ChibiOS Free Embedded RTOS

Posted: **Mon Nov 16, 2015 4:53 am**

Hi,

I want to use the ChibiOS Eclipse Plugin and followed this instructions to set up OpenOCD properly
http://chibios-book.readthedocs.org/en/ ... g_threads/

But OpenOCD doesn't detect ChibiOS.
When I start OpenOCD with the flag "-rtos auto" I get the following message:

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Warn : No RTOS could be auto-detected!

when I change it to "-rtos ChibiOS" I get a more specific message:

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Warn : RTOS ChibiOS not detected. (GDB could not find symbol 'chSysInit')

My OpenOCD config options are the following

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-f /Applications/OpenOCD/0.9.0-201505191004/scripts/interface/stlink-v2.cfg -f /Applications/OpenOCD/0.9.0-201505191004/scripts/target/stm32f4x.cfg /Applications/OpenOCD/0.9.0-201505191004/scripts/board/olimex_stm32_f407.cfg -c "stm32f4x.cpu configure -rtos ChibiOS"

And I use this initialization command (only this one):

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file ${workspace_loc:/build/project.elf}

I use the latest ChibiOS code from the github master branch (commit 2698f6f13ee3efda9348ef9761a445465900f7ae) and my OpenOCD version is 0.9.0-201505191004.
I have an ST-Link/v2 debugger, a Olimex STM32-E407 board and develop under MacOS X.

Hope you can help me solve my problem!

Thanks,
Stefan

here is the complete OpenOCD output:

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GNU ARM Eclipse 64-bits Open On-Chip Debugger 0.9.0-00073-gdd34716 (2015-05-19-12:55)
Licensed under GNU GPL v2
For bug reports, read
   http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 2000 kHz
adapter_nsrst_delay: 100
none separate
Started by GNU ARM Eclipse
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : clock speed 1800 kHz
Info : STLINK v2 JTAG v17 API v2 SWIM v4 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 3.243799
Info : stm32f4x.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : accepting 'gdb' connection on tcp/3333
Info : device id = 0x10036413
Info : flash size = 1024kbytes
undefined debug reason 7 - target needs reset
Warn : RTOS ChibiOS not detected. (GDB could not find symbol 'chSysInit')
target state: halted
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x080001c0 msp: 0x20000400
Warn : RTOS ChibiOS not detected. (GDB could not find symbol 'chSysInit')
Warn : RTOS ChibiOS not detected. (GDB could not find symbol 'chSysInit')
semihosting is enabled
Warn : RTOS ChibiOS not detected. (GDB could not find symbol 'chSysInit')
Warn : RTOS ChibiOS not detected. (GDB could not find symbol 'chSysInit')
target state: halted
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x080001c0 msp: 0x20000400, semihosting
target state: halted
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x080001c0 msp: 0x20000400, semihosting
Info : Padding image section 0 with 3 bytes
target state: halted
target halted due to breakpoint, current mode: Thread 
xPSR: 0x61000000 pc: 0x20000042 msp: 0x20000400, semihosting
Warn : keep_alive() was not invoked in the 1000ms timelimit. GDB alive packet not sent! (1203). Workaround: increase "set remotetimeout" in GDB
target state: halted
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x080001c0 msp: 0x20000400, semihosting
===== arm v7m registers
(0) r0 (/32): 0x00000000
(1) r1 (/32): 0x00000000
(2) r2 (/32): 0x00000000
(3) r3 (/32): 0x00000000
(4) r4 (/32): 0x00000000
(5) r5 (/32): 0x00000000
(6) r6 (/32): 0x00000000
(7) r7 (/32): 0x00000000
(8) r8 (/32): 0x00000000
(9) r9 (/32): 0x00000000
(10) r10 (/32): 0x00000000
(11) r11 (/32): 0x00000000
(12) r12 (/32): 0x00000000
(13) sp (/32): 0x20000400
(14) lr (/32): 0xFFFFFFFF
(15) pc (/32): 0x080001C0
(16) xPSR (/32): 0x01000000
(17) msp (/32): 0x20000400
(18) psp (/32): 0x00000000
(19) primask (/1): 0x00
(20) basepri (/8): 0x00
(21) faultmask (/1): 0x00
(22) control (/2): 0x00
(23) d0 (/64): 0x0000000000000000
(24) d1 (/64): 0x0000000000000000
(25) d2 (/64): 0x0000000000000000
(26) d3 (/64): 0x0000000000000000
(27) d4 (/64): 0x0000000000000000
(28) d5 (/64): 0x0000000000000000
(29) d6 (/64): 0x0000000000000000
(30) d7 (/64): 0x0000000000000000
(31) d8 (/64): 0x0000000000000000
(32) d9 (/64): 0x0000000000000000
(33) d10 (/64): 0x0000000000000000
(34) d11 (/64): 0x0000000000000000
(35) d12 (/64): 0x0000000000000000
(36) d13 (/64): 0x0000000000000000
(37) d14 (/64): 0x0000000000000000
(38) d15 (/64): 0x0000000000000000
(39) fpscr (/32): 0x00000000
===== Cortex-M DWT registers
(40) dwt_ctrl (/32)
(41) dwt_cyccnt (/32)
(42) dwt_0_comp (/32)
(43) dwt_0_mask (/4)
(44) dwt_0_function (/32)
(45) dwt_1_comp (/32)
(46) dwt_1_mask (/4)
(47) dwt_1_function (/32)
(48) dwt_2_comp (/32)
(49) dwt_2_mask (/4)
(50) dwt_2_function (/32)
(51) dwt_3_comp (/32)
(52) dwt_3_mask (/4)
(53) dwt_3_function (/32)

