diff --git a/contrib/rtos-helpers/uCOS-III-openocd.c b/contrib/rtos-helpers/uCOS-III-openocd.c
new file mode 100644
index 0000000000000000000000000000000000000000..9037334f2dce3deccc03cbafff28e7f95c773a47
--- /dev/null
+++ b/contrib/rtos-helpers/uCOS-III-openocd.c
@@ -0,0 +1,32 @@
+/*
+ * uC/OS-III does not provide a fixed layout for OS_TCB, which makes it
+ * impossible to determine the appropriate offsets within the structure
+ * unaided. A priori knowledge of offsets based on os_dbg.c is tied to a
+ * specific release and thusly, brittle. The constants defined below
+ * provide the neccessary information OpenOCD needs to provide support
+ * in the most robust manner possible.
+ *
+ * This file should be linked along with the project to enable RTOS
+ * support for uC/OS-III.
+ */
+
+#include <os.h>
+
+#if OS_CFG_DBG_EN == 0
+#error "OS_CFG_DBG_EN is required to enable RTOS support for OpenOCD"
+#endif
+
+#define OFFSET_OF(type, member) ((CPU_SIZE_T)&(((type *)0)->member))
+
+#ifdef __GNUC__
+#define USED __attribute__((used))
+#else
+#define USED
+#endif
+
+const CPU_SIZE_T USED openocd_OS_TCB_StkPtr_offset = OFFSET_OF(OS_TCB, StkPtr);
+const CPU_SIZE_T USED openocd_OS_TCB_NamePtr_offset = OFFSET_OF(OS_TCB, NamePtr);
+const CPU_SIZE_T USED openocd_OS_TCB_TaskState_offset = OFFSET_OF(OS_TCB, TaskState);
+const CPU_SIZE_T USED openocd_OS_TCB_Prio_offset = OFFSET_OF(OS_TCB, Prio);
+const CPU_SIZE_T USED openocd_OS_TCB_DbgPrevPtr_offset = OFFSET_OF(OS_TCB, DbgPrevPtr);
+const CPU_SIZE_T USED openocd_OS_TCB_DbgNextPtr_offset = OFFSET_OF(OS_TCB, DbgNextPtr);
diff --git a/doc/openocd.texi b/doc/openocd.texi
index 497a20b5b138a79cf1315fc211347285046c6e0f..372683a9ccc2e1313f1d47339479ed22c77f2bac 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -4123,7 +4123,8 @@ The value should normally correspond to a static mapping for the
@anchor{rtostype}
@item @code{-rtos} @var{rtos_type} -- enable rtos support for target,
@var{rtos_type} can be one of @option{auto}|@option{eCos}|@option{ThreadX}|
-@option{FreeRTOS}|@option{linux}|@option{ChibiOS}|@option{embKernel}|@option{mqx}
+@option{FreeRTOS}|@option{linux}|@option{ChibiOS}|@option{embKernel}|@option{mqx}|
+@option{uCOS-III}
@xref{gdbrtossupport,,RTOS Support}.
@item @code{-defer-examine} -- skip target examination at initial JTAG chain
@@ -8833,6 +8834,7 @@ Currently supported rtos's include:
@item @option{ChibiOS}
@item @option{embKernel}
@item @option{mqx}
+@item @option{uCOS-III}
@end itemize
@quotation Note
@@ -8866,10 +8868,12 @@ Rtos::sCurrentTask, Rtos::sListReady, Rtos::sListSleep,
Rtos::sListSuspended, Rtos::sMaxPriorities, Rtos::sCurrentTaskCount.
@item mqx symbols
_mqx_kernel_data, MQX_init_struct.
+@item uC/OS-III symbols
+OSRunning, OSTCBCurPtr, OSTaskDbgListPtr, OSTaskQty
@end table
For most RTOS supported the above symbols will be exported by default. However for
-some, eg. FreeRTOS, extra steps must be taken.
