037c079e9a
This commit refactors backtracing within the panic handler so that a common function esp_backtrace_get_next_frame() is used iteratively to traverse a callstack. A esp_backtrace_print() function has also be added that allows the printing of a backtrace at runtime. The esp_backtrace_print() function allows unity to print the backtrace of failed test cases and jump back to the main test menu without the need reset the chip. esp_backtrace_print() can also be used as a debugging function by users. - esp_stack_ptr_is_sane() moved to soc_memory_layout.h - removed uncessary includes of "esp_debug_helpers.h"
557 lines
16 KiB
C
557 lines
16 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/******************************************************************************
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* Description: A stub to make the ESP32 debuggable by GDB over the serial
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* port, at least enough to do a backtrace on panic. This gdbstub is read-only:
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* it allows inspecting the ESP32 state
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*******************************************************************************/
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#include <string.h>
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#include "esp32/rom/ets_sys.h"
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#include "soc/uart_periph.h"
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#include "soc/gpio_periph.h"
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#include "soc/soc_memory_layout.h"
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#include "esp_private/gdbstub.h"
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#include "driver/gpio.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "sdkconfig.h"
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//Length of buffer used to reserve GDB commands. Has to be at least able to fit the G command, which
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//implies a minimum size of about 320 bytes.
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#define PBUFLEN 512
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static unsigned char cmd[PBUFLEN]; //GDB command input buffer
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static char chsum; //Running checksum of the output packet
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#define ATTR_GDBFN
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//Receive a char from the uart. Uses polling and feeds the watchdog.
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static int ATTR_GDBFN gdbRecvChar() {
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int i;
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while (((READ_PERI_REG(UART_STATUS_REG(0))>>UART_RXFIFO_CNT_S)&UART_RXFIFO_CNT)==0) ;
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i=READ_PERI_REG(UART_FIFO_REG(0));
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return i;
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}
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//Send a char to the uart.
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static void ATTR_GDBFN gdbSendChar(char c) {
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while (((READ_PERI_REG(UART_STATUS_REG(0))>>UART_TXFIFO_CNT_S)&UART_TXFIFO_CNT)>=126) ;
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WRITE_PERI_REG(UART_FIFO_REG(0), c);
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}
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//Send the start of a packet; reset checksum calculation.
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static void ATTR_GDBFN gdbPacketStart() {
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chsum=0;
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gdbSendChar('$');
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}
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//Send a char as part of a packet
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static void ATTR_GDBFN gdbPacketChar(char c) {
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if (c=='#' || c=='$' || c=='}' || c=='*') {
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gdbSendChar('}');
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gdbSendChar(c^0x20);
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chsum+=(c^0x20)+'}';
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} else {
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gdbSendChar(c);
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chsum+=c;
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}
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}
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//Send a string as part of a packet
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static void ATTR_GDBFN gdbPacketStr(const char *c) {
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while (*c!=0) {
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gdbPacketChar(*c);
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c++;
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}
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}
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//Send a hex val as part of a packet. 'bits'/4 dictates the number of hex chars sent.
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static void ATTR_GDBFN gdbPacketHex(int val, int bits) {
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char hexChars[]="0123456789abcdef";
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int i;
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for (i=bits; i>0; i-=4) {
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gdbPacketChar(hexChars[(val>>(i-4))&0xf]);
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}
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}
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//Finish sending a packet.
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static void ATTR_GDBFN gdbPacketEnd() {
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gdbSendChar('#');
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gdbPacketHex(chsum, 8);
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}
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//Error states used by the routines that grab stuff from the incoming gdb packet
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#define ST_ENDPACKET -1
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#define ST_ERR -2
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#define ST_OK -3
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#define ST_CONT -4
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//Grab a hex value from the gdb packet. Ptr will get positioned on the end
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//of the hex string, as far as the routine has read into it. Bits/4 indicates
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//the max amount of hex chars it gobbles up. Bits can be -1 to eat up as much
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//hex chars as possible.
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static long ATTR_GDBFN gdbGetHexVal(unsigned char **ptr, int bits) {
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int i;
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int no;
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unsigned int v=0;
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char c;
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no=bits/4;
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if (bits==-1) no=64;
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for (i=0; i<no; i++) {
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c=**ptr;
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(*ptr)++;
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if (c>='0' && c<='9') {
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v<<=4;
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v|=(c-'0');
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} else if (c>='A' && c<='F') {
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v<<=4;
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v|=(c-'A')+10;
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} else if (c>='a' && c<='f') {
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v<<=4;
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v|=(c-'a')+10;
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} else if (c=='#') {
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if (bits==-1) {
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(*ptr)--;
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return v;
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}
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return ST_ENDPACKET;
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} else {
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if (bits==-1) {
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(*ptr)--;
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return v;
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}
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return ST_ERR;
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}
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}
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return v;
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}
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//Swap an int into the form gdb wants it
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static int ATTR_GDBFN iswap(int i) {
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int r;
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r=((i>>24)&0xff);
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r|=((i>>16)&0xff)<<8;
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r|=((i>>8)&0xff)<<16;
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r|=((i>>0)&0xff)<<24;
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return r;
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}
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//Read a byte from ESP32 memory.