Posted: **Mon Nov 16, 2015 8:50 am**

Hi,

Is the elf name correct? usually it is ch.elf so you made changes, there could be a problem there.

Giovanni

Posted: **Mon Nov 16, 2015 9:51 am**

I've had this working for some time, starting from Chibistudio.

There are some suggestions in this thread

Posted: **Tue Nov 17, 2015 4:22 am**

Yes, the file name is correct. I changed it. Also when I change it to something else I get an error, so pretty sure this is ok.

Thanks for the link to the other thread. I have basically the same config than suggested in the thread.
One think I mentioned about the thread list in this thread.
When I pause my program I get the following message in the OpenOCD console:

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Info : Successfully loaded memory map of ChibiOS/RT target running version 3.1.0

Has this something todo with the thread list?

Posted: **Tue Nov 17, 2015 4:44 pm**

stefanh wrote:When I pause my program I get the following message in the OpenOCD console:
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Info : Successfully loaded memory map of ChibiOS/RT target running version 3.1.0
Has this something todo with the thread list?

Probably - I don't get this message.
The key difference is that in the Debug window you'll see a number of threads listed.

Posted: **Wed Nov 18, 2015 4:09 am**

When I pause my program I see all my threads in the Debug Window.

Posted: **Tue Mar 08, 2016 10:09 am**

Apologies for resurrecting this old-ish thread. This post is intended to help anyone stumbling across it (as I did) and finding this issue unsolved.

OpenOCD relies on finding the symbol 'chSysInit' in the ch.elf file for ChibiOS detection. It doesn't do anything else with the symbol, it just expects it to be there. That's a problem if link-time optimisation (LTO) is enabled, because the chSysInit() function could be inlined at link time and this will cause its symbol to be absent from the linked ch.elf.

A workaround is to disable LTO in the Makefile and detection then works fine (OpenOCD 0.9.0, ChibiOS 16.1.4 here). I'm about to submit a bug report against OpenOCD to have the requirement for the chSysInit symbol removed, and I'll add the bug tracking number here when I have it.

Andy

Posted: **Tue Mar 08, 2016 5:01 pm**

cooperised wrote:I'm about to submit a bug report against OpenOCD to have the requirement for the chSysInit symbol removed, and I'll add the bug tracking number here when I have it.

Bug #121 https://sourceforge.net/p/openocd/tickets/121/. I've also submitted a patch to fix the bug, change 3381.

Andy

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