RTOS Thread awareness support wip

- works on Cortex-M3 with ThreadX and FreeRTOS

Compared to original patch a few nits were fixed:

- remove stricmp usage
- unsigned compare fix
- printf formatting fixes
- fixed a bug with overrunning a memory buffer allocated with malloc.

configure.in

@@ -1170,6 +1170,7 @@ AC_OUTPUT(dnl
     src/xsvf/Makefile dnl
     src/svf/Makefile dnl
     src/target/Makefile dnl
+    src/rtos/Makefile dnl
     src/server/Makefile dnl
     src/flash/Makefile dnl
     src/flash/nor/Makefile dnl

src/Makefile.am

@@ -8,7 +8,8 @@ SUBDIRS = \
 	svf \
 	xsvf \
 	pld \
-	server
+	server \
+	rtos
 
 lib_LTLIBRARIES = libopenocd.la
 bin_PROGRAMS = openocd
@@ -100,6 +101,7 @@ libopenocd_la_LIBADD = \
 	$(top_builddir)/src/flash/libflash.la \
 	$(top_builddir)/src/target/libtarget.la \
 	$(top_builddir)/src/server/libserver.la \
+	$(top_builddir)/src/rtos/librtos.la \
 	$(top_builddir)/src/helper/libhelper.la \
 	$(FTDI2232LIB) $(MINGWLDADD) $(LIBUSB)
 