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static unsigned char ATTR_GDBFN readbyte(unsigned int p) {
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int *i=(int*)(p&(~3));
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if (p<0x20000000 || p>=0x80000000) return -1;
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return *i>>((p&3)*8);
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}
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//Register file in the format exp108 gdb port expects it.
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//Inspired by gdb/regformats/reg-xtensa.dat
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typedef struct {
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uint32_t pc;
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uint32_t a[64];
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uint32_t lbeg;
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uint32_t lend;
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uint32_t lcount;
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uint32_t sar;
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uint32_t windowbase;
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uint32_t windowstart;
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uint32_t configid0;
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uint32_t configid1;
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uint32_t ps;
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uint32_t threadptr;
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uint32_t br;
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uint32_t scompare1;
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uint32_t acclo;
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uint32_t acchi;
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uint32_t m0;
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uint32_t m1;
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uint32_t m2;
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uint32_t m3;
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uint32_t expstate; //I'm going to assume this is exccause...
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uint32_t f64r_lo;
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uint32_t f64r_hi;
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uint32_t f64s;
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uint32_t f[16];
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uint32_t fcr;
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uint32_t fsr;
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} GdbRegFile;
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GdbRegFile gdbRegFile;
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/*
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//Register format as the Xtensa HAL has it:
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STRUCT_FIELD (long, 4, XT_STK_EXIT, exit)
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STRUCT_FIELD (long, 4, XT_STK_PC, pc)
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STRUCT_FIELD (long, 4, XT_STK_PS, ps)
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STRUCT_FIELD (long, 4, XT_STK_A0, a0)
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[..]
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STRUCT_FIELD (long, 4, XT_STK_A15, a15)
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STRUCT_FIELD (long, 4, XT_STK_SAR, sar)
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STRUCT_FIELD (long, 4, XT_STK_EXCCAUSE, exccause)
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STRUCT_FIELD (long, 4, XT_STK_EXCVADDR, excvaddr)
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STRUCT_FIELD (long, 4, XT_STK_LBEG, lbeg)
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STRUCT_FIELD (long, 4, XT_STK_LEND, lend)
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STRUCT_FIELD (long, 4, XT_STK_LCOUNT, lcount)
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// Temporary space for saving stuff during window spill
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STRUCT_FIELD (long, 4, XT_STK_TMP0, tmp0)
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STRUCT_FIELD (long, 4, XT_STK_TMP1, tmp1)
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STRUCT_FIELD (long, 4, XT_STK_TMP2, tmp2)
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STRUCT_FIELD (long, 4, XT_STK_VPRI, vpri)
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STRUCT_FIELD (long, 4, XT_STK_OVLY, ovly)
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#endif
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STRUCT_END(XtExcFrame)
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*/
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static void commonRegfile() {
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if (gdbRegFile.a[0] & 0x8000000U) gdbRegFile.a[0] = (gdbRegFile.a[0] & 0x3fffffffU) | 0x40000000U;
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if (!esp_stack_ptr_is_sane(gdbRegFile.a[1])) gdbRegFile.a[1] = 0xDEADBEEF;
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gdbRegFile.windowbase=0; //0
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gdbRegFile.windowstart=0x1; //1
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gdbRegFile.configid0=0xdeadbeef; //ToDo
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gdbRegFile.configid1=0xdeadbeef; //ToDo
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gdbRegFile.threadptr=0xdeadbeef; //ToDo
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gdbRegFile.br=0xdeadbeef; //ToDo
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gdbRegFile.scompare1=0xdeadbeef; //ToDo
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gdbRegFile.acclo=0xdeadbeef; //ToDo
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gdbRegFile.acchi=0xdeadbeef; //ToDo
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gdbRegFile.m0=0xdeadbeef; //ToDo
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gdbRegFile.m1=0xdeadbeef; //ToDo
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gdbRegFile.m2=0xdeadbeef; //ToDo
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gdbRegFile.m3=0xdeadbeef; //ToDo
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}
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static void dumpHwToRegfile(XtExcFrame *frame) {
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int i;
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long *frameAregs=&frame->a0;
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gdbRegFile.pc=(frame->pc & 0x3fffffffU)|0x40000000U;
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for (i=0; i<16; i++) gdbRegFile.a[i]=frameAregs[i];
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for (i=16; i<64; i++) gdbRegFile.a[i]=0xDEADBEEF;
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gdbRegFile.lbeg=frame->lbeg;
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gdbRegFile.lend=frame->lend;
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gdbRegFile.lcount=frame->lcount;
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gdbRegFile.ps=(frame->ps & PS_UM) ? (frame->ps & ~PS_EXCM) : frame->ps;
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//All windows have been spilled to the stack by the ISR routines. The following values should indicate that.