+some, eg. FreeRTOS and uC/OS-III, extra steps must be taken.
These RTOSes may require additional OpenOCD-specific file to be linked
along with the project:
@@ -8877,6 +8881,8 @@ along with the project:
@table @code
@item FreeRTOS
contrib/rtos-helpers/FreeRTOS-openocd.c
+@item uC/OS-III
+contrib/rtos-helpers/uCOS-III-openocd.c
@end table
@node Tcl Scripting API
diff --git a/src/rtos/Makefile.am b/src/rtos/Makefile.am
index fdca394e4c4998ebf47417568419360acbf192e2..a9122b262c5ae9daabb956ac87deb9726f6f5401 100644
--- a/src/rtos/Makefile.am
+++ b/src/rtos/Makefile.am
@@ -20,8 +20,8 @@ include $(top_srcdir)/common.mk
METASOURCES = AUTO
noinst_LTLIBRARIES = librtos.la
-noinst_HEADERS = rtos.h rtos_standard_stackings.h rtos_ecos_stackings.h linux_header.h rtos_chibios_stackings.h rtos_embkernel_stackings.h rtos_mqx_stackings.h
-librtos_la_SOURCES = rtos.c rtos_standard_stackings.c rtos_ecos_stackings.c rtos_chibios_stackings.c rtos_embkernel_stackings.c rtos_mqx_stackings.c FreeRTOS.c ThreadX.c eCos.c linux.c ChibiOS.c embKernel.c mqx.c
+noinst_HEADERS = rtos.h rtos_standard_stackings.h rtos_ecos_stackings.h linux_header.h rtos_chibios_stackings.h rtos_embkernel_stackings.h rtos_mqx_stackings.h rtos_ucos_iii_stackings.h
+librtos_la_SOURCES = rtos.c rtos_standard_stackings.c rtos_ecos_stackings.c rtos_chibios_stackings.c rtos_embkernel_stackings.c rtos_mqx_stackings.c rtos_ucos_iii_stackings.c FreeRTOS.c ThreadX.c eCos.c linux.c ChibiOS.c embKernel.c mqx.c uCOS-III.c
librtos_la_CFLAGS =
if IS_MINGW
diff --git a/src/rtos/rtos.c b/src/rtos/rtos.c
index aa8efbe7270be719b8612dd1b8e5feba0eb03f1c..785fc6161a1f798da791b0e6193b73ec683dc714 100644
--- a/src/rtos/rtos.c
+++ b/src/rtos/rtos.c
@@ -34,6 +34,7 @@ extern struct rtos_type Linux_os;
extern struct rtos_type ChibiOS_rtos;
extern struct rtos_type embKernel_rtos;
extern struct rtos_type mqx_rtos;
+extern struct rtos_type uCOS_III_rtos;
static struct rtos_type *rtos_types[] = {
&ThreadX_rtos,
@@ -43,6 +44,7 @@ static struct rtos_type *rtos_types[] = {
&ChibiOS_rtos,
&embKernel_rtos,
&mqx_rtos,
+ &uCOS_III_rtos,
NULL
};
@@ -400,9 +402,14 @@ int rtos_thread_packet(struct connection *connection, char const *packet, int pa
} else if (packet[0] == 'H') { /* Set current thread ( 'c' for step and continue, 'g' for
* all other operations ) */
if ((packet[1] == 'g') && (target->rtos != NULL)) {
- sscanf(packet, "Hg%16" SCNx64, &target->rtos->current_threadid);
- LOG_DEBUG("RTOS: GDB requested to set current thread to 0x%" PRIx64 "\r\n",
- target->rtos->current_threadid);
+ threadid_t threadid;
+ sscanf(packet, "Hg%16" SCNx64, &threadid);
+ LOG_DEBUG("RTOS: GDB requested to set current thread to 0x%" PRIx64, threadid);
+ /* threadid of 0 indicates target should choose */
+ if (threadid == 0)
+ target->rtos->current_threadid = target->rtos->current_thread;
+ else
+ target->rtos->current_threadid = threadid;
}
gdb_put_packet(connection, "OK", 2);
return ERROR_OK;
@@ -426,9 +433,13 @@ int rtos_get_gdb_reg_list(struct connection *connection)
current_threadid,
target->rtos->current_thread);
- target->rtos->type->get_thread_reg_list(target->rtos,
- current_threadid,
- &hex_reg_list);
+ int retval = target->rtos->type->get_thread_reg_list(target->rtos,
+ current_threadid,
+ &hex_reg_list);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("RTOS: failed to get register list");
+ return retval;
+ }
if (hex_reg_list != NULL) {
gdb_put_packet(connection, hex_reg_list, strlen(hex_reg_list));
@@ -546,5 +557,7 @@ void rtos_free_threadlist(struct rtos *rtos)
