esp-idf/components/esp_gdbstub/src/gdbstub.c

/*
 * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <string.h>
#include "esp_gdbstub.h"
#include "esp_gdbstub_common.h"
#include "sdkconfig.h"

#include "soc/uart_reg.h"
#include "soc/periph_defs.h"
#include "esp_attr.h"
#include "esp_intr_alloc.h"
#include "hal/wdt_hal.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"


#ifdef CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
static inline int gdb_tid_to_task_index(int tid);
static inline int task_index_to_gdb_tid(int tid);
static void init_task_info(void);
static void find_paniced_task_index(void);
static void set_active_task(size_t index);
static int handle_task_commands(unsigned char *cmd, int len);
static void esp_gdbstub_send_str_as_hex(const char *str);
#endif

static void send_reason(void);

static esp_gdbstub_scratch_t s_scratch;
static esp_gdbstub_gdb_regfile_t *gdb_local_regfile = &s_scratch.regfile;

/**
 * @brief panic handler
*/
void esp_gdbstub_panic_handler(void *in_frame)
{
    esp_gdbstub_frame_t *frame = (esp_gdbstub_frame_t *)in_frame;
#ifndef CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
    esp_gdbstub_frame_to_regfile(frame, &s_scratch.regfile);
#else
    if (s_scratch.state == GDBSTUB_STARTED) {
        /* We have re-entered GDB Stub. Try disabling task support. */
        s_scratch.state = GDBSTUB_TASK_SUPPORT_DISABLED;
        /* Flush any pending GDB packet (this creates a garbage value) */
        esp_gdbstub_send_end();
    } else if (s_scratch.state == GDBSTUB_NOT_STARTED) {
        s_scratch.state = GDBSTUB_STARTED;
        /* Save the paniced frame and get the list of tasks */
        memcpy(&s_scratch.paniced_frame, frame, sizeof(*frame));
        init_task_info();
        find_paniced_task_index();
        /* Current task is the paniced task */
        if (s_scratch.paniced_task_index == GDBSTUB_CUR_TASK_INDEX_UNKNOWN) {
            set_active_task(0);
        } else {
            set_active_task(s_scratch.paniced_task_index);
        }
    }
#endif // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS

    esp_gdbstub_target_init();
    s_scratch.signal = esp_gdbstub_get_signal(frame);
    send_reason();
    while (true) {
        unsigned char *cmd;
        size_t size;
        int res = esp_gdbstub_read_command(&cmd, &size);
        if (res > 0) {
            /* character received instead of a command */
            continue;
        }
        if (res == GDBSTUB_ST_ERR) {
            esp_gdbstub_send_str_packet("E01");
            continue;
        }
        res = esp_gdbstub_handle_command(cmd, size);
        if (res == GDBSTUB_ST_ERR) {
            esp_gdbstub_send_str_packet(NULL);
        }
    }
}

/**
 * Set interrupt reason to GDB
*/
static void send_reason(void)
{
    esp_gdbstub_send_start();
    esp_gdbstub_send_char('T');
    esp_gdbstub_send_hex(s_scratch.signal, 8);
    esp_gdbstub_send_end();
}

/**
 * Swap bytes in word
*/
static uint32_t gdbstub_hton(uint32_t i)
{
    return __builtin_bswap32(i);
}

static wdt_hal_context_t rtc_wdt_ctx = {.inst = WDT_RWDT, .rwdt_dev = &RTCCNTL};
static wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
static wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};

static bool wdt0_context_enabled = false;
static bool wdt1_context_enabled = false;
static bool rtc_wdt_ctx_enabled = false;
/**
 * Disable all enabled WDTs
 */
static inline void disable_all_wdts(void)
{
    wdt0_context_enabled = wdt_hal_is_enabled(&wdt0_context);
    wdt1_context_enabled = wdt_hal_is_enabled(&wdt1_context);
    rtc_wdt_ctx_enabled = wdt_hal_is_enabled(&rtc_wdt_ctx);