src/rtos/FreeRTOS.c

@@ -0,0 +1,481 @@
+/***************************************************************************
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <helper/time_support.h>
+#include <jtag/jtag.h>
+#include "target/target.h"
+#include "target/target_type.h"
+#include "rtos.h"
+#include "helper/log.h"
+#include "rtos_standard_stackings.h"
+
+#define FreeRTOS_STRUCT( int_type, ptr_type, list_prev_offset )
+
+
+struct FreeRTOS_params
+{
+	const char *                         target_name;
+	const unsigned char                  thread_count_width;
+	const unsigned char                  pointer_width;
+	const unsigned char                  list_next_offset;
+	const unsigned char                  list_width;
+	const unsigned char                  list_elem_next_offset;
+	const unsigned char                  list_elem_content_offset;
+	const unsigned char                  thread_stack_offset;
+	const unsigned char                  thread_name_offset;
+	const struct rtos_register_stacking* stacking_info;
+};
+
+
+
+
+const struct FreeRTOS_params FreeRTOS_params_list[] =
+{
+		{ "cortex_m3",                      // target_name
+          4,                                // thread_count_width;
+          4,                                // pointer_width;
+          16,                               // list_next_offset;
+          20,                               // list_width;
+          8,                                // list_elem_next_offset;
+          12,                               // list_elem_content_offset
+          0,                                // thread_stack_offset;
+          52,                               // thread_name_offset;
+          &rtos_standard_Cortex_M3_stacking, // stacking_info
+		}
+
+};
+
+
+#define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
+
+static int FreeRTOS_detect_rtos( struct target* target );
+static int FreeRTOS_create( struct target* target );
+static int FreeRTOS_update_threads( struct rtos *rtos );
+static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, long long thread_id, char ** hex_reg_list );
+static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t * symbol_list[]);
+
+
+
+
+struct rtos_type FreeRTOS_rtos =
+{
+	.name                       = "FreeRTOS",
+
+	.detect_rtos                = FreeRTOS_detect_rtos,
+	.create                     = FreeRTOS_create,
+	.update_threads            = FreeRTOS_update_threads,
+	.get_thread_reg_list        = FreeRTOS_get_thread_reg_list,
+	.get_symbol_list_to_lookup  = FreeRTOS_get_symbol_list_to_lookup,
+};
+
+enum FreeRTOS_symbol_values
+{
+	FreeRTOS_VAL_pxCurrentTCB              = 0,
+	FreeRTOS_VAL_pxReadyTasksLists         = 1,
+	FreeRTOS_VAL_xDelayedTaskList1         = 2,
+	FreeRTOS_VAL_xDelayedTaskList2         = 3,
+	FreeRTOS_VAL_pxDelayedTaskList         = 4,
+	FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
+	FreeRTOS_VAL_xPendingReadyList         = 6,
+	FreeRTOS_VAL_xTasksWaitingTermination  = 7,
+	FreeRTOS_VAL_xSuspendedTaskList        = 8,
+	FreeRTOS_VAL_uxCurrentNumberOfTasks    = 9,
+};
+
+static char* FreeRTOS_symbol_list[] =
+{
+		"pxCurrentTCB",
+		"pxReadyTasksLists",
+		"xDelayedTaskList1",
+		"xDelayedTaskList2",
+		"pxDelayedTaskList",
+		"pxOverflowDelayedTaskList",
+		"xPendingReadyList",
+		"xTasksWaitingTermination",
+		"xSuspendedTaskList",
+		"uxCurrentNumberOfTasks",
+		NULL
+};
+
+#define FREERTOS_NUM_SYMBOLS (sizeof(FreeRTOS_symbol_list)/sizeof(char*))
+
+// TODO:
+// this is not safe for little endian yet
+// may be problems reading if sizes are not 32 bit long integers.
+// test mallocs for failure
+
+static int FreeRTOS_update_threads( struct rtos *rtos )
+{
+	int i = 0;
+	int retval;
+	int tasks_found = 0;
+	const struct FreeRTOS_params* param;
+
+	if (rtos->rtos_specific_params == NULL )
+	{
+		return -1;
+	}
+
+	param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
+
+	if ( rtos->symbols == NULL )
+	{
+		LOG_OUTPUT("No symbols for FreeRTOS\r\n");
+		return -3;
+	}
+
+	if ( rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0 )
+	{
+		LOG_OUTPUT("Don't have the number of threads in FreeRTOS \r\n");
+		return -2;
+	}
+
+	int thread_list_size = 0;
+	retval = target_read_buffer( rtos->target, rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address, param->thread_count_width, (uint8_t *)&thread_list_size);
+
+	if ( retval != ERROR_OK )
+	{
+		LOG_OUTPUT("Could not read FreeRTOS thread count from target\r\n");
+		return retval;
+	}
+
+
+	// wipe out previous thread details if any
+	if ( rtos->thread_details != NULL )
