mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 11:23:06 +08:00
A bit more NuttX gdb/python tooling to recover an interrupted context. Needs more fleshing out.
This commit is contained in:
px4dev
+123
-50
@@ -2,6 +2,106 @@
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import gdb, gdb.types
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class NX_register_set(object):
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"""Copy of the registers for a given context"""
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v7_regmap = {
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'R13': 0,
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'SP': 0,
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'PRIORITY': 1,
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'R4': 2,
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'R5': 3,
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'R6': 4,
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'R7': 5,
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'R8': 6,
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'R9': 7,
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'R10': 8,
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'R11': 9,
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'EXC_RETURN': 10,
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'R0': 11,
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'R1': 12,
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'R2': 13,
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'R3': 14,
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'R12': 15,
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'R14': 16,
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'LR': 16,
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'R15': 17,
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'PC': 17,
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'XPSR': 18,
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}
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v7em_regmap = {
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'R13': 0,
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'SP': 0,
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'PRIORITY': 1,
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'R4': 2,
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'R5': 3,
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'R6': 4,
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'R7': 5,
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'R8': 6,
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'R9': 7,
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'R10': 8,
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'R11': 9,
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'EXC_RETURN': 10,
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'R0': 27,
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'R1': 28,
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'R2': 29,
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'R3': 30,
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'R12': 31,
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'R14': 32,
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'LR': 32,
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'R15': 33,
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'PC': 33,
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'XPSR': 34,
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}
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regs = dict()
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def __init__(self, xcpt_regs):
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if xcpt_regs is None:
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self.regs['R0'] = long(gdb.parse_and_eval('$r0'))
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self.regs['R1'] = long(gdb.parse_and_eval('$r1'))
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self.regs['R2'] = long(gdb.parse_and_eval('$r2'))
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self.regs['R3'] = long(gdb.parse_and_eval('$r3'))
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self.regs['R4'] = long(gdb.parse_and_eval('$r4'))
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self.regs['R5'] = long(gdb.parse_and_eval('$r5'))
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self.regs['R6'] = long(gdb.parse_and_eval('$r6'))
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self.regs['R7'] = long(gdb.parse_and_eval('$r7'))
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self.regs['R8'] = long(gdb.parse_and_eval('$r8'))
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self.regs['R9'] = long(gdb.parse_and_eval('$r9'))
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self.regs['R10'] = long(gdb.parse_and_eval('$r10'))
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self.regs['R11'] = long(gdb.parse_and_eval('$r11'))
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self.regs['R12'] = long(gdb.parse_and_eval('$r12'))
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self.regs['R13'] = long(gdb.parse_and_eval('$r13'))
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self.regs['SP'] = long(gdb.parse_and_eval('$sp'))
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self.regs['R14'] = long(gdb.parse_and_eval('$r14'))
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self.regs['LR'] = long(gdb.parse_and_eval('$lr'))
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self.regs['R15'] = long(gdb.parse_and_eval('$r15'))
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self.regs['PC'] = long(gdb.parse_and_eval('$pc'))
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self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
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else:
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for key in self.v7em_regmap.keys():
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self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
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@classmethod
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def with_xcpt_regs(cls, xcpt_regs):
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return cls(xcpt_regs)
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@classmethod
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def for_current(cls):
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return cls(None)
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def __format__(self, format_spec):
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return format_spec.format(
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registers = self.registers
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)
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@property
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def registers(self):
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return self.regs
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class NX_task(object):
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"""Reference to a NuttX task and methods for introspecting it"""
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@@ -139,56 +239,12 @@ class NX_task(object):
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if 'registers' not in self.__dict__:
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registers = dict()
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if self._state_is('TSTATE_TASK_RUNNING'):
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# XXX need to fix this to handle interrupt context
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registers['R0'] = long(gdb.parse_and_eval('$r0'))
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registers['R1'] = long(gdb.parse_and_eval('$r1'))
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registers['R2'] = long(gdb.parse_and_eval('$r2'))
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registers['R3'] = long(gdb.parse_and_eval('$r3'))
