get_idx_from_pid(&g_plugin_priv, threadid); + if (idx < 0) + { + PERROR("error in get_idx_from_pid return %d\n", idx); + return -1; + } + + for (j = 0; j < 17; j++) + { + if (g_plugin_priv.tcbinfo->reg_offs[j]) + { + regval = decode_hex(hexreglist); + + setget_reg(&g_plugin_priv, idx, j, ®val, true); + + hexreglist += 4; + } + else + { + return -1; + } + } + + return 0; +} + +int RTOS_UpdateThreads(void) +{ + int ret; + + ret = update_tcbinfo(&g_plugin_priv); + if (ret) + { + return ret; + } + + ret = update_pidhash(&g_plugin_priv); + if (ret) + { + return ret; + } + + ret = normalize_tcb(&g_plugin_priv); + if (ret) + { + return ret; + } + + return 0; +}