+	{
+		int j;
+		for( j = 0; j < rtos->thread_count; j++ )
+		{
+			if ( rtos->thread_details[j].display_str != NULL )
+			{
+				free( rtos->thread_details[j].display_str );
+				rtos->thread_details[j].display_str = NULL;
+			}
+			if ( rtos->thread_details[j].thread_name_str != NULL )
+			{
+				free( rtos->thread_details[j].thread_name_str );
+				rtos->thread_details[j].thread_name_str = NULL;
+			}
+			if ( rtos->thread_details[j].extra_info_str != NULL )
+			{
+				free( rtos->thread_details[j].extra_info_str );
+				rtos->thread_details[j].extra_info_str = NULL;
+			}
+		}
+		free( rtos->thread_details );
+		rtos->thread_details = NULL;
+	}
+
+
+	// read the current thread
+	retval = target_read_buffer( rtos->target, rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address, param->pointer_width, (uint8_t *)&rtos->current_thread );
+	if ( retval != ERROR_OK )
+	{
+		LOG_OUTPUT("Error reading current thread in FreeRTOS thread list\r\n");
+		return retval;
+	}
+
+	if ( ( thread_list_size  == 0 ) || ( rtos->current_thread == 0 ) )
+	{
+		// Either : No RTOS threads - there is always at least the current execution though
+		// OR     : No current thread - all threads suspended - show the current execution of idling
+		char tmp_str[] = "Current Execution";
+		thread_list_size++;
+		tasks_found++;
+		rtos->thread_details = (struct thread_detail*) malloc( sizeof( struct thread_detail ) * thread_list_size );
+		rtos->thread_details->threadid = 1;
+		rtos->thread_details->exists = true;
+		rtos->thread_details->display_str = NULL;
+		rtos->thread_details->extra_info_str = NULL;
+		rtos->thread_details->thread_name_str = (char*) malloc( sizeof(tmp_str) );
+		strcpy( rtos->thread_details->thread_name_str, tmp_str );
+
+
+		if ( thread_list_size == 1 )
+		{
+			rtos->thread_count = 1;
+			return ERROR_OK;
+		}
+	}
+	else
+	{
+		// create space for new thread details
+		rtos->thread_details = (struct thread_detail*) malloc( sizeof( struct thread_detail ) * thread_list_size );
+	}
+
+
+	// Unfortunately, we can't know how many lists there are for pxReadyTasksLists,
+	// So figure it out via other variables
+	int num_ready_task_lists = (rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address - rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address) / param->list_width;
+
+
+	symbol_address_t* list_of_lists = (symbol_address_t *)malloc( sizeof( symbol_address_t ) * ( num_ready_task_lists + 5 ) );
+
+	int num_lists;
+	for( num_lists = 0; num_lists < num_ready_task_lists; num_lists++ )
+	{
+		list_of_lists[num_lists] =  rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address + num_lists * param->list_width;
+	}
+
+	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
+	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
+	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
+	list_of_lists[num_lists++] =  rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
+
+
+	for( i = 0; i < num_lists; i++ )
+	{
+		if ( list_of_lists[i] == 0 )
+		{
+			continue;
+		}
+
+		// Read the number of threads in this list
+		long long list_thread_count = 0;
+		retval = target_read_buffer( rtos->target, list_of_lists[i], param->thread_count_width, (uint8_t *)&list_thread_count);
+		if ( retval != ERROR_OK )
+		{
+			LOG_OUTPUT("Error reading number of threads in FreeRTOS thread list\r\n");
+			return retval;
+		}
+
+		if ( list_thread_count == 0 )
+		{
+			continue;
+		}
+
+		// Read the location of first list item
+		unsigned long long prev_list_elem_ptr = -1;
+		unsigned long long list_elem_ptr = 0;
+		retval = target_read_buffer( rtos->target, list_of_lists[i] + param->list_next_offset, param->pointer_width, (uint8_t *)&list_elem_ptr);
+		if ( retval != ERROR_OK )
+		{
+			LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
+			return retval;
+		}
+
+
+		while ( (list_thread_count > 0) && ( list_elem_ptr != 0) && ( list_elem_ptr != prev_list_elem_ptr ) && ( tasks_found < thread_list_size ) )
+		{
+			// Get the location of the thread structure.
+			rtos->thread_details[tasks_found].threadid = 0;
+			retval = target_read_buffer( rtos->target, list_elem_ptr + param->list_elem_content_offset, param->pointer_width, (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
+			if ( retval != ERROR_OK )
+			{
+				LOG_OUTPUT("Error reading thread list item object in FreeRTOS thread list\r\n");
+				return retval;
+			}
+
+
+			// get thread name
+
+			#define FREERTOS_THREAD_NAME_STR_SIZE (200)
+			char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
+
