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| <li class="toctree-l2 current"><a class="current reference internal" href="#">Debugging</a><ul> |
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| <li class="toctree-l3"><a class="reference internal" href="#debugging-with-openocd-and-gdb">Debugging with <code class="docutils literal notranslate"><span class="pre">openocd</span></code> and <code class="docutils literal notranslate"><span class="pre">gdb</span></code></a><ul> |
| <li class="toctree-l4"><a class="reference internal" href="#nuttx-aware-debugging">NuttX aware debugging</a><ul> |
| <li class="toctree-l5"><a class="reference internal" href="#with-openocd">With openocd</a></li> |
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| |
| <section id="debugging"> |
| <span id="id1"></span><h1>Debugging<a class="headerlink" href="#debugging" title="Permalink to this heading"></a></h1> |
| <p>Finding and fixing bugs is an important part of the hardware and software development process. Sometimes you also need |
| to use debugging techniques to understand how the system works. Two tools that are helpful are debug logging and |
| debugging using the GNU Debugger (gdb).</p> |
| <section id="debug-logging"> |
| <h2>Debug Logging<a class="headerlink" href="#debug-logging" title="Permalink to this heading"></a></h2> |
| <p>NuttX has a powerful system logging facility (syslog) with <code class="docutils literal notranslate"><span class="pre">info</span></code>, <code class="docutils literal notranslate"><span class="pre">warn</span></code>, and <code class="docutils literal notranslate"><span class="pre">error</span></code> levels. You can enable |
| debugging for your build for the subsystem or feature by using the <code class="docutils literal notranslate"><span class="pre">menuconfig</span></code> system.</p> |
| <p>The debug options are available under <span class="menuselection">Build Setup ‣ Debug Options</span>. You will most likely have to enable the |
| following options:</p> |
| <ul class="simple"> |
| <li><p><span class="menuselection">Enable Debug Features</span> — selecting this will turn on subsystem-level debugging options, they will become visible |
| on the page below. You can then select the ones you want.</p></li> |
| <li><p><span class="menuselection">Enable Error Output</span> — this will only log errors.</p></li> |
| <li><p><span class="menuselection">Enable Warnings Output</span> — this will log warnings and errors.</p></li> |
| <li><p><span class="menuselection">Enable Informational Debug Output</span> — this will produce informational output, warnings, and errors.</p></li> |
| </ul> |
| <p>You can then select from the subsystems that are available, Network, Scheduler, USB, etc. Note that you will need to |
| separately enable the subsystem elsewhere in the <code class="docutils literal notranslate"><span class="pre">menuconfig</span></code> system. To see the <code class="docutils literal notranslate"><span class="pre">CONFIG</span></code> define that is set, |
| use the arrow keys to highlight the subsystem (for instance, <span class="menuselection">Network Debug Features</span>) and type <kbd class="kbd docutils literal notranslate">?</kbd>. This will show |
| you that the C macro that is set is called <code class="docutils literal notranslate"><span class="pre">CONFIG_DEBUG_NET</span></code>. <code class="docutils literal notranslate"><span class="pre">debug.h</span></code> defines the <code class="docutils literal notranslate"><span class="pre">netinfo()</span></code> logging |
| function that will log output if this macro is set. You can search the source code for <code class="docutils literal notranslate"><span class="pre">netinfo</span></code> to see how it is |
| used.</p> |
| <a class="reference internal image-reference" href="../_images/menuconfig-debug.png"><img alt="Screenshot of menuconfig system main screen" class="align-center" src="../_images/menuconfig-debug.png" style="width: 800px;" /></a> |
| <p>Note that enabling all these will produce an incredible amount of logging output. Enable the level you want and |
| the area you’re interested in, and leave the rest disabled, save the config, and then recompile. You can see the full |
| list of debug feature logging functions in the file |
| <a class="reference external" href="https://github.com/apache/nuttx/blob/master/include/debug.h">debug.h</a>.</p> |