    //Task WDT is the Main Watchdog Timer of Timer Group 0
    if (true == wdt0_context_enabled) {
        wdt_hal_write_protect_disable(&wdt0_context);
        wdt_hal_disable(&wdt0_context);
        wdt_hal_feed(&wdt0_context);
        wdt_hal_write_protect_enable(&wdt0_context);
    }

    //Interupt WDT is the Main Watchdog Timer of Timer Group 1
    if (true == wdt1_context_enabled) {
        wdt_hal_write_protect_disable(&wdt1_context);
        wdt_hal_disable(&wdt1_context);
        wdt_hal_feed(&wdt1_context);
        wdt_hal_write_protect_enable(&wdt1_context);
    }
    if (true == rtc_wdt_ctx_enabled) {
        wdt_hal_write_protect_disable(&rtc_wdt_ctx);
        wdt_hal_disable(&rtc_wdt_ctx);
        wdt_hal_feed(&rtc_wdt_ctx);
        wdt_hal_write_protect_enable(&rtc_wdt_ctx);
    }
}

/**
 * Enable all enabled WDTs
 */
static inline void enable_all_wdts(void)
{
    //Task WDT is the Main Watchdog Timer of Timer Group 0
    if (false == wdt0_context_enabled) {
        wdt_hal_write_protect_disable(&wdt0_context);
        wdt_hal_enable(&wdt0_context);
        wdt_hal_write_protect_enable(&wdt0_context);
    }
    // Interupt WDT is the Main Watchdog Timer of Timer Group 1
    if (false == wdt1_context_enabled) {
        wdt_hal_write_protect_disable(&wdt1_context);
        wdt_hal_enable(&wdt1_context);
        wdt_hal_write_protect_enable(&wdt1_context);
    }

    if (false == rtc_wdt_ctx_enabled) {
        wdt_hal_write_protect_disable(&rtc_wdt_ctx);
        wdt_hal_enable(&rtc_wdt_ctx);
        wdt_hal_write_protect_enable(&rtc_wdt_ctx);
    }
}

/**
 * @breef Handle UART interrupt
 *
 * Handle UART interrupt for gdbstub. The function disable WDT.
 * If Ctrl+C combination detected (0x03), then application will start to process incoming GDB messages.
 * The gdbstub will stay in this interrupt until continue command will be received ($c#63).
 *
 * @param curr_regs - actual registers frame
 *
*/
void gdbstub_handle_uart_int(esp_gdbstub_frame_t *regs_frame)
{
    // Disable all enabled WDT on enter
    disable_all_wdts();

    int doDebug = esp_gdbstub_getfifo();
    s_scratch.signal = esp_gdbstub_get_signal(regs_frame);

    if (doDebug) {
#ifdef CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
        init_task_info();
#endif// CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
        esp_gdbstub_frame_to_regfile(regs_frame, gdb_local_regfile);
        send_reason();
        while (true) {
            unsigned char *cmd;
            size_t size;

            int res = esp_gdbstub_read_command(&cmd, &size);
            if (res == '-') {
                send_reason();
                continue;
            }
            if (res > 0) {
                /* character received instead of a command */
                continue;
            }
            if (res == -2) {
                esp_gdbstub_send_str_packet("E01");
                continue;
            }
            res = esp_gdbstub_handle_command(cmd, size);
            if (res == -2) {
                esp_gdbstub_send_str_packet(NULL);
            }
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
            if (res == GDBSTUB_ST_CONT) {
                break;
            }
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
        }
    }
}

intr_handle_t intr_handle_;
extern void _xt_gdbstub_int(void * );

#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
/** @brief Init gdbstub
 * Init uart interrupt for gdbstub
 * */
void esp_gdbstub_init(void)
{
    esp_intr_alloc(ETS_UART0_INTR_SOURCE, 0, _xt_gdbstub_int, NULL, &intr_handle_);
}
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME

#ifdef CONFIG_ESP_GDBSTUB_SUPPORT_TASKS

/** Send string as a het to uart */
static void esp_gdbstub_send_str_as_hex(const char *str)
{
    while (*str) {
        esp_gdbstub_send_hex(*str, 8);
        str++;
    }
}
#endif