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registers['R4'] = long(gdb.parse_and_eval('$r4'))
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registers['R5'] = long(gdb.parse_and_eval('$r5'))
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registers['R6'] = long(gdb.parse_and_eval('$r6'))
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registers['R7'] = long(gdb.parse_and_eval('$r7'))
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registers['R8'] = long(gdb.parse_and_eval('$r8'))
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registers['R9'] = long(gdb.parse_and_eval('$r9'))
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registers['R10'] = long(gdb.parse_and_eval('$r10'))
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registers['R11'] = long(gdb.parse_and_eval('$r11'))
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registers['R12'] = long(gdb.parse_and_eval('$r12'))
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registers['R13'] = long(gdb.parse_and_eval('$r13'))
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registers['SP'] = long(gdb.parse_and_eval('$sp'))
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registers['R14'] = long(gdb.parse_and_eval('$r14'))
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registers['LR'] = long(gdb.parse_and_eval('$lr'))
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registers['R15'] = long(gdb.parse_and_eval('$r15'))
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registers['PC'] = long(gdb.parse_and_eval('$pc'))
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registers['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
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# this would only be valid if we were in an interrupt
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registers['EXC_RETURN'] = 0
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# we should be able to get this...
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registers['PRIMASK'] = 0
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registers = NX_register_set.for_current().registers
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else:
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context = self._tcb['xcp']
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regs = context['regs']
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registers['R0'] = long(regs[27])
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registers['R1'] = long(regs[28])
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registers['R2'] = long(regs[29])
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registers['R3'] = long(regs[30])
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registers['R4'] = long(regs[2])
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registers['R5'] = long(regs[3])
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registers['R6'] = long(regs[4])
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registers['R7'] = long(regs[5])
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registers['R8'] = long(regs[6])
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registers['R9'] = long(regs[7])
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registers['R10'] = long(regs[8])
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registers['R11'] = long(regs[9])
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registers['R12'] = long(regs[31])
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registers['R13'] = long(regs[0])
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registers['SP'] = long(regs[0])
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registers['R14'] = long(regs[32])
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registers['LR'] = long(regs[32])
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registers['R15'] = long(regs[33])
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registers['PC'] = long(regs[33])
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registers['XPSR'] = long(regs[34])
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registers['EXC_RETURN'] = long(regs[10])
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registers['PRIMASK'] = long(regs[1])
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registers = NX_register_set.with_xcpt_regs(regs).registers
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self.__dict__['registers'] = registers
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return self.__dict__['registers']
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@@ -267,8 +323,7 @@ class NX_show_heap (gdb.Command):
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def _print_allocations(self, region_start, region_end):
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if region_start >= region_end:
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print 'heap region {} corrupt'.format(hex(region_start))
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return
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raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
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nodecount = region_end - region_start
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print 'heap {} - {}'.format(region_start, region_end)
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cursor = 1
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@@ -286,13 +341,31 @@ class NX_show_heap (gdb.Command):
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nregions = heap['mm_nregions']
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region_starts = heap['mm_heapstart']
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region_ends = heap['mm_heapend']
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print "{} heap(s)".format(nregions)
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print '{} heap(s)'.format(nregions)
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# walk the heaps
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for i in range(0, nregions):
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self._print_allocations(region_starts[i], region_ends[i])
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NX_show_heap()
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class NX_show_interrupted_thread (gdb.Command):
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"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
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def __init__(self):
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super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
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def invoke(self, args, from_tty):
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regs = gdb.lookup_global_symbol('current_regs').value()
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if regs is 0:
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raise gdb.GdbError('not in interrupt context')
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else:
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registers = NX_register_set.with_xcpt_regs(regs)
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my_fmt = ''
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my_fmt += ' R0 {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
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my_fmt += ' R4 {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
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my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
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my_fmt += ' R12 {registers[PC]:#010x}\n'
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my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
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print format(registers, my_fmt)
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NX_show_interrupted_thread()
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