| <p>Syslog timestamps can be enabled in the configuration in <span class="menuselection">Device Drivers ‣ System Logging ‣ Prepend |
| timestamp to syslog message</span> (<code class="docutils literal notranslate"><span class="pre">CONFIG_SYSLOG_TIMESTAMP</span></code>).</p> |
| <p>You may need to do a little bit of experimenting to find the combination of logging settings that work for the problem |
| you’re trying to solve. See the file <a class="reference external" href="https://github.com/apache/nuttx/blob/master/include/debug.h">debug.h</a> |
| for available debug settings that are available.</p> |
| <p>There are also subsystems that enable USB trace debugging, and you can log to memory too, if you need the logging to be |
| faster than what the console can output.</p> |
| </section> |
| <section id="debugging-with-openocd-and-gdb"> |
| <h2>Debugging with <code class="docutils literal notranslate"><span class="pre">openocd</span></code> and <code class="docutils literal notranslate"><span class="pre">gdb</span></code><a class="headerlink" href="#debugging-with-openocd-and-gdb" title="Permalink to this heading"></a></h2> |
| <p>To debug our Nucleo board using its embedded SWD debug adapter, |
| start <code class="docutils literal notranslate"><span class="pre">openocd</span></code> with the following command:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>openocd<span class="w"> </span>-f<span class="w"> </span>interface/stlink-v2.cfg<span class="w"> </span>-f<span class="w"> </span>target/stm32f1x.cfg |
| </pre></div> |
| </div> |
| <p>This will start a <code class="docutils literal notranslate"><span class="pre">gdb</span></code> server. Then, start <code class="docutils literal notranslate"><span class="pre">gdb</span></code> with:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span><span class="nb">cd</span><span class="w"> </span>nuttx/ |
| <span class="gp">$ </span>gdb-multiarch<span class="w"> </span>nuttx/nuttx |
| </pre></div> |
| </div> |
| <p>Inside <code class="docutils literal notranslate"><span class="pre">gdb</span></code> console, connect to the <code class="docutils literal notranslate"><span class="pre">gdb</span></code> server with:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) target extended-remote :3333 |
| </pre></div> |
| </div> |
| <p>You can now use standard <code class="docutils literal notranslate"><span class="pre">gdb</span></code> commands. For example, to |
| reset the board:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) mon reset |
| </pre></div> |
| </div> |
| <p>To halt the board:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) mon halt |
| </pre></div> |
| </div> |
| <p>To set a breakpoint:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) breakpoint nsh_main |
| </pre></div> |
| </div> |
| <p>and to finally start nuttx:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) continue |
| Continuing. |
| |
| Breakpoint 1, nsh_main (argc=1, argv=0x200ddfac) at nsh_main.c:208 |
| 208 sched_getparam(0, &param); |
| (gdb) continue |
| Continuing. |
| </pre></div> |
| </div> |
| <div class="admonition tip"> |
| <p class="admonition-title">Tip</p> |
| <p>You can abbreviate <code class="docutils literal notranslate"><span class="pre">gdb</span></code> commands: <code class="docutils literal notranslate"><span class="pre">info</span> <span class="pre">b</span></code> is a shortcut for |
| <code class="docutils literal notranslate"><span class="pre">information</span> <span class="pre">breakpoints</span></code>; <code class="docutils literal notranslate"><span class="pre">c</span></code> works the same as <code class="docutils literal notranslate"><span class="pre">continue</span></code>, etc.</p> |
| </div> |
| <section id="nuttx-aware-debugging"> |
| <h3>NuttX aware debugging<a class="headerlink" href="#nuttx-aware-debugging" title="Permalink to this heading"></a></h3> |
| <p>Since NuttX is actually an RTOS, it is useful to have <code class="docutils literal notranslate"><span class="pre">gdb</span></code> be aware of the different |
| tasks/threads that are running. There are two ways to do this: via <code class="docutils literal notranslate"><span class="pre">openocd</span></code> |
| itself or via <code class="docutils literal notranslate"><span class="pre">gdb</span></code>. Note that in both cases, you need to enable debug symbols |
| (<code class="docutils literal notranslate"><span class="pre">CONFIG_DEBUG_SYMBOLS</span></code>).</p> |
| <section id="with-openocd"> |