/** Send all registers to gdb */
static void handle_g_command(const unsigned char *cmd, int len)
{
    uint32_t *p = (uint32_t *) &s_scratch.regfile;
    esp_gdbstub_send_start();
    for (int i = 0; i < sizeof(s_scratch.regfile) / sizeof(*p); ++i) {
        esp_gdbstub_send_hex(gdbstub_hton(*p++), 32);
    }
    esp_gdbstub_send_end();
}

/** Receive register values from gdb */
static void handle_G_command(const unsigned char *cmd, int len)
{
    uint32_t *p = (uint32_t *) &s_scratch.regfile;
    for (int i = 0; i < sizeof(s_scratch.regfile) / sizeof(*p); ++i) {
        *p++ = gdbstub_hton(esp_gdbstub_gethex(&cmd, 32));
    }
    esp_gdbstub_send_str_packet("OK");
}

/** Read memory to gdb */
static void handle_m_command(const unsigned char *cmd, int len)
{
    intptr_t addr = (intptr_t) esp_gdbstub_gethex(&cmd, -1);
    cmd++;
    uint32_t size = esp_gdbstub_gethex(&cmd, -1);

    if (esp_gdbstub_readmem(addr) < 0 || esp_gdbstub_readmem(addr + size - 1) < 0) {
        esp_gdbstub_send_str_packet("E01");
        return;
    }

    esp_gdbstub_send_start();
    for (int i = 0; i < size; ++i) {
        int b = esp_gdbstub_readmem(addr++);
        esp_gdbstub_send_hex(b, 8);
    }
    esp_gdbstub_send_end();
}

/** Write memory from gdb */
static void handle_M_command(const unsigned char *cmd, int len)
{
    intptr_t addr = (intptr_t) esp_gdbstub_gethex(&cmd, -1);
    cmd++; // skip '.'
    uint32_t size = esp_gdbstub_gethex(&cmd, -1);
    cmd++; // skip ':'

    if (esp_gdbstub_readmem(addr) < 0 || esp_gdbstub_readmem(addr + size - 1) < 0) {
        esp_gdbstub_send_str_packet("E01");
        return;
    }
    for (int k = 0; k < size; k++) {
        esp_gdbstub_writemem(addr, esp_gdbstub_gethex(&cmd, 8));
        addr++;
    }
    esp_gdbstub_send_start();
    esp_gdbstub_send_str_packet("OK");
    esp_gdbstub_send_end();
}

/** Handle a command received from gdb */
int esp_gdbstub_handle_command(unsigned char *cmd, int len)
{
    unsigned char *data = cmd + 1;
    if (cmd[0] == 'g') {
        handle_g_command(data, len - 1);
    } else if (cmd[0] == 'G') {
        /* receive content for all registers from gdb */
        handle_G_command(data, len - 1);
    } else if (cmd[0] == 'm') {
        /* read memory to gdb */
        handle_m_command(data, len - 1);
    } else if (cmd[0] == 'M') {
        /* write to memory from GDB */
        handle_M_command(data, len - 1);
    } else if (cmd[0] == '?') {
        /* Reply with stop reason */
        send_reason();
#if CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
    } else if (s_scratch.state != GDBSTUB_TASK_SUPPORT_DISABLED) {
        return handle_task_commands(cmd, len);
#endif // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS
    } else if (strncmp((char *)cmd, "vCont;c", 7) == 0 || cmd[0] == 'c') { //continue execution
        return GDBSTUB_ST_CONT;
    } else {
        /* Unrecognized command */
        return GDBSTUB_ST_ERR;
    }
    return GDBSTUB_ST_OK;
}

/* Everything below is related to the support for listing FreeRTOS tasks as threads in GDB */