free(rtos->thread_details);
rtos->thread_details = NULL;
rtos->thread_count = 0;
+ rtos->current_threadid = -1;
+ rtos->current_thread = 0;
}
}
diff --git a/src/rtos/rtos_ucos_iii_stackings.c b/src/rtos/rtos_ucos_iii_stackings.c
new file mode 100644
index 0000000000000000000000000000000000000000..f2f5564fd27930bb45c0fa3f68a7d92a45fbcb22
--- /dev/null
+++ b/src/rtos/rtos_ucos_iii_stackings.c
@@ -0,0 +1,53 @@
+/***************************************************************************
+ * Copyright (C) 2016 by Square, Inc. *
+ * Steven Stallion <stallion@squareup.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, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "rtos.h"
+#include "rtos_standard_stackings.h"
+#include "target/armv7m.h"
+
+static const struct stack_register_offset rtos_uCOS_III_Cortex_M_stack_offsets[ARMV7M_NUM_CORE_REGS] = {
+ { 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 */
+ { 0x3c, 32 }, /* xPSR */
+};
+
+const struct rtos_register_stacking rtos_uCOS_III_Cortex_M_stacking = {
+ 0x40, /* stack_registers_size */
+ -1, /* stack_growth_direction */
+ ARMV7M_NUM_CORE_REGS, /* num_output_registers */
+ rtos_generic_stack_align8, /* stack_alignment */
+ rtos_uCOS_III_Cortex_M_stack_offsets /* register_offsets */
+};
diff --git a/src/rtos/rtos_ucos_iii_stackings.h b/src/rtos/rtos_ucos_iii_stackings.h
new file mode 100644
index 0000000000000000000000000000000000000000..c462cd7454c4873b427b00b29f222f1d0ae41ebc
--- /dev/null
+++ b/src/rtos/rtos_ucos_iii_stackings.h
@@ -0,0 +1,30 @@
+/***************************************************************************
+ * Copyright (C) 2016 by Square, Inc. *
+ * Steven Stallion <stallion@squareup.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, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifndef OPENOCD_RTOS_RTOS_UCOS_III_STACKINGS_H
+#define OPENOCD_RTOS_RTOS_UCOS_III_STACKINGS_H
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "rtos.h"
+
+extern const struct rtos_register_stacking rtos_uCOS_III_Cortex_M_stacking;
+
+#endif /* OPENOCD_RTOS_RTOS_UCOS_III_STACKINGS_H */
diff --git a/src/rtos/uCOS-III.c b/src/rtos/uCOS-III.c
new file mode 100644
index 0000000000000000000000000000000000000000..75cfe52bd8bea7c1a2c654005c2fa24cb591c7bb
--- /dev/null
+++ b/src/rtos/uCOS-III.c
@@ -0,0 +1,509 @@
+/***************************************************************************
+ * Copyright (C) 2016 by Square, Inc. *
+ * Steven Stallion <stallion@squareup.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, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#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 "helper/types.h"
+#include "rtos/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;
+ 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 threadid_start;
+ const struct rtos_register_stacking *stacking_info;
+ size_t num_threads;
+ symbol_address_t threads[];
+};
+
+static const struct uCOS_III_params uCOS_III_params_list[] = {
+ {
+ "cortex_m", /* target_name */
+ sizeof(uint32_t), /* pointer_width */
+ 0, /* thread_stack_offset */
+ 0, /* thread_name_offset */
+ 0, /* thread_state_offset */
+ 0, /* thread_priority_offset */
+ 0, /* thread_prev_offset */
+ 0, /* thread_next_offset */
+ false, /* thread_offsets_updated */
+ 1, /* threadid_start */
+ &rtos_uCOS_III_Cortex_M_stacking, /* stacking_info */
+ 0, /* num_threads */
+ },
+};
+
+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_OSRunning,
+ uCOS_III_VAL_OSTCBCurPtr,
+ uCOS_III_VAL_OSTaskDbgListPtr,