| <h4>With openocd<a class="headerlink" href="#with-openocd" title="Permalink to this heading"></a></h4> |
| <p><code class="docutils literal notranslate"><span class="pre">openocd</span></code> supports various RTOS directly, including NuttX. It works by reading |
| into internal NuttX symbols which define the active tasks and their properties. |
| As a result, the <code class="docutils literal notranslate"><span class="pre">gdb</span></code> server will directly be aware of each task as a different |
| <cite>thread</cite>. The downside of this approach is that it depends on how you build NuttX |
| as there are some options hardcoded into |
| opencd. By default, it assumes:</p> |
| <blockquote> |
| <div><ul class="simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">CONFIG_DISABLE_MQUEUE=y</span></code></p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">CONFIG_PAGING=n</span></code></p></li> |
| </ul> |
| </div></blockquote> |
| <p>If you need these options to be set differently, you will have to edit <code class="docutils literal notranslate"><span class="pre">./src/rtos/nuttx_header.h</span></code> from <code class="docutils literal notranslate"><span class="pre">openocd</span></code>, |
| change the corresponding settings and then rebuild it.</p> |
| <p>Finally, to enable NuttX integration, you need to supply an additional <code class="docutils literal notranslate"><span class="pre">openocd</span></code> argument:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>openocd<span class="w"> </span>-f<span class="w"> </span>interface/stlink-v2.cfg<span class="w"> </span>-f<span class="w"> </span>target/stm32f1x.cfg<span class="w"> </span>-c<span class="w"> </span><span class="s1">'$_TARGETNAME configure -rtos nuttx'</span> |
| </pre></div> |
| </div> |
| <p>Since <code class="docutils literal notranslate"><span class="pre">openocd</span></code> also needs to know the memory layout of certain datastructures, you need to have <code class="docutils literal notranslate"><span class="pre">gdb</span></code> |
| run the following commands once the <code class="docutils literal notranslate"><span class="pre">nuttx</span></code> binary is loaded:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>eval "monitor nuttx.pid_offset %d", &((struct tcb_s *)(0))->pid |
| eval "monitor nuttx.xcpreg_offset %d", &((struct tcb_s *)(0))->xcp.regs |
| eval "monitor nuttx.state_offset %d", &((struct tcb_s *)(0))->task_state |
| eval "monitor nuttx.name_offset %d", &((struct tcb_s *)(0))->name |
| eval "monitor nuttx.name_size %d", sizeof(((struct tcb_s *)(0))->name) |
| </pre></div> |
| </div> |
| <p>One way to do this is to define a gdb <cite>hook</cite> function that will be called when running <code class="docutils literal notranslate"><span class="pre">file</span></code> command:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>define hookpost-file |
| eval "monitor nuttx.pid_offset %d", &((struct tcb_s *)(0))->pid |
| eval "monitor nuttx.xcpreg_offset %d", &((struct tcb_s *)(0))->xcp.regs |
| eval "monitor nuttx.state_offset %d", &((struct tcb_s *)(0))->task_state |
| eval "monitor nuttx.name_offset %d", &((struct tcb_s *)(0))->name |
| eval "monitor nuttx.name_size %d", sizeof(((struct tcb_s *)(0))->name) |
| end |
| </pre></div> |
| </div> |
| <p>You will see that <code class="docutils literal notranslate"><span class="pre">openocd</span></code> has received the memory offsets in its output:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>Open On-Chip Debugger 0.10.0+dev-01514-ga8edbd020-dirty (2020-11-20-14:23) |
| Licensed under GNU GPL v2 |
| For bug reports, read |
| http://openocd.org/doc/doxygen/bugs.html |
| Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'. |
| Info : target type name = cortex_m |
| Info : Listening on port 6666 for tcl connections |
| Info : Listening on port 4444 for telnet connections |
| 15:41:23: Debugging starts |
| Info : CMSIS-DAP: SWD Supported |
| Info : CMSIS-DAP: FW Version = 1.10 |
| Info : CMSIS-DAP: Interface Initialised (SWD) |
| Info : SWCLK/TCK = 1 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0 nRESET = 1 |
| Info : CMSIS-DAP: Interface ready |
| Info : clock speed 1000 kHz |
| Info : SWD DPIDR 0x2ba01477 |
| Info : nrf52.cpu: hardware has 6 breakpoints, 4 watchpoints |
| Info : starting gdb server for nrf52.cpu on 3333 |
| Info : Listening on port 3333 for gdb connections |
| Info : accepting 'gdb' connection on tcp/3333 |
| Error: No symbols for NuttX |