#ifdef CONFIG_ESP_GDBSTUB_SUPPORT_TASKS

/* Some terminology related to task/thread indices:
 *
 * "task index" — Index used here in gdbstub.c to enumberate all the tasks.
 *                Range is from 0 to <number of tasks> - 1.
 *                The order is defined by uxTaskGetSnapshotAll.
 *
 * "GDB TID" — Thread ID used by GDB internally and in the remote protocol.
 *             IDs of real threads can be any positive values other than 0.
 *             For example, OpenOCD uses the TCB pointer (cast to a 32-bit int) as GDB TID.
 *             Values 0 and -1, when used in place of TID in the remote protocol
 *             have special meanings:
 *             -1: indicates all threads, may be used in 'Hc' command
 *              0: indicates an arbitrary process or thread (GDB client doesn't care, server decides)
 *
 * Since GDB TIDs are arbitrary, except that 0 is reserved, we set them using a simple rule:
 *    GDB TID = task index + 1.
 * The two functions below perform the conversions between the kinds of IDs.
 */
static inline int gdb_tid_to_task_index(int tid)
{
    return tid - 1;
}

static inline int task_index_to_gdb_tid(int tid)
{
    return tid + 1;
}

static void init_task_info(void)
{
    unsigned tcb_size;
    s_scratch.task_count = uxTaskGetSnapshotAll(s_scratch.tasks, GDBSTUB_TASKS_NUM, &tcb_size);
}

static bool get_task_handle(size_t index, TaskHandle_t *handle)
{
    if (index >= s_scratch.task_count) {
        return false;
    }
    *handle = (TaskHandle_t) s_scratch.tasks[index].pxTCB;
    return true;
}

/** Get the index of the task running on the current CPU, and save the result */
static void find_paniced_task_index(void)
{
    TaskHandle_t cur_handle = (TaskHandle_t)xTaskGetCurrentTaskHandleForCPU(xPortGetCoreID());
    TaskHandle_t handle;
    for (int i = 0; i < s_scratch.task_count; i++) {
        if (get_task_handle(i, &handle) && cur_handle == handle) {
            s_scratch.paniced_task_index = i;
            return;
        }
    }
    s_scratch.paniced_task_index = GDBSTUB_CUR_TASK_INDEX_UNKNOWN;
}

/** Select the current task and update the regfile */
static void set_active_task(size_t index)
{
    if (index == s_scratch.paniced_task_index) {
        /* Have to get the registers from exception frame */
        esp_gdbstub_frame_to_regfile(&s_scratch.paniced_frame, &s_scratch.regfile);
    } else {
        /* Get the registers from TCB.
         * FIXME: for the task currently running on the other CPU, extracting the registers from TCB
         * isn't valid. Need to use some IPC mechanism to obtain the registers of the other CPU.
         */
        TaskHandle_t handle = NULL;
        get_task_handle(index, &handle);
        if (handle != NULL) {
            esp_gdbstub_tcb_to_regfile(handle, &s_scratch.regfile);
        }
    }
    s_scratch.current_task_index = index;
}

/** H command sets the "current task" for the purpose of further commands */
static void handle_H_command(const unsigned char *cmd, int len)
{
    const char *ret = "OK";
    if (cmd[1] == 'g') {
        cmd += 2;
        int requested_tid = esp_gdbstub_gethex(&cmd, -1);
        int requested_task_index = gdb_tid_to_task_index(requested_tid);
        if (requested_tid == 0) {
            /* 0 means "arbitrary process or thread", keep the current thread */
        } else if (requested_task_index >= s_scratch.task_count ||
                   requested_tid == -1) { /* -1 means "all threads", which doesn't make sense for "Hg" */
            ret = "E00";
        } else {
            set_active_task(requested_task_index);
        }
        esp_gdbstub_send_str_packet(ret);
    } else if (cmd[1] == 'c') {
        /* Select the task for "continue" and "step" operations. No-op in post-mortem mode. */
        /* Note that the argument may be -1 to indicate "all threads" or 0 to indicate "any thread" */
        esp_gdbstub_send_str_packet(ret);
    } else {
        esp_gdbstub_send_str_packet(NULL);
    }
}

/** qC returns the current thread ID */
static void handle_qC_command(const unsigned char *cmd, int len)
{
    esp_gdbstub_send_start();
    esp_gdbstub_send_str("QC");
    esp_gdbstub_send_hex(task_index_to_gdb_tid(s_scratch.current_task_index), 32);
    esp_gdbstub_send_end();
}