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gdbRegFile.sar=frame->sar;
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commonRegfile();
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gdbRegFile.expstate=frame->exccause; //ToDo
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}
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//Send the reason execution is stopped to GDB.
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static void sendReason() {
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//exception-to-signal mapping
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char exceptionSignal[]={4,31,11,11,2,6,8,0,6,7,0,0,7,7,7,7};
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int i=0;
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gdbPacketStart();
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gdbPacketChar('T');
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i=gdbRegFile.expstate&0x7f;
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if (i<sizeof(exceptionSignal)) {
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gdbPacketHex(exceptionSignal[i], 8);
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} else {
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gdbPacketHex(11, 8);
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}
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gdbPacketEnd();
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}
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static int sendPacket(const char * text) {
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gdbPacketStart();
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if (text != NULL) gdbPacketStr(text);
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gdbPacketEnd();
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return ST_OK;
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}
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#if CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
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#define STUB_TASKS_NUM CONFIG_ESP_GDBSTUB_MAX_TASKS
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//Remember the exception frame that caused panic since it's not saved in TCB
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static XtExcFrame paniced_frame;
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//Allows GDBStub to disable task support after a crash
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//(e.g. if GDBStub crashes while trying to get task list, e.g. due to corrupted list structures)
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static enum {
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HANDLER_NOT_STARTED,
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HANDLER_STARTED,
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HANDLER_TASK_SUPPORT_DISABLED
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} handlerState;
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static void dumpTaskToRegfile(XtSolFrame *frame) {
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int i;
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long *frameAregs=&frame->a0;
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gdbRegFile.pc=(frame->pc & 0x3fffffffU)|0x40000000U;
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for (i=0; i<4; i++) gdbRegFile.a[i]=frameAregs[i];
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for (i=4; i<64; i++) gdbRegFile.a[i]=0xDEADBEEF;
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gdbRegFile.lbeg=0;
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gdbRegFile.lend=0;
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gdbRegFile.lcount=0;
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gdbRegFile.ps=(frame->ps & PS_UM) ? (frame->ps & ~PS_EXCM) : frame->ps;
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//All windows have been spilled to the stack by the ISR routines. The following values should indicate that.
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gdbRegFile.sar=0;
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commonRegfile();
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gdbRegFile.expstate=0; //ToDo
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}
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// Fetch the task status. Returns the total number of tasks.
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static unsigned getTaskInfo(unsigned index, unsigned * handle, const char ** name, unsigned * coreId) {
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static unsigned taskCount = 0;
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static TaskSnapshot_t tasks[STUB_TASKS_NUM];
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if (!taskCount) {
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unsigned tcbSize = 0;
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taskCount = uxTaskGetSnapshotAll(tasks, STUB_TASKS_NUM, &tcbSize);
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}
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if (index < taskCount) {
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TaskHandle_t h = (TaskHandle_t)tasks[index].pxTCB;
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if (handle) *handle = (unsigned)h;
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if (name) *name = pcTaskGetTaskName(h);
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if (coreId) *coreId = xTaskGetAffinity(h);
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}
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return taskCount;
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}
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typedef struct
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{
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uint8_t * topOfStack;
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} DumpTCB;
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static void dumpTCBToRegFile(unsigned handle) {
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// A task handle is a pointer to a TCB in FreeRTOS
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DumpTCB * tcb = (DumpTCB*)handle;
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uint8_t * pxTopOfStack = tcb->topOfStack;
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//Deduced from coredump code
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XtExcFrame * frame = (XtExcFrame*)pxTopOfStack;
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if (frame->exit) {
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// It's an exception frame
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dumpHwToRegfile(frame);
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} else {
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XtSolFrame * taskFrame = (XtSolFrame*)pxTopOfStack;
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dumpTaskToRegfile(taskFrame);
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}
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}
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#define CUR_TASK_INDEX_NOT_SET -2
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#define CUR_TASK_INDEX_UNKNOWN -1
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// Get the index of the task currently running on the current CPU, and cache the result
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static int findCurrentTaskIndex() {
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static int curTaskIndex = CUR_TASK_INDEX_NOT_SET;
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if (curTaskIndex == CUR_TASK_INDEX_NOT_SET) {
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unsigned curHandle = (unsigned)xTaskGetCurrentTaskHandleForCPU(xPortGetCoreID());
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unsigned handle;
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unsigned count = getTaskInfo(0, 0, 0, 0);
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for(int k=0; k<(int)count; k++) {
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if (getTaskInfo(k, &handle, 0, 0) && curHandle == handle) {
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curTaskIndex = k;
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return curTaskIndex;
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}
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}
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curTaskIndex = CUR_TASK_INDEX_UNKNOWN;
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}
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return curTaskIndex;
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}
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#endif // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
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//Handle a command as received from GDB.
