forked from Archive/PX4-Autopilot
372 lines
11 KiB
Python
372 lines
11 KiB
Python
# GDB/Python functions for dealing with NuttX
|
|
|
|
import gdb, gdb.types
|
|
|
|
class NX_register_set(object):
|
|
"""Copy of the registers for a given context"""
|
|
|
|
v7_regmap = {
|
|
'R13': 0,
|
|
'SP': 0,
|
|
'PRIORITY': 1,
|
|
'R4': 2,
|
|
'R5': 3,
|
|
'R6': 4,
|
|
'R7': 5,
|
|
'R8': 6,
|
|
'R9': 7,
|
|
'R10': 8,
|
|
'R11': 9,
|
|
'EXC_RETURN': 10,
|
|
'R0': 11,
|
|
'R1': 12,
|
|
'R2': 13,
|
|
'R3': 14,
|
|
'R12': 15,
|
|
'R14': 16,
|
|
'LR': 16,
|
|
'R15': 17,
|
|
'PC': 17,
|
|
'XPSR': 18,
|
|
}
|
|
|
|
v7em_regmap = {
|
|
'R13': 0,
|
|
'SP': 0,
|
|
'PRIORITY': 1,
|
|
'R4': 2,
|
|
'R5': 3,
|
|
'R6': 4,
|
|
'R7': 5,
|
|
'R8': 6,
|
|
'R9': 7,
|
|
'R10': 8,
|
|
'R11': 9,
|
|
'EXC_RETURN': 10,
|
|
'R0': 27,
|
|
'R1': 28,
|
|
'R2': 29,
|
|
'R3': 30,
|
|
'R12': 31,
|
|
'R14': 32,
|
|
'LR': 32,
|
|
'R15': 33,
|
|
'PC': 33,
|
|
'XPSR': 34,
|
|
}
|
|
|
|
regs = dict()
|
|
|
|
def __init__(self, xcpt_regs):
|
|
if xcpt_regs is None:
|
|
self.regs['R0'] = long(gdb.parse_and_eval('$r0'))
|
|
self.regs['R1'] = long(gdb.parse_and_eval('$r1'))
|
|
self.regs['R2'] = long(gdb.parse_and_eval('$r2'))
|
|
self.regs['R3'] = long(gdb.parse_and_eval('$r3'))
|
|
self.regs['R4'] = long(gdb.parse_and_eval('$r4'))
|
|
self.regs['R5'] = long(gdb.parse_and_eval('$r5'))
|
|
self.regs['R6'] = long(gdb.parse_and_eval('$r6'))
|
|
self.regs['R7'] = long(gdb.parse_and_eval('$r7'))
|
|
self.regs['R8'] = long(gdb.parse_and_eval('$r8'))
|
|
self.regs['R9'] = long(gdb.parse_and_eval('$r9'))
|
|
self.regs['R10'] = long(gdb.parse_and_eval('$r10'))
|
|
self.regs['R11'] = long(gdb.parse_and_eval('$r11'))
|
|
self.regs['R12'] = long(gdb.parse_and_eval('$r12'))
|
|
self.regs['R13'] = long(gdb.parse_and_eval('$r13'))
|
|
self.regs['SP'] = long(gdb.parse_and_eval('$sp'))
|
|
self.regs['R14'] = long(gdb.parse_and_eval('$r14'))
|
|
self.regs['LR'] = long(gdb.parse_and_eval('$lr'))
|
|
self.regs['R15'] = long(gdb.parse_and_eval('$r15'))
|
|
self.regs['PC'] = long(gdb.parse_and_eval('$pc'))
|
|
self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
|
|
else:
|
|
for key in self.v7em_regmap.keys():
|
|
self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
|
|
|
|
|
|
@classmethod
|
|
def with_xcpt_regs(cls, xcpt_regs):
|
|
return cls(xcpt_regs)
|
|
|
|
@classmethod
|
|
def for_current(cls):
|
|
return cls(None)
|
|
|
|
def __format__(self, format_spec):
|
|
return format_spec.format(
|
|
registers = self.registers
|
|
)
|
|
|
|
@property
|
|
def registers(self):
|
|
return self.regs
|
|
|
|
|
|
class NX_task(object):
|
|
"""Reference to a NuttX task and methods for introspecting it"""
|
|
|
|
def __init__(self, tcb_ptr):
|
|
self._tcb = tcb_ptr.dereference()
|
|
self._group = self._tcb['group'].dereference()
|
|
self.pid = tcb_ptr['pid']
|
|
|
|
@classmethod
|
|
def for_tcb(cls, tcb):
|
|
"""return a task with the given TCB pointer"""
|
|
pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
|
|
pidhash_value = pidhash_sym.value()
|
|
pidhash_type = pidhash_sym.type
|
|
for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
|
|
pidhash_entry = pidhash_value[i]
|
|
if pidhash_entry['tcb'] == tcb:
|
|
return cls(pidhash_entry['tcb'])
|
|
return None
|
|
|
|
@classmethod
|
|
def for_pid(cls, pid):
|
|
"""return a task for the given PID"""
|
|
pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
|
|
pidhash_value = pidhash_sym.value()
|
|
pidhash_type = pidhash_sym.type
|
|
for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
|
|
pidhash_entry = pidhash_value[i]
|
|
if pidhash_entry['pid'] == pid:
|
|
return cls(pidhash_entry['tcb'])
|
|
return None
|
|
|
|
@staticmethod
|
|
def pids():
|
|
"""return a list of all PIDs"""
|
|
pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