/** T command checks if the task is alive.
 *  Since GDB isn't going to ask about the tasks which haven't been listed by q*ThreadInfo,
 *  and the state of tasks can not change (no stepping allowed), simply return "OK" here.
 */
static void handle_T_command(const unsigned char *cmd, int len)
{
    esp_gdbstub_send_str_packet("OK");
}

/** Called by qfThreadInfo and qsThreadInfo handlers */
static void send_single_thread_info(int task_index)
{
    esp_gdbstub_send_start();
    esp_gdbstub_send_str("m");
    esp_gdbstub_send_hex(task_index_to_gdb_tid(task_index), 32);
    esp_gdbstub_send_end();
}

/** qfThreadInfo requests the start of the thread list, qsThreadInfo (below) is repeated to
 *  get the subsequent threads.
 */
static void handle_qfThreadInfo_command(const unsigned char *cmd, int len)
{
    assert(s_scratch.task_count > 0);  /* There should be at least one task */
    send_single_thread_info(0);
    s_scratch.thread_info_index = 1;
}

static void handle_qsThreadInfo_command(const unsigned char *cmd, int len)
{
    int task_index = s_scratch.thread_info_index;
    if (task_index == s_scratch.task_count) {
        /* No more tasks */
        esp_gdbstub_send_str_packet("l");
        return;
    }
    send_single_thread_info(s_scratch.thread_info_index);
    s_scratch.thread_info_index++;
}

/** qThreadExtraInfo requests the thread name */
static void handle_qThreadExtraInfo_command(const unsigned char *cmd, int len)
{
    cmd += sizeof("qThreadExtraInfo,") - 1;
    int task_index = gdb_tid_to_task_index(esp_gdbstub_gethex(&cmd, -1));
    TaskHandle_t handle;
    if (!get_task_handle(task_index, &handle)) {
        esp_gdbstub_send_str_packet("E01");
        return;
    }
    esp_gdbstub_send_start();
    esp_gdbstub_send_str_as_hex("Name: ");
    esp_gdbstub_send_str_as_hex((const char *)pcTaskGetTaskName(handle));
    esp_gdbstub_send_hex(' ', 8);

    // Current version report only Suspended state
    esp_gdbstub_send_str_as_hex("State: Suspended");

    esp_gdbstub_send_end();
}

bool command_name_matches(const char *pattern, const unsigned char *ucmd, int len)
{
    const char *cmd = (const char *) ucmd;
    const char *end = cmd + len;
    for (; *pattern && cmd < end; ++cmd, ++pattern) {
        if (*pattern == '?') {
            continue;
        }
        if (*pattern != *cmd) {
            return false;
        }
    }
    return *pattern == 0 && (cmd == end || *cmd == ',');
}

/** Handle all the thread-related commands */
static int handle_task_commands(unsigned char *cmd, int len)
{
    if (cmd[0] == 'H') {
        /* Continue with task */
        handle_H_command(cmd, len);
    } else if (cmd[0] == 'T') {
        /* Task alive check */
        handle_T_command(cmd, len);
    } else if (cmd[0] == 'q') {
        if (command_name_matches("qfThreadInfo", cmd, len)) {
            handle_qfThreadInfo_command(cmd, len);
        } else if (command_name_matches("qsThreadInfo", cmd, len)) {
            handle_qsThreadInfo_command(cmd, len);
        } else if (command_name_matches("qC", cmd, len)) {
            handle_qC_command(cmd, len);
        } else if (command_name_matches("qThreadExtraInfo", cmd, len)) {
            handle_qThreadExtraInfo_command(cmd, len);
        } else {
            /* Unrecognized command */
            return GDBSTUB_ST_ERR;
        }
    } else if (strncmp((char *)cmd, "vCont;c", 7) == 0 || cmd[0] == 'c') { //continue execution
        return GDBSTUB_ST_CONT;
    } else {
        /* Unrecognized command */
        return GDBSTUB_ST_ERR;
    }
    return GDBSTUB_ST_OK;
}

#endif // CONFIG_ESP_GDBSTUB_SUPPORT_TASKS