+			// Read the thread name
+			retval = target_read_buffer( rtos->target, rtos->thread_details[tasks_found].threadid + param->thread_name_offset, FREERTOS_THREAD_NAME_STR_SIZE, (uint8_t *)&tmp_str);
+			if ( retval != ERROR_OK )
+			{
+				LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
+				return retval;
+			}
+			tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
+
+			if ( tmp_str[0] == '\x00' )
+			{
+				strcpy(tmp_str,"No Name");
+			}
+
+			rtos->thread_details[tasks_found].thread_name_str = (char*)malloc( strlen(tmp_str)+1 );
+			strcpy( rtos->thread_details[tasks_found].thread_name_str, tmp_str );
+			rtos->thread_details[tasks_found].display_str = NULL;
+			rtos->thread_details[tasks_found].exists = true;
+
+			if ( rtos->thread_details[tasks_found].threadid == rtos->current_thread )
+			{
+				char running_str[] = "Running";
+				rtos->thread_details[tasks_found].extra_info_str = (char*) malloc( sizeof(running_str) );
+				strcpy( rtos->thread_details[tasks_found].extra_info_str, running_str );
+			}
+			else
+			{
+				rtos->thread_details[tasks_found].extra_info_str = NULL;
+			}
+
+
+			tasks_found++;
+			list_thread_count--;
+
+			prev_list_elem_ptr = list_elem_ptr;
+			list_elem_ptr = 0;
+			retval = target_read_buffer( rtos->target, prev_list_elem_ptr + param->list_elem_next_offset, param->pointer_width, (uint8_t *)&list_elem_ptr);
+			if ( retval != ERROR_OK )
+			{
+				LOG_OUTPUT("Error reading next thread item location in FreeRTOS thread list\r\n");
+				return retval;
+			}
+		}
+
+
+	}
+	free( list_of_lists );
+	rtos->thread_count = tasks_found;
+	return 0;
+}
+
+static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, long long thread_id, char ** hex_reg_list )
+{
+	int retval;
+	const struct FreeRTOS_params* param;
+	long long stack_ptr = 0;
+
+
+	*hex_reg_list = NULL;
+	if ( rtos == NULL )
+	{
+		return -1;
+	}
+
+	if ( thread_id == 0 )
+	{
+		return -2;
+	}
+
+	if (rtos->rtos_specific_params == NULL )
+	{
+		return -1;
+	}
+
+	param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
+
+	// Read the stack pointer
+	retval = target_read_buffer( rtos->target, thread_id + param->thread_stack_offset, param->pointer_width, (uint8_t*)&stack_ptr);
+	if ( retval != ERROR_OK )
+	{
+		LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
+		return retval;
+	}
+
+	return rtos_generic_stack_read( rtos->target, param->stacking_info, stack_ptr, hex_reg_list );
+
+}
+
+static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t * symbol_list[])
+{
+	unsigned int i;
+	*symbol_list = (symbol_table_elem_t *) malloc( sizeof( symbol_table_elem_t ) * FREERTOS_NUM_SYMBOLS );
+
+	for( i = 0; i < FREERTOS_NUM_SYMBOLS; i++ )
+	{
+		(*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i];
+	}
+
+	return 0;
+}
+
+#if 0
+
+static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
+{
+	return 0;
+}
+
+
+
+static int FreeRTOS_get_thread_ascii_info( struct rtos*   rtos, threadid_t   thread_id, char ** info )
+{
+	int retval;
+	const struct FreeRTOS_params* param;
+
+	if ( rtos == NULL )
+	{
+		return -1;
+	}
+
+	if ( thread_id == 0 )
+	{
+		return -2;
+	}
+
+	if (rtos->rtos_specific_params == NULL )
+	{
+		return -3;
+	}
+
+	param = (const struct FreeRTOS_params*) rtos->rtos_specific_params;
+
+#define FREERTOS_THREAD_NAME_STR_SIZE (200)
+	char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
+
+	// Read the thread name
+	retval = target_read_buffer( rtos->target, thread_id + param->thread_name_offset, FREERTOS_THREAD_NAME_STR_SIZE, (uint8_t *)&tmp_str);
+	if ( retval != ERROR_OK )
+	{
+		LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
+		return retval;
+	}
+	tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
+
+	if ( tmp_str[0] == '\x00' )
+	{
+		strcpy(tmp_str,"No Name");
+	}
+
+	*info = (char*)malloc( strlen(tmp_str)+1 );
+	strcpy( *info, tmp_str );
+	return 0;
+}
+
+#endif
+
+static int FreeRTOS_detect_rtos( struct target* target )
+{
+	if ( ( target->rtos->symbols != NULL ) &&
+		 ( target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0 ) )
+	{
+		// looks like FreeRTOS
+		return 1;
+	}
+	return 0;
+	return 0;
+}
+
+
+static int FreeRTOS_create( struct target* target )
+{
+	int i = 0;
+	while ( ( i < FREERTOS_NUM_PARAMS ) && ( 0 != strcmp( FreeRTOS_params_list[i].target_name, target->type->name ) ) )
+	{
+		i++;
+	}
+	if ( i >= FREERTOS_NUM_PARAMS )
+	{
+		LOG_OUTPUT("Could not find target in FreeRTOS compatability list\r\n");
+		return -1;
+	}
+
+	target->rtos->rtos_specific_params = (void*) &FreeRTOS_params_list[i];
+	return 0;
+}

