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px4_fmu-v6x:Support ETM Hardware Trace

This commit is contained in:
David Sidrane 2020-09-26 13:37:40 -07:00 committed by Daniel Agar
parent 1822a678f6
commit 529d816a39
3 changed files with 364 additions and 6 deletions
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42
boards/px4/fmu-v6x/src/board_config.h
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@ -47,12 +47,15 @@
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
#undef TRACE_PINS
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
@ -83,10 +86,9 @@
* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
* TRACED3 PC12 - UART5_TX_TELEM2 - Trace Connector Pin 8
* TRACED3 PE6 - nARMED - Trace Connector Pin 8