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static int gdbHandleCommand(unsigned char *cmd, int len) {
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//Handle a command
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int i, j, k;
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unsigned char *data=cmd+1;
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if (cmd[0]=='g') { //send all registers to gdb
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int *p=(int*)&gdbRegFile;
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gdbPacketStart();
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for (i=0; i<sizeof(GdbRegFile)/4; i++) gdbPacketHex(iswap(*p++), 32);
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gdbPacketEnd();
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} else if (cmd[0]=='G') { //receive content for all registers from gdb
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int *p=(int*)&gdbRegFile;
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for (i=0; i<sizeof(GdbRegFile)/4; i++) *p++=iswap(gdbGetHexVal(&data, 32));
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sendPacket("OK");
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} else if (cmd[0]=='m') { //read memory to gdb
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i=gdbGetHexVal(&data, -1);
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data++;
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j=gdbGetHexVal(&data, -1);
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gdbPacketStart();
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for (k=0; k<j; k++) {
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gdbPacketHex(readbyte(i++), 8);
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}
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gdbPacketEnd();
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} else if (cmd[0]=='?') { //Reply with stop reason
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sendReason();
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#if CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
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} else if (handlerState != HANDLER_TASK_SUPPORT_DISABLED) {
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if (cmd[0]=='H') { //Continue with task
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if (cmd[1]=='g' || cmd[1]=='c') {
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const char * ret = "OK";
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data++;
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i=gdbGetHexVal(&data, -1);
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handlerState = HANDLER_STARTED; //Hg0 is the first packet received after connect
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j = findCurrentTaskIndex();
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if (i == j || (j == CUR_TASK_INDEX_UNKNOWN && i == 0)) {
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//GDB has asked us for the current task on this CPU.
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//This task either was executing when we have entered the panic handler,
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//or was already switched out and we have paniced during the context switch.
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//Either way we are interested in the stack frame where panic has happened,
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//so obtain the state from the exception frame rather than the TCB.
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dumpHwToRegfile(&paniced_frame);
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} else {
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unsigned handle, count;
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//Get the handle for that task
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count = getTaskInfo(i, &handle, 0, 0);
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//Then extract TCB and gdbRegFile from it
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if (i < count) dumpTCBToRegFile(handle);
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else ret = "E00";
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}
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return sendPacket(ret);
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}
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return sendPacket(NULL);
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} else if (cmd[0]=='T') { //Task alive check
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unsigned count;
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data++;
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i=gdbGetHexVal(&data, -1);
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count = getTaskInfo(i, 0, 0, 0);
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return sendPacket(i < count ? "OK": "E00");