src/rtos/Makefile.am

@@ -0,0 +1,35 @@
+# ***************************************************************************
+# *   Copyright (C) 2011 by Broadcom Corporation                            *
+# *   Evan Hunter - ehunter@broadcom.com                                    *
+# *                                                                         *
+# *   This program is free software; you can redistribute it and/or modify  *
+# *   it under the terms of the GNU General Public License as published by  *
+# *   the Free Software Foundation; either version 2 of the License, or     *
+# *   (at your option) any later version.                                   *
+# *                                                                         *
+# *   This program is distributed in the hope that it will be useful,       *
+# *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+# *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+# *   GNU General Public License for more details.                          *
+# *                                                                         *
+# *   You should have received a copy of the GNU General Public License     *
+# *   along with this program; if not, write to the                         *
+# *   Free Software Foundation, Inc.,                                       *
+# *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+# ***************************************************************************
+
+include $(top_srcdir)/common.mk
+
+METASOURCES = AUTO
+noinst_LTLIBRARIES = librtos.la
+noinst_HEADERS = rtos.h
+librtos_la_SOURCES = rtos.c rtos_standard_stackings.c FreeRTOS.c ThreadX.c
+
+
+librtos_la_CFLAGS =
+if IS_MINGW
+# FD_* macros are sloppy with their signs on MinGW32 platform
+librtos_la_CFLAGS += -Wno-sign-compare
+endif
+
+MAINTAINERCLEANFILES = $(srcdir)/Makefile.in

src/rtos/rtos.h

@@ -0,0 +1,106 @@
+/***************************************************************************
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+
+#ifndef RTOS_H
+#define RTOS_H
+
+
+#include "server/server.h"
+#include <helper/types.h>
+#include <jim-nvp.h>
+
+typedef long long threadid_t;
+typedef long long symbol_address_t;
+
+struct reg;
+
+/**
+ * Table should be terminated by an element with NULL in symbol_name
+ */
+typedef struct symbol_table_elem_struct
+{
+	char * symbol_name;
+	symbol_address_t address;
+
+} symbol_table_elem_t;
+
+struct thread_detail
+{
+	threadid_t threadid;
+	bool exists;
+	char * display_str;
+	char * thread_name_str;
+	char * extra_info_str;
+};
+
+struct rtos
+{
+	const struct rtos_type *type;
+
+
+	symbol_table_elem_t * symbols;
+	struct target *target;
+
+	threadid_t current_thread;
+	struct thread_detail* thread_details;
+	int thread_count;
+
+	void * rtos_specific_params;
+
+};
+
+
+
+struct rtos_type
+{
+	char * name;
+	int (*detect_rtos)                 ( struct target* target );
+	int (*create)                      ( struct target* target );
+	int (*update_threads)              ( struct rtos*   rtos );
+	int (*get_thread_reg_list)         ( struct rtos *rtos, long long thread_id, char ** hex_reg_list );
+	int (*get_symbol_list_to_lookup)   (symbol_table_elem_t * symbol_list[] );
+};
+
+
+struct stack_register_offset
+{
+	signed short   offset;       // offset in bytes from stack head, or -1 to indicate register is not stacked, or -2 to indicate this is the stack pointer register
+	unsigned short width_bits;
+
+};
+
+struct rtos_register_stacking
+{
+	unsigned char                       stack_registers_size;
+	signed   char                       stack_growth_direction;
+	unsigned char                       num_output_registers;
+	const struct stack_register_offset* register_offsets;
+};
+
+#define GDB_THREAD_PACKET_NOT_CONSUMED (-40)
+
+int rtos_create(Jim_GetOptInfo *goi, struct target * target);
+int rtos_generic_stack_read( struct target * target, const struct rtos_register_stacking* stacking, long long stack_ptr, char ** hex_reg_list );
+int rtos_try_next( struct target * target );
+int gdb_thread_packet(struct connection *connection, struct target *target, char *packet, int packet_size);
+int rtos_get_gdb_reg_list(struct connection *connection, struct target *target, struct reg **reg_list[], int *reg_list_size);
+int rtos_update_threads( struct target *target );
+
+#endif // RTOS_H

