[riot-devel] OpenOCD-RTOS support for RIOT

Daniel Krebs mail at daniel-krebs.net
Thu Oct 15 18:58:12 CEST 2015

Dear fellow RIOTing developers,

OpenOCD-RTOS support is coming to RIOT but needs your help. But first 
what am I talking about?

When debugging a RIOT application via GDB you will be able to get an 
overview of all running threads and their states:
> (gdb) info threads
> [New Thread 2]
> [New Thread 3]
>   Id   Target Id         Frame
>   3    Thread 3 (at86rfxx :  : Blocked receive) 0x00004104 in 
> _msg_receive (m=m at entry=0x20000f00 <_lwmac_stacks+860>, 
> block=block at entry=1) at .../RIOT/core/msg.c:329
>   2    Thread 2 (main :  : Blocked mutex) mutex_lock 
> (mutex=mutex at entry=0x20000a6c <main_stack+1388>) at 
> .../RIOT/core/mutex.c:53
> * 1    Thread 1 (idle :  : Running) lpm_arch_set 
> (target=target at entry=LPM_IDLE) at .../RIOT/cpu/samd21/lpm_arch.c:98

You can switch the current thread and investigate the stackframe:
> (gdb) thr 2
> [Switching to thread 2 (Thread 2)]
> #0  mutex_lock (mutex=mutex at entry=0x20000a6c <main_stack+1388>) at 
> .../RIOT/core/mutex.c:53
> (gdb) bt
> #0  mutex_lock (mutex=mutex at entry=0x20000a6c <main_stack+1388>) at 
> .../RIOT/core/mutex.c:53
> #1  0x00002c96 in _xtimer_sleep (offset=396000, 
> long_offset=long_offset at entry=0) at .../RIOT/sys/xtimer/xtimer.c:53
> #2  0x00000fa4 in xtimer_usleep (offset=<optimized out>) at 
> .../RIOT/sys/include/xtimer.h:487
> #3  main () at .../main.c:79

All you need to get this working is my yet unmerged PR [1] in RIOT and a 
modified version of OpenOCD. But the OpenOCD patches need reviewing at 
their code review tool and I was told to send some RIOT developers to 
actually do that reviewing because nobody @ OpenOCD is using RIOT. So to 
get this upstream please head over to their Gerrit [2] and do the 
reviewing if you want this feature.
You can directly login with your Github account via OAuth here [3].

To test this on your system you need to compile OpenOCD yourself:

$ git clone https://github.com/daniel-k/openocd.git
$ cd openocd
$ git checkout riot_patched
$ ./bootstrap
$ ./configure
$ sudo make install

Then merge my PR to your code and try it out.


[1] https://github.com/RIOT-OS/RIOT/pull/4058
[2] http://openocd.zylin.com/#/c/3000/

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