diff --git a/README.md b/README.md index fea3245..ea490d0 100644 --- a/README.md +++ b/README.md @@ -1,65 +1,6 @@ -# DS-5 - +# Zedboard Tracing -According to [Arm Developer][1] the TPIO lines from the Xilinx SoC must be routed out to the appropriate expansion header (for off-chip parallel trace). -Proposed solution for the ZC702 can be found [here][2] and the Master answer record [here][3]. -From there one can find an example design for the ZED board, available [here][4]. -According to the [Arm DSTREAM User Guide][5] from the [DS-5 docs][6] using the Mictor cable should be enough for both debugging and tracing. - -# [Vivado Constraints][12] -- Written in tcl -- LOC => Location Constraints - > Places a logical element from the netlist to a site on the device - -- PACKAGE_PIN - > Specifies the location of a design port on a pin of the target device package. - -- IOSTANDARD - > IOSTANDARD sets an IO Standard to an I/O buffer instance. - -# Troubleshoot -> Top module not set for fileset 'sources_1'. - -Right-click on the BD in the sources window and click "Generate HDL wrapper" - taken from [here][7]. - -# Fix ZED Design -Pin layout is different for ZC702 and ZED Board. -According to the ZED board [schematics][8] (page 9) D21 and E21 connect to FMC_LA27 which is mapped to the J20 Connector on the MX105, instead of J16. -See also the [schematics][9] of the ZC702 as reference (page 7). -Therefore B15 should be used for PJTAG_TMS and C15 should be used for PJTAG_TCK instead. -Additionally it makes sense to use B16 for PJTAG_TDI and B17 for PJTAG_TDO. -As additional reference use the FMC XM105 [doc][10] and look at the J16 and J20 Connector. -To understand the connection of the TRACE_DATA pins on (e.g. TRACE_DATA[0] -> PIN38 -> FMC_LA10_P), take a look at the [Mictor 38 pinouts documentation][11]. - -# Wiring -The PJTAG is routed to the J16 connector on the XM105 and must be connected to the J19 connector (which loops through to the Mictor connector): -- TCK: J16-6 -> J19-4 -- TMS: J16-8 -> J19-9 -- TDI: J16-10 -> J19-7 -- TDO: J16-12 -> J19-6 - -# Trace with DS-5 -Use pause instead of stop tracing, otherwise unknown address/instructions errors are observable. - -# Exkurs MIO und EMIO -## MIO -The I/O Peripherals (IOP) unit contains the data communication peripherals and communicates to external devices through a shared pool of up to 54 dedicated multiuse I/O (MIO) pins. -These MIO pins are software-configurable to connect to any of the internal I/O peripherals and static memory controllers. -If additional I/O pins beyond the 54 are required, it is possible to route these through the PL to the I/O associated with the PL. -This feature is referred to as extendable multiplexed I/O (EMIO). - -## EMIO -Extendable multiplexed I/O (EMIO) allows unmapped PS peripherals to access PL I/O. - -[1]: https://developer.arm.com/docs/137812646/latest/using-ds-5-with-xilinx-zynq-7000-devices -[2]: https://www.xilinx.com/support/answers/46915.html -[3]: https://www.xilinx.com/support/answers/50863.html -[4]: https://www.xilinx.com/support/answers/52095.html -[5]: https://static.docs.arm.com/100955/0529/arm_ds5_arm_dstream_user_guide_100955_0529_00_en.pdf -[6]: https://developer.arm.com/products/software-development-tools/ds-5-development-studio/docs -[7]: https://forums.xilinx.com/t5/Welcome-Join/Error-Common-17-70-Application-Exception/td-p/776328 -[8]: https://www.xilinx.com/support/documentation/university/XUP%20Boards/XUPZedBoard/documentation/ZedBoard_RevC.1_Schematic_130129.pdf -[9]: https://www.xilinx.com/support/documentation/boards_and_kits/zc702_Schematic_xtp185_rev1_0.pdf -[10]: https://www.xilinx.com/support/documentation/boards_and_kits/ug537.pdf -[11]: https://developer.arm.com/docs/dui0499/latest/arm-dstream-target-interface-connections/the-mictor-38-connector-pinouts-and-interface-signals/mictor-38-pinouts -[12]: https://www.xilinx.com/support/documentation/sw_manuals/xilinx2012_2/ug903-vivado-using-constraints.pdf +1. [Hardware Installation](hardware.md) +2. [Genode Tracing](genode_tracing.md) +3. [Linux Tracing](linux_tracing.md) +4. [Genode Streamline](genode_streamline.md) diff --git a/binaries/genode-hello-world/core b/binaries/genode-hello-world/core new file mode 100755 index 0000000..d0e6344 Binary files /dev/null and b/binaries/genode-hello-world/core differ diff --git a/binaries/genode-hello-world/hello_client b/binaries/genode-hello-world/hello_client new file mode 100755 index 0000000..2807bbd Binary files /dev/null and b/binaries/genode-hello-world/hello_client differ diff --git a/binaries/genode-hello-world/hello_server b/binaries/genode-hello-world/hello_server new file mode 100755 index 0000000..3a22d86 Binary files /dev/null and b/binaries/genode-hello-world/hello_server differ diff --git a/binaries/genode-hello-world/init b/binaries/genode-hello-world/init new file mode 100755 index 0000000..f442746 Binary files /dev/null and b/binaries/genode-hello-world/init differ diff --git a/docs/debugger_user_guide_100953_0529_00_en.pdf b/docs/debugger_user_guide_100953_0529_00_en.pdf new file mode 100644 index 0000000..f3c6bb3 Binary files /dev/null and b/docs/debugger_user_guide_100953_0529_00_en.pdf differ diff --git a/docs/streamline_user_guide_100769_0607_00_en.pdf b/docs/streamline_user_guide_100769_0607_00_en.pdf new file mode 100644 index 0000000..6952670 Binary files /dev/null and b/docs/streamline_user_guide_100769_0607_00_en.pdf differ diff --git a/genode_streamline.md b/genode_streamline.md new file mode 100644 index 0000000..c721bb6 --- /dev/null +++ b/genode_streamline.md @@ -0,0 +1,33 @@ +# Streamline + +From [Streamline Performance Analyzer User Guide](/docs/streamline_user_guide_100769_0607_00_en.pdf) +> Streamline Performance Analyzer samples the Program Counter (PC) address at regular intervals to +> generate a profile of where the processor spends most of the time. It also gathers data from performance +> monitoring unit (PMU) counters on the target, for example data on memory or cache activity, and +> generates an analysis report. + +![Streamline](/img/streamline00.png) + +Streamline requires an agent, called gator, to be installed and running on the target. +gator consists of the following components: + +* A daemon, gatord . +* Optionally, a Linux kernel driver module, gator.ko . + +The role of **gator.ko** is to collect data from the operating system and +applications that are running on the target. gatord reads and processes this +data, and creates a directory, whose name ends in .apc , containing the capture +data. + +gatord must be installed and running on the target to allow Streamline to +communicate with the target. However, gatord can run with or without gator.ko . + +gator can operate in the following modes: + +* Kernel space gator +* User space gator + * using linux *perf* API + * polling */proc* + +As all these APIs are not available in Genode, it is not an ease to port +[gator](https://github.com/ARM-software/gator) to Genode. diff --git a/genode_tracing.md b/genode_tracing.md