|
|
pidhash_value = pidhash_sym.value()
|
|
pidhash_type = pidhash_sym.type
|
|
result = []
|
|
for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
|
|
entry = pidhash_value[i]
|
|
pid = int(entry['pid'])
|
|
if pid is not -1:
|
|
result.append(pid)
|
|
return result
|
|
|
|
@staticmethod
|
|
def tasks():
|
|
"""return a list of all tasks"""
|
|
tasks = []
|
|
for pid in NX_task.pids():
|
|
tasks.append(NX_task.for_pid(pid))
|
|
return tasks
|
|
|
|
def _state_is(self, state):
|
|
"""tests the current state of the task against the passed-in state name"""
|
|
statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
|
|
if self._tcb['task_state'] == statenames[state]:
|
|
return True
|
|
return False
|
|
|
|
@property
|
|
def stack_used(self):
|
|
"""calculate the stack used by the thread"""
|
|
if 'stack_used' not in self.__dict__:
|
|
stack_base = self._tcb['stack_alloc_ptr'].cast(gdb.lookup_type('unsigned char').pointer())
|
|
if stack_base == 0:
|
|
self.__dict__['stack_used'] = 0
|
|
else:
|
|
stack_limit = self._tcb['adj_stack_size']
|
|
for offset in range(0, stack_limit):
|
|
if stack_base[offset] != 0xff:
|
|
break
|
|
self.__dict__['stack_used'] = stack_limit - offset
|
|
return self.__dict__['stack_used']
|
|
|
|
@property
|
|
def name(self):
|
|
"""return the task's name"""
|
|
return self._tcb['name'].string()
|
|
|
|
@property
|
|
def state(self):
|
|
"""return the name of the task's current state"""
|
|
statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
|
|
for name,value in statenames.iteritems():
|
|
if value == self._tcb['task_state']:
|
|
return name
|
|
return 'UNKNOWN'
|
|
|
|
@property
|
|
def waiting_for(self):
|
|
"""return a description of what the task is waiting for, if it is waiting"""
|
|
if self._state_is('TSTATE_WAIT_SEM'):
|
|
waitsem = self._tcb['waitsem'].dereference()
|
|
waitsem_holder = waitsem['holder']
|
|
holder = NX_task.for_tcb(waitsem_holder['htcb'])
|
|
if holder is not None:
|
|
return '{}({})'.format(waitsem.address, holder.name)
|
|
else:
|
|
return '{}(<bad holder>)'.format(waitsem.address)
|
|
if self._state_is('TSTATE_WAIT_SIG'):
|
|
return 'signal'
|
|
return None
|
|
|
|
@property
|
|
def is_waiting(self):
|
|
"""tests whether the task is waiting for something"""
|
|
if self._state_is('TSTATE_WAIT_SEM') or self._state_is('TSTATE_WAIT_SIG'):
|
|
return True
|
|
|
|
@property
|
|
def is_runnable(self):
|
|
"""tests whether the task is runnable"""
|
|
if (self._state_is('TSTATE_TASK_PENDING') or
|
|
self._state_is('TSTATE_TASK_READYTORUN') or
|
|
self._state_is('TSTATE_TASK_RUNNING')):
|
|
return True
|
|
return False
|
|
|
|
@property
|
|
def file_descriptors(self):
|
|
"""return a dictionary of file descriptors and inode pointers"""
|
|
filelist = self._group['tg_filelist']
|
|
filearray = filelist['fl_files']
|
|
result = dict()
|
|
for i in range(filearray.type.range()[0],filearray.type.range()[1]):
|
|
inode = long(filearray[i]['f_inode'])
|
|
if inode != 0:
|
|
result[i] = inode
|
|
return result
|
|
|
|
@property
|
|
def registers(self):
|
|
if 'registers' not in self.__dict__:
|
|
registers = dict()
|
|
if self._state_is('TSTATE_TASK_RUNNING'):
|
|
registers = NX_register_set.for_current().registers
|
|
else:
|
|
context = self._tcb['xcp']
|
|
regs = context['regs']
|
|
registers = NX_register_set.with_xcpt_regs(regs).registers
|
|
|
|
self.__dict__['registers'] = registers
|
|
return self.__dict__['registers']
|
|
|
|
def __repr__(self):
|
|
return "<NX_task {}>".format(self.pid)
|
|
|
|
def __str__(self):
|
|
return "{}:{}".format(self.pid, self.name)
|
|
|
|
def __format__(self, format_spec):
|
|
return format_spec.format(
|
|
pid = self.pid,
|
|
name = self.name,
|
|
state = self.state,
|
|
waiting_for = self.waiting_for,