src/rtos/rtos_standard_stackings.c

@@ -0,0 +1,65 @@
+/***************************************************************************
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "rtos.h"
+
+static const struct stack_register_offset rtos_standard_Cortex_M3_stack_offsets [] =
+{ { 0x20, 32 },       // r0
+  { 0x24, 32 },       // r1
+  { 0x28, 32 },       // r2
+  { 0x2c, 32 },       // r3
+  { 0x00, 32 },       // r4
+  { 0x04, 32 },       // r5
+  { 0x08, 32 },       // r6
+  { 0x0c, 32 },       // r7
+  { 0x10, 32 },       // r8
+  { 0x14, 32 },       // r9
+  { 0x18, 32 },       // r10
+  { 0x1c, 32 },       // r11
+  { 0x30, 32 },       // r12
+  { -2,   32 },       // sp
+  { 0x34, 32 },       // lr
+  { 0x38, 32 },       // pc
+  { -1,   96 },       // FPA1
+  { -1,   96 },       // FPA2
+  { -1,   96 },       // FPA3
+  { -1,   96 },       // FPA4
+  { -1,   96 },       // FPA5
+  { -1,   96 },       // FPA6
+  { -1,   96 },       // FPA7
+  { -1,   96 },       // FPA8
+  { -1,   32 },       // FPS
+  { 0x3c, 32 },       // xPSR
+};
+
+
+const struct rtos_register_stacking rtos_standard_Cortex_M3_stacking =
+{
+          0x40,                                 // stack_registers_size
+          1,                                    // stack_growth_direction
+          26,                                   // num_output_registers
+          rtos_standard_Cortex_M3_stack_offsets // register_offsets
+};
+
+

src/rtos/rtos_standard_stackings.h

@@ -0,0 +1,32 @@
+/***************************************************************************
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+
+#ifndef INCLUDED_RTOS_STANDARD_STACKINGS_H_
+#define INCLUDED_RTOS_STANDARD_STACKINGS_H_
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "rtos.h"
+
+extern const struct rtos_register_stacking rtos_standard_Cortex_M3_stacking;
+
+#endif //ifndef INCLUDED_RTOS_STANDARD_STACKINGS_H_

src/server/gdb_server.c

@@ -8,6 +8,9 @@
  *   Copyright (C) 2008 by Spencer Oliver                                  *
  *   spen@spen-soft.co.uk                                                  *
  *                                                                         *
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
  *   This program is free software; you can redistribute it and/or modify  *
  *   it under the terms of the GNU General Public License as published by  *
  *   the Free Software Foundation; either version 2 of the License, or     *
@@ -35,6 +38,7 @@
 #include "gdb_server.h"
 #include <target/image.h>
 #include <jtag/jtag.h>
+#include "rtos/rtos.h"
 
 
 /**
@@ -479,7 +483,7 @@ static int gdb_put_packet_inner(struct connection *connection,
 	return ERROR_OK;
 }
 
-static int gdb_put_packet(struct connection *connection, char *buffer, int len)
+int gdb_put_packet(struct connection *connection, char *buffer, int len)
 {
 	struct gdb_connection *gdb_con = connection->priv;
 	gdb_con->busy = 1;
@@ -767,6 +771,7 @@ static void gdb_frontend_halted(struct target *target, struct connection *connec
 		snprintf(sig_reply, 4, "T%2.2x", signal_var);
 		gdb_put_packet(connection, sig_reply, 3);
 		gdb_connection->frontend_state = TARGET_HALTED;
+		rtos_update_threads( target );
 	}
 }
 
@@ -1034,6 +1039,12 @@ static int gdb_get_registers_packet(struct connection *connection,
 	LOG_DEBUG("-");
 #endif
 
+	if ( ( target->rtos != NULL ) &&
+		 ( ERROR_FAIL != rtos_get_gdb_reg_list( connection, target, &reg_list, &reg_list_size) ) )
+	{
+		return ERROR_OK;
+	}
+
 	if ((retval = target_get_gdb_reg_list(target, &reg_list, &reg_list_size)) != ERROR_OK)
 	{
 		return gdb_error(connection, retval);
@@ -2187,16 +2198,23 @@ static int gdb_input_inner(struct connection *connection)
 			retval = ERROR_OK;
 			switch (packet[0])
 			{
-				case 'H':
-					/* Hct... -- set thread
-					 * we don't have threads, send empty reply */
-					gdb_put_packet(connection, NULL, 0);
-					break;
+			    case 'T': // Is thread alive?
+			    	gdb_thread_packet(connection, target, packet, packet_size);
+			    	break;
+			    case 'H': // Set current thread ( 'c' for step and continue, 'g' for all other operations )
+			    	gdb_thread_packet(connection, target, packet, packet_size);
+			    	break;
 				case 'q':
 				case 'Q':
-					retval = gdb_query_packet(connection,
-							target, packet,
-							packet_size);
+					retval = gdb_thread_packet(connection,
+												target, packet,
+												packet_size);
+					if ( retval == GDB_THREAD_PACKET_NOT_CONSUMED )
+					{
+						retval = gdb_query_packet(connection,
+								target, packet,
+								packet_size);
+					}
 					break;
 				case 'g':
 					retval = gdb_get_registers_packet(