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} else if (cmd[0]=='q') { //Extended query
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// React to qThreadExtraInfo or qfThreadInfo or qsThreadInfo or qC, without using strcmp
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if (len > 16 && cmd[1] == 'T' && cmd[2] == 'h' && cmd[3] == 'r' && cmd[7] == 'E' && cmd[12] == 'I' && cmd[16] == ',') {
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data=&cmd[17];
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i=gdbGetHexVal(&data, -1);
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unsigned handle = 0, coreId = 3;
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const char * name = 0;
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// Extract the task name and CPU from freeRTOS
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unsigned tCount = getTaskInfo(i, &handle, &name, &coreId);
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if (i < tCount) {
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gdbPacketStart();
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for(k=0; name[k]; k++) gdbPacketHex(name[k], 8);
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gdbPacketStr("20435055"); // CPU
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gdbPacketStr(coreId == 0 ? "30": coreId == 1 ? "31" : "78"); // 0 or 1 or x
|
|
gdbPacketEnd();
|
|
return ST_OK;
|
|
}
|
|
} else if (len >= 12 && (cmd[1] == 'f' || cmd[1] == 's') && (cmd[2] == 'T' && cmd[3] == 'h' && cmd[4] == 'r' && cmd[5] == 'e' && cmd[6] == 'a' && cmd[7] == 'd' && cmd[8] == 'I')) {
|
|
// Only react to qfThreadInfo and qsThreadInfo, not using strcmp here since it can be in ROM
|
|
// Extract the number of task from freeRTOS
|
|
static int taskIndex = 0;
|
|
unsigned tCount = 0;
|
|
if (cmd[1] == 'f') {
|
|
taskIndex = 0;
|
|
handlerState = HANDLER_STARTED; //It seems it's the first request GDB is sending
|
|
}
|
|
tCount = getTaskInfo(0, 0, 0, 0);
|
|
if (taskIndex < tCount) {
|
|
gdbPacketStart();
|
|
gdbPacketStr("m");
|
|
gdbPacketHex(taskIndex, 32);
|
|
gdbPacketEnd();
|
|
taskIndex++;
|
|
} else return sendPacket("l");
|
|
} else if (len >= 2 && cmd[1] == 'C') {
|
|
// Get current task id
|
|
gdbPacketStart();
|
|
k = findCurrentTaskIndex();
|
|
if (k != CUR_TASK_INDEX_UNKNOWN) {
|
|
gdbPacketStr("QC");
|
|
gdbPacketHex(k, 32);
|
|
} else gdbPacketStr("bad");
|
|
gdbPacketEnd();
|
|
return ST_OK;
|
|
}
|
|
return sendPacket(NULL);
|
|
}
|
|
#endif // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
|
|
} else {
|
|
//We don't recognize or support whatever GDB just sent us.
|
|
return sendPacket(NULL);
|
|
}
|
|
return ST_OK;
|
|
}
|
|
|
|
|
|
//Lower layer: grab a command packet and check the checksum
|
|
//Calls gdbHandleCommand on the packet if the checksum is OK
|
|
//Returns ST_OK on success, ST_ERR when checksum fails, a
|
|
//character if it is received instead of the GDB packet
|
|
//start char.
|
|
static int gdbReadCommand() {
|
|
unsigned char c;
|
|
unsigned char chsum=0, rchsum;
|
|
unsigned char sentchs[2];
|
|
int p=0;
|
|
unsigned char *ptr;
|
|
c=gdbRecvChar();
|
|
if (c!='$') return c;
|
|
while(1) {
|
|
c=gdbRecvChar();
|
|
if (c=='#') { //end of packet, checksum follows
|
|
cmd[p]=0;
|
|
break;
|
|
}
|
|
chsum+=c;
|
|
if (c=='$') {
|
|
//Wut, restart packet?
|
|
chsum=0;
|
|
p=0;
|
|
continue;
|
|
}
|
|
if (c=='}') { //escape the next char
|
|
c=gdbRecvChar();
|
|
chsum+=c;
|
|
c^=0x20;
|
|
}
|
|
cmd[p++]=c;
|
|
if (p>=PBUFLEN) return ST_ERR;
|
|
}
|
|
//A # has been received. Get and check the received chsum.
|
|
sentchs[0]=gdbRecvChar();
|
|
sentchs[1]=gdbRecvChar();
|
|
ptr=&sentchs[0];
|
|
rchsum=gdbGetHexVal(&ptr, 8);
|
|
if (rchsum!=chsum) {
|
|
gdbSendChar('-');
|
|
return ST_ERR;
|
|
} else {
|
|
gdbSendChar('+');
|
|
return gdbHandleCommand(cmd, p);
|
|
}
|
|
}
|
|
|
|
|
|
void esp_gdbstub_panic_handler(XtExcFrame *frame) {
|
|
#if CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
|
|
if (handlerState == HANDLER_STARTED) {
|
|
//We have re-entered GDB Stub. Try disabling task support.
|
|
handlerState = HANDLER_TASK_SUPPORT_DISABLED;
|
|
gdbPacketEnd(); // Ends up any pending GDB packet (this creates a garbage value)
|
|
} else if (handlerState == HANDLER_NOT_STARTED) {
|
|
//Need to remember the frame that panic'd since gdb will ask for all threads before ours
|
|
memcpy(&paniced_frame, frame, sizeof(paniced_frame));
|
|
dumpHwToRegfile(&paniced_frame);
|
|
}
|
|
#else // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
|
|
dumpHwToRegfile(frame);
|
|
#endif // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
|
|
|
|
//Make sure txd/rxd are enabled
|
|
gpio_pullup_dis(1);
|
|
PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
|
|
PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_U0TXD_U0TXD);
|
|
|
|
sendReason();
|
|
while(gdbReadCommand()!=ST_CONT);
|
|
while(1);
|
|
}
|