|
|
stack_used = self.stack_used,
|
|
stack_limit = self._tcb['adj_stack_size'],
|
|
file_descriptors = self.file_descriptors,
|
|
registers = self.registers
|
|
)
|
|
|
|
class NX_show_task (gdb.Command):
|
|
"""(NuttX) prints information about a task"""
|
|
|
|
def __init__(self):
|
|
super(NX_show_task, self).__init__("show task", gdb.COMMAND_USER)
|
|
|
|
def invoke(self, arg, from_tty):
|
|
t = NX_task.for_pid(int(arg))
|
|
if t is not None:
|
|
my_fmt = 'PID:{pid} name:{name} state:{state}\n'
|
|
my_fmt += ' stack used {stack_used} of {stack_limit}\n'
|
|
if t.is_waiting:
|
|
my_fmt += ' waiting for {waiting_for}\n'
|
|
my_fmt += ' open files: {file_descriptors}\n'
|
|
my_fmt += ' R0 {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
|
|
my_fmt += ' R4 {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
|
|
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
|
|
my_fmt += ' R12 {registers[PC]:#010x}\n'
|
|
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
|
|
print format(t, my_fmt)
|
|
|
|
class NX_show_tasks (gdb.Command):
|
|
"""(NuttX) prints a list of tasks"""
|
|
|
|
def __init__(self):
|
|
super(NX_show_tasks, self).__init__('show tasks', gdb.COMMAND_USER)
|
|
|
|
def invoke(self, args, from_tty):
|
|
tasks = NX_task.tasks()
|
|
for t in tasks:
|
|
print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}')
|
|
|
|
NX_show_task()
|
|
NX_show_tasks()
|
|
|
|
class NX_show_heap (gdb.Command):
|
|
"""(NuttX) prints the heap"""
|
|
|
|
def __init__(self):
|
|
super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
|
|
if gdb.lookup_type('struct mm_allocnode_s').sizeof == 8:
|
|
self._allocflag = 0x80000000
|
|
self._allocnodesize = 8
|
|
else:
|
|
self._allocflag = 0x8000
|
|
self._allocnodesize = 4
|
|
|
|
def _node_allocated(self, allocnode):
|
|
if allocnode['preceding'] & self._allocflag:
|
|
return True
|
|
return False
|
|
|
|
def _node_size(self, allocnode):
|
|
return allocnode['size'] & ~self._allocflag
|
|
|
|
def _print_allocations(self, region_start, region_end):
|
|
if region_start >= region_end:
|
|
raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
|
|
nodecount = region_end - region_start
|
|
print 'heap {} - {}'.format(region_start, region_end)
|
|
cursor = 1
|
|
while cursor < nodecount:
|
|
allocnode = region_start[cursor]
|
|
if self._node_allocated(allocnode):
|
|
state = ''
|
|
else:
|
|
state = '(free)'
|
|
print ' {} {} {}'.format(allocnode.address + 8, self._node_size(allocnode), state)
|
|
cursor += self._node_size(allocnode) / self._allocnodesize
|
|
|
|
def invoke(self, args, from_tty):
|
|
heap = gdb.lookup_global_symbol('g_mmheap').value()
|
|
nregions = heap['mm_nregions']
|
|
region_starts = heap['mm_heapstart']
|
|
region_ends = heap['mm_heapend']
|
|
print '{} heap(s)'.format(nregions)
|
|
# walk the heaps
|
|
for i in range(0, nregions):
|
|
self._print_allocations(region_starts[i], region_ends[i])
|
|
|
|
NX_show_heap()
|
|
|
|
class NX_show_interrupted_thread (gdb.Command):
|
|
"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
|
|
|
|
def __init__(self):
|
|
super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
|
|
|
|
def invoke(self, args, from_tty):
|
|
regs = gdb.lookup_global_symbol('current_regs').value()
|
|
if regs is 0:
|
|
raise gdb.GdbError('not in interrupt context')
|
|
else:
|
|
registers = NX_register_set.with_xcpt_regs(regs)
|
|
my_fmt = ''
|
|
my_fmt += ' R0 {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
|
|
my_fmt += ' R4 {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
|
|
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
|
|
my_fmt += ' R12 {registers[PC]:#010x}\n'
|
|
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
|
|
print format(registers, my_fmt)
|
|
|
|
NX_show_interrupted_thread()
|