new file mode 100644 index 0000000..227ef53 --- /dev/null +++ b/genode_tracing.md @@ -0,0 +1,150 @@ + +# Configuration + +## Debug Symbols +Genode loads `hello_client`, `hello_server` and `init` at fixed +addresses. Theses are printed to the terminal at the boot. + +![Debugger](/img/config00.png) + +It is important that DS-5 is able to load these binaries. Furthermore, the +binaries must contain debug symbols. In order to check, if binaries are +unstripped, run: + +```bash +$ file hello_client +hello_client: ELF 32-bit LSB executable, ARM, EABI5 version 1 (SYSV), statically linked, with debug_info, not stripped +``` + +You can find necessary unstripped binaries in [/binaries/genode-hello-world](/binaries/genode-hello-world). + + +## OS Awareness + +![OS Awareness](/img/config01.png) + +## Connection + +![Connection](/img/config02.png) + +## Files + +![Files](/img/config03.png) + +# SD-Card + +All necessary files for the sdcard are in +[/sdcard/genode-hello-world/](/sdcard/genode-hello-world/) + +# Tracing + +1. Start DS-5. +2. Connect to UART with `minicom`. `screen` did not work and often freezed. You + can extend DS-5 by a local terminal window and run minicom there. + + ```bash + sudo minicom -D /dev/USB0 + ``` + +3. Power on the Zedboard. Due to unknown reasons several characters are printed + to the terminal. Press a key in order to open the u-boot console. + +4. Flash the tracing core to the FPGA by running following command in u-boot: + + ``` + fatload mmc 0:1 ${scriptaddr} tracing.bit; fpga loadb 0 ${scriptaddr} + 9000000 + ``` + + Optionally add this command to the u-boot enviroment and run it with `run + tracing`: + + ``` + setenv tracing 'fatload mmc 0:1 ${scriptaddr} tracing.bit; fpga loadb 0 + ${scriptaddr} 9000000' + ``` + +5. Enable the Connection in the Debug Control Window. + ![Disconnected](/img/tracing00.png) + ![Disconnected](/img/tracing01.png) + + +6. DS-5 is ready to trace. The trace window shows, that the `Buffer Used` is + zero. During tracing, the used buffer will increase. In order to start + tracing, press the button `Start Capture` in the trace view. + ![Fullscreen](/img/tracing02.png) + +7. Boot Genode by executing the command `boot` in u-boot. + +8. ![Record Trace](/img/tracing03.png) + +9. In order to stop tracing, press the Pause Button in the Debug View. Both CPU + cores stop. ![Stopped CPUs](/img/tracing04.png). It is not possible to + restart the CPU cores. Power off the Zedboard and continue with step 3 again. + + +# Breakpoint View + +![Enable Breakpoint](/img/breakpoint00.png) +![Breakpoint List](/img/breakpoint01.png) +![Breakpoint Commands Output](/img/breakpoint02.png) + +# Memory View + +![Memory](/img/memory00.png) + +# Stack View + +DS-5 is not able to trace executed functions in the stack view. This might be +caused by two reasons: +* missing OS awareness +* only active with gdb +Regarding this, the documentation of DS-5 is not clear. + +![Stack](/img/stack00.png) + +# Functions View + +If binaries (compiled with debug symbols) are loaded sucessfully, DS-5 will list +all functions. + +![Functions](/img/functions00.png) + +# Register View + +![Registers](/img/registers00.png) + +# Trace View + +![Trace](/img/trace00.png) + +# Problems + +## Unable to Connect +A error message appears in DS-5 and the status LED of DSTREAM is red. +![Unable to connect to Hello World](/img/problem0_00.png) +![Unable to connect to Hello World](/img/problem0_02.png) + +In order to solve this problem, following steps are done: + +1. Disable Connection +2. Power Off Board +3. Set up new connection + +## Missing Analyze Data in Trace View + +DS-5 does not view time specific information regarding called functions after a +trace. The second screenshot is taken from the [Debugger User +Guide](/docs/debugger_user_guide_100953_0529_00_en.pdf). + +![Genode Trace View](/img/problem1_00.png) +![Debugger user Guide Trace View](/img/problem1_01.png) + +## Unknown instruction address + +Due to unknown reasons, the trace view lists many messages regarding unknown +instruction addresses. It is not clear, if this is a problem. + +![Genode Trace](/img/problem2_00.png) + + diff --git a/hardware.md b/hardware.md new file mode 100644 index 0000000..252431f --- /dev/null +++ b/hardware.md @@ -0,0 +1,72 @@ +# DS-5 + + +According to [Arm Developer][1] the TPIO lines from the Xilinx SoC must be routed out to the appropriate expansion header (for off-chip parallel trace). +Proposed solution for the ZC702 can be found [here][2] and the Master answer record [here][3]. +From there one can find an example design for the ZED board, available [here][4]. +According to the [Arm DSTREAM User Guide][5] from the [DS-5 docs][6] using the Mictor cable should be enough for both debugging and tracing. + +# [Vivado Constraints][12] +- Written in tcl +- LOC => Location Constraints + > Places a logical element from the netlist to a site on the device + +- PACKAGE_PIN + > Specifies the location of a design port on a pin of the target device package. + +- IOSTANDARD + > IOSTANDARD sets an IO Standard to an I/O buffer instance. + +# Troubleshoot +> Top module not set for fileset 'sources_1'. + +Right-click on the BD in the sources window and click "Generate HDL wrapper" - taken from [here][7]. + +# Fix ZED Design +Pin layout is different for ZC702 and ZED Board. +According to the ZED board [schematics][8] (page 9) D21 and E21 connect to FMC_LA27 which is mapped to the J20 Connector on the MX105, instead of J16. +See also the [schematics][9] of the ZC702 as reference (page 7). +Therefore B15 should be used for PJTAG_TMS and C15 should be used for PJTAG_TCK instead. +Additionally it makes sense to use B16 for PJTAG_TDI and B17 for PJTAG_TDO. +As additional reference use the FMC XM105 [doc][10] and look at the J16 and J20 Connector. +To understand the connection of the TRACE_DATA pins on (e.g. TRACE_DATA[0] -> PIN38 -> FMC_LA10_P), take a look at the [Mictor 38 pinouts documentation][11]. + +# Wiring +The PJTAG is routed to the J16 connector on the XM105 and must be connected to the J19 connector (which loops through to the Mictor connector): +- TCK: J16-6 -> J19-4 +- TMS: J16-8 -> J19-9 +- TDI: J16-10 -> J19-7 +- TDO: J16-12 -> J19-6 + +# Trace with DS-5 +Use pause instead of stop tracing, otherwise unknown address/instructions errors are observable. + +# Exkurs MIO und EMIO +## MIO +The I/O Peripherals (IOP) unit contains the data communication peripherals and communicates to external devices through a shared pool of up to 54 dedicated multiuse I/O (MIO) pins. +These MIO pins are software-configurable to connect to any of the internal I/O peripherals and static memory controllers. +If additional I/O pins beyond the 54 are required, it is possible to route these through the PL to the I/O associated with the PL. +This feature is referred to as extendable multiplexed I/O (EMIO). + +## EMIO +Extendable multiplexed I/O (EMIO) allows unmapped PS peripherals to access PL I/O. + + +# Photos + +![Jumpers](/img/zedboard00.jpg) +![Overview](/img/zedboard01.jpg) + + +[1]: https://developer.arm.com/docs/137812646/latest/using-ds-5-with-xilinx-zynq-7000-devices +[2]: https://www.xilinx.com/support/answers/46915.html +[3]: https://www.xilinx.com/support/answers/50863.html +[4]: https://www.xilinx.com/support/answers/52095.html +[5]: https://static.docs.arm.com/100955/0529/arm_ds5_arm_dstream_user_guide_100955_0529_00_en.pdf +[6]: https://developer.arm.com/products/software-development-tools/ds-5-development-studio/docs +[7]: https://forums.xilinx.com/t5/Welcome-Join/Error-Common-17-70-Application-Exception/td-p/776328 +[8]: https://www.xilinx.com/support/documentation/university/XUP%20Boards/XUPZedBoard/documentation/ZedBoard_RevC.1_Schematic_130129.pdf +[9]: https://www.xilinx.com/support/documentation/boards_and_kits/zc702_Schematic_xtp185_rev1_0.pdf +[10]: https://www.xilinx.com/support/documentation/boards_and_kits/ug537.pdf +[11]: https://developer.arm.com/docs/dui0499/latest/arm-dstream-target-interface-connections/the-mictor-38-connector-pinouts-and-interface-signals/mictor-38-pinouts +[12]: https://www.xilinx.com/support/documentation/sw_manuals/xilinx2012_2/ug903-vivado-using-constraints.pdf diff --git a/img/breakpoint00.png b/img/breakpoint00.png new file mode 100644 index 0000000..39a032c Binary files /dev/null and b/img/breakpoint00.png differ diff --git a/img/breakpoint01.png b/img/breakpoint01.png new file mode 100644 index 0000000..6270b11 Binary files /dev/null and b/img/breakpoint01.png differ diff --git a/img/breakpoint02.png b/img/breakpoint02.png new file mode 100644 index 0000000..990d421 Binary files /dev/null and b/img/breakpoint02.png differ diff --git a/img/config00.png b/img/config00.png new file mode 100644 index 0000000..a6c8aa1 Binary files /dev/null and b/img/config00.png differ diff --git a/img/config01.png b/img/config01.png new file mode 100644 index 0000000..8bcee29 Binary files 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0000000..a76ab55 Binary files /dev/null and b/img/zedboard00.jpg differ diff --git a/img/zedboard01.jpg b/img/zedboard01.jpg new file mode 100644 index 0000000..cc16db8 Binary files /dev/null and b/img/zedboard01.jpg differ diff --git a/linux_tracing.md b/linux_tracing.md new file mode 100644 index 0000000..203a563 --- /dev/null +++ b/linux_tracing.md @@ -0,0 +1,77 @@ +# Linux Tracing + +This is just a short summary about all experience with Zedboard and Linux. + +## Tracing with Digilent Out-Of-Box Linux + +You can download the out-of-box (oob) linux +[here](https://reference.digilentinc.com/reference/programmable-logic/zedboard/start?redirect=1#additional_resources). + +Loading the `tracing.bit` in u-boot and afterwards booting linux did not work. + +``` +zed-boot> fatload mmc 0 0x8000 tracing.bit +reading tracing.bit + +4045676 bytes read +zed-boot> fpga loadb 0 0x8000 9000000 + design filename = "design_1_wrapper;UserID=0XFFFFFFFF;Version=2018.2" + part number = "7z020clg484" + date = "2018/09/05" + time = "10:54:16" + bytes in bitstream = 4045564 +fpga - loadable FPGA image support +zed-boot> run sdboot +``` + +``` +[ 0.320000] WARNING: at arch/arm/mm/dma-mapping.c:198 consistent_init+0x70/0x104() +[ 0.330000] Modules linked in: +[ 0.330000] [] (unwind_backtrace+0x0/0xe0) from [] (warn_slowpath_common+0x4c/0x64) +[ 0.340000] [] (warn_slowpath_common+0x4c/0x64) from [] (warn_slowpath_null+0x18/0x1c) +[ 0.350000] [] (warn_slowpath_null+0x18/0x1c) from [] (consistent_init+0x70/0x104) +[ 0.360000] [] (consistent_init+0x70/0x104) from [] (do_one_initcall+0x90/0x160) +[ 0.360000] [] (do_one_initcall+0x90/0x160) from [] (kernel_init+0x84/0x128) +[ 0.370000] [] (kernel_init+0x84/0x128) from [] (kernel_thread_exit+0x0/0x8) +[ 0.380000] ---[ end trace 1b75b31a2719ed1c ]--- +[ 0.380000] ------------[ cut here ]------------ +[ 0.390000] WARNING: at arch/arm/mm/dma-mapping.c:198 consistent_init+0x70/0x104() +[ 0.390000] Modules linked in: +[ 0.390000] [] (unwind_backtrace+0x0/0xe0) from [] (warn_slowpath_common+0x4c/0x64) +[ 0.400000] [] (warn_slowpath_common+0x4c/0x64) from [] (warn_slowpath_null+0x18/0x1c) +[ 0.410000] [] (warn_slowpath_null+0x18/0x1c) from [] (consistent_init+0x70/0x104) +[ 0.420000] [] (consistent_init+0x70/0x104) from [] (do_one_initcall+0x90/0x160) +[ 0.430000] [] (do_one_initcall+0x90/0x160) from [] (kernel_init+0x84/0x128) +[ 0.430000] [] (kernel_init+0x84/0x128) from [] (kernel_thread_exit+0x0/0x8) +[ 0.440000] ---[ end trace 1b75b31a2719ed1d ]--- +[ 0.440000] NET: Registered protocol family 16 +[ 0.460000] L310 cache controller enabled +[ 0.460000] l2x0: 8 ways, CACHE_ID 0x410000c8, AUX_CTRL 0x72060000, Cache size: 524288 B +[ 0.460000] registering platform device 'pl330' id 0 +[ 0.470000] registering platform device 'arm-pmu' id 0 +[ 0.470000] +[ 0.470000] ############################################### +[ 0.480000] # # +[ 0.480000] # Board ZED Init # +[ 0.480000] # # +[ 0.490000] ############################################### +[ 0.490000] +[ 0.500000] hw-breakpoint: found 5 (+1 reserved) breakpoint and 1 watchpoint registers. +[ 0.500000] hw-breakpoint: maximum watchpoint size is 4 bytes. +[ 0.530000] xslcr xslcr.0: at 0xF8000000 mapped to 0xE0808000 +[ 0.540000] bio: create slab at 0 +[ 0.540000] gpiochip_add: registered GPIOs 0 to 245 on device: xgpiops +[ 0.540000] xgpiops e000a000.gpio: gpio at 0xe000a000 mapped to 0xe080a000 +``` + +# Tracing with Xillinux + +You can download Xillinux [here](http://xillybus.com/xillinux). Linux does not +boot, if you flash the FPGA in u-boot. But it was possible to write +`tracing.bit` to the FPGA when Linux is booted. + +```bash +cat tracing.bit > /dev/xdevcfg +``` + +More about that in [Xilinx Wiki](https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/18841833/Programming+the+Programmable+Logic) diff --git a/sdcard/genode-hello-world/boot.bin b/sdcard/genode-hello-world/boot.bin new file mode 100755 index 0000000..9be445b Binary files /dev/null and b/sdcard/genode-hello-world/boot.bin differ diff --git a/sdcard/genode-hello-world/image.elf b/sdcard/genode-hello-world/image.elf new file mode 100755 index 0000000..b3b7db6 Binary files /dev/null and b/sdcard/genode-hello-world/image.elf differ diff --git a/sdcard/genode-hello-world/tracing.bit b/sdcard/genode-hello-world/tracing.bit new file mode 100755 index 0000000..66a4708 Binary files /dev/null and b/sdcard/genode-hello-world/tracing.bit differ diff --git a/sdcard/genode-hello-world/u-boot-spl.bin b/sdcard/genode-hello-world/u-boot-spl.bin new file mode 100755 index 0000000..7431028 Binary files /dev/null and b/sdcard/genode-hello-world/u-boot-spl.bin differ diff --git a/sdcard/genode-hello-world/u-boot.img b/sdcard/genode-hello-world/u-boot.img new file mode 100755 index 0000000..5bb8755 Binary files /dev/null and b/sdcard/genode-hello-world/u-boot.img differ diff --git a/sdcard/genode-hello-world/uboot.env b/sdcard/genode-hello-world/uboot.env new file mode 100755 index 0000000..749cd76 Binary files /dev/null and b/sdcard/genode-hello-world/uboot.env differ