src/server/gdb_server.h

@@ -8,6 +8,9 @@
  *   Copyright (C) 2008 by Spencer Oliver                                  *
  *   spen@spen-soft.co.uk                                                  *
  *                                                                         *
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
  *   This program is free software; you can redistribute it and/or modify  *
  *   it under the terms of the GNU General Public License as published by  *
  *   the Free Software Foundation; either version 2 of the License, or     *
@@ -39,6 +42,8 @@ struct gdb_service
 int gdb_target_add_all(struct target *target);
 int gdb_register_commands(struct command_context *command_context);
 
+int gdb_put_packet(struct connection *connection, char *buffer, int len);
+
 #define ERROR_GDB_BUFFER_TOO_SMALL (-800)
 #define ERROR_GDB_TIMEOUT (-801)
 

src/target/target.c

@@ -14,6 +14,9 @@
  *   Copyright (C) 2008 by Rick Altherr                                    *
  *   kc8apf@kc8apf.net>                                                    *
  *                                                                         *
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
  *   This program is free software; you can redistribute it and/or modify  *
  *   it under the terms of the GNU General Public License as published by  *
  *   the Free Software Foundation; either version 2 of the License, or     *
@@ -44,6 +47,7 @@
 #include "register.h"
 #include "trace.h"
 #include "image.h"
+#include "rtos/rtos.h"
 
 
 static int target_read_buffer_default(struct target *target, uint32_t address,
@@ -3704,6 +3708,7 @@ enum target_cfg_param {
 	TCFG_COREID,
 	TCFG_CHAIN_POSITION,
 	TCFG_DBGBASE,
+	TCFG_RTOS,
 };
 
 static Jim_Nvp nvp_config_opts[] = {
@@ -3718,6 +3723,7 @@ static Jim_Nvp nvp_config_opts[] = {
 	{ .name = "-coreid",           .value = TCFG_COREID },
 	{ .name = "-chain-position",   .value = TCFG_CHAIN_POSITION },
 	{ .name = "-dbgbase",          .value = TCFG_DBGBASE },
+	{ .name = "-rtos",             .value = TCFG_RTOS },
 	{ .name = NULL, .value = -1 }
 };
 
@@ -4024,6 +4030,18 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
 			Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->dbgbase));
 			/* loop for more */
 			break;
+
+		case TCFG_RTOS:
+			/* RTOS */
+			{
+				int result = rtos_create( goi, target );
+				if ( result != JIM_OK )
+				{
+					return result;
+				}
+			}
+			/* loop for more */
+			break;
 		}
 	} /* while (goi->argc) */
 
@@ -4746,6 +4764,9 @@ static int target_create(Jim_GetOptInfo *goi)
 
 	target->endianness = TARGET_ENDIAN_UNKNOWN;
 
+	target->rtos = NULL;
+	target->rtos_auto_detect = false;
+
 	/* Do the rest as "configure" options */
 	goi->isconfigure = 1;
 	e = target_configure(goi, target);

src/target/target.h

@@ -8,6 +8,9 @@
  *   Copyright (C) 2008 by Spencer Oliver                                  *
  *   spen@spen-soft.co.uk                                                  *
  *                                                                         *
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
  *   This program is free software; you can redistribute it and/or modify  *
  *   it under the terms of the GNU General Public License as published by  *
  *   the Free Software Foundation; either version 2 of the License, or     *
@@ -160,6 +163,9 @@ struct target
 	uint32_t dbgbase;					/* Really a Cortex-A specific option, but there is no
 	 	 	 	 	 	 	 	 	 	   system in place to support target specific options
 	 	 	 	 	 	 	 	 	 	   currently. */
+	struct rtos *rtos;					/* Instance of Real Time Operating System support */
+	bool rtos_auto_detect;				/* A flag that indicates that the RTOS has been specified as "auto" 
+	                                     * and must be detected when symbols are offered */
 };
 
 /** Returns the instance-specific name of the specified target. */