| Info : nRF52832-QFAA(build code: B0) 512kB Flash, 64kB RAM |
| undefined debug reason 8 - target needs reset |
| Warn : Prefer GDB command "target extended-remote 3333" instead of "target remote 3333" |
| Info : pid_offset: 12 |
| Info : xcpreg_offset: 132 |
| Info : state_offset: 26 |
| Info : name_offset: 208 |
| Info : name_size: 32 |
| target halted due to debug-request, current mode: Thread |
| xPSR: 0x01000000 pc: 0x000000dc msp: 0x20000cf0 |
| target halted due to debug-request, current mode: Thread xPSR: 0x01000000 pc: 0x000000dc msp: 0x20000cf0 |
| </pre></div> |
| </div> |
| <div class="admonition note"> |
| <p class="admonition-title">Note</p> |
| <p>You will probably see the <code class="docutils literal notranslate"><span class="pre">Error:</span> <span class="pre">No</span> <span class="pre">symbols</span> <span class="pre">for</span> <span class="pre">NuttX</span></code> error appear once at startup. This is OK |
| unless you see it every time you step the debugger. In this case, it would mean you did not enable debug symbols.</p> |
| </div> |
| <p>Now, You can now inspect threads:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) info threads |
| Id Target Id Frame |
| * 1 Remote target nx_start_application () at init/nx_bringup.c:261 |
| (gdb) info registers |
| r0 0x0 0 |
| r1 0x2f 47 |
| r2 0x0 0 |
| r3 0x0 0 |
| r4 0x0 0 |
| r5 0x0 0 |
| r6 0x0 0 |
| r7 0x20000ca0 536874144 |
| r8 0x0 0 |
| r9 0x0 0 |
| r10 0x0 0 |
| r11 0x0 0 |
| r12 0x9 9 |
| sp 0x20000c98 0x20000c98 |
| lr 0x19c5 6597 |
| pc 0x1996 0x1996 <nx_start_application+10> |
| xPSR 0x41000000 1090519040 |
| fpscr 0x0 0 |
| msp 0x20000c98 0x20000c98 |
| psp 0x0 0x0 <_vectors> |
| primask 0x0 0 |
| basepri 0xe0 -32 |
| faultmask 0x0 0 |
| control 0x0 0 |
| </pre></div> |
| </div> |
| </section> |
| <section id="with-gdb"> |
| <h4>With gdb<a class="headerlink" href="#with-gdb" title="Permalink to this heading"></a></h4> |
| <p>You can also do NuttX aware debugging using <code class="docutils literal notranslate"><span class="pre">gdb</span></code> scripting support. |
| The benefit is that it works also for the sim build where <code class="docutils literal notranslate"><span class="pre">openocd</span></code> is |
| not applicable. For this to work, you will need to enable PROC filesystem support |
| which will expose required task information (<code class="docutils literal notranslate"><span class="pre">CONFIG_FS_PROCFS=y</span></code>).</p> |
| <p>To use this approach, you can load the <code class="docutils literal notranslate"><span class="pre">nuttx/tools/gdb/__init__.py</span></code> file. An |
| easy way to do this is to add an extra command:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>gdb<span class="w"> </span>nuttx<span class="w"> </span>-ix<span class="o">=</span>tools/gdb/__init__.py |
| </pre></div> |
| </div> |
| <p>gdb can need to set the current elf support architecture, for example, |
| the prefix is arm-ebai-none-.</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) info threads |
| Id Thread Info Frame |
| *0 Thread 0x20000398 (Name: Idle Task, State: Running, Priority: 0, Stack: 1000) 0x80001ac __start() at chip/stm32_start.c:111 |
| 1 Thread 0x10000188 (Name: nsh_main, State: Waiting,Semaphore, Priority: 100, Stack: 2000) 0x800aa06 sys_call2() at /home/ajh/work/vela_all/nuttx/include/arch/syscall.h:187 |
| </pre></div> |
| </div> |
| <p>The python script has extended many commands like <code class="docutils literal notranslate"><span class="pre">thread</span> <span class="pre"><id></span></code> , |
| <code class="docutils literal notranslate"><span class="pre">thread</span> <span class="pre">apply</span> <span class="pre"><all|id</span> <span class="pre">list></span> <span class="pre">cmd</span></code>, <code class="docutils literal notranslate"><span class="pre">nxsetargs</span></code> etc. |
| You can use <code class="docutils literal notranslate"><span class="pre">help</span> <span class="pre"><command></span></code> to get help.</p> |
| <p>Note that if you need to continue debugging after using the thread command, |
| please use <code class="docutils literal notranslate"><span class="pre">c</span></code> instead of <code class="docutils literal notranslate"><span class="pre">continue</span></code>, because thread will force the register to be set, |
| and the <cite>c</cite> command will restore the register before conitune.</p> |
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