+ uCOS_III_VAL_OSTaskQty,
+
+ /* also see: contrib/rtos-helpers/uCOS-III-openocd.c */
+ uCOS_III_VAL_OS_TCB_StkPtr_offset,
+ uCOS_III_VAL_OS_TCB_NamePtr_offset,
+ uCOS_III_VAL_OS_TCB_TaskState_offset,
+ uCOS_III_VAL_OS_TCB_Prio_offset,
+ uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
+ uCOS_III_VAL_OS_TCB_DbgNextPtr_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_params *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->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_params *params = rtos->rtos_specific_params;
+ size_t thread_index;
+
+ thread_index = threadid - 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_params *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_OSTaskDbgListPtr].address,
+ 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->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_params *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_StkPtr_offset,
+ ¶ms->thread_stack_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_NamePtr_offset,
+ ¶ms->thread_name_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_TaskState_offset,
+ ¶ms->thread_state_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_Prio_offset,
+ ¶ms->thread_priority_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_DbgPrevPtr_offset,
+ ¶ms->thread_prev_offset,
+ },
+ {
+ uCOS_III_VAL_OS_TCB_DbgNextPtr_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->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 int uCOS_III_detect_rtos(struct target *target)
+{
+ return target->rtos->symbols != NULL &&
+ target->rtos->symbols[uCOS_III_VAL_OSRunning].address != 0;
+}
+
+static int uCOS_III_reset_handler(struct target *target, enum target_reset_mode reset_mode, void *priv)
+{
+ struct uCOS_III_params *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_params *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) == 0) {
+ params = malloc(sizeof(*params) +
+ UCOS_III_MAX_THREADS * sizeof(*params->threads));
+ if (params == NULL) {
+ LOG_ERROR("uCOS-III: out of memory");
+ return ERROR_FAIL;
+ }
+
+ memcpy(params, &uCOS_III_params_list[i], sizeof(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);
+ return ERROR_FAIL;
+}
+
+static int uCOS_III_update_threads(struct rtos *rtos)
+{
+ struct uCOS_III_params *params = rtos->rtos_specific_params;
+ int retval;
+
+ /* 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_OSRunning].address,
+ &rtos_running);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("uCOS-III: failed to read RTOS running");
+ return retval;
+ }
+
+ if (!rtos_running) {
+ rtos->thread_details = calloc(1, sizeof(struct thread_detail));
+ if (rtos->thread_details == NULL) {
+ 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_OSTCBCurPtr].address,
+ 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_OSTaskQty].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 == NULL) {
+ 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->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->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, char **hex_reg_list)
+{
+ struct uCOS_III_params *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->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->stacking_info,
+ stack_address,
+ hex_reg_list);
+}
+
+static int uCOS_III_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
+{
+ *symbol_list = calloc(ARRAY_SIZE(uCOS_III_symbol_list), sizeof(symbol_table_elem_t));
+ if (*symbol_list == NULL) {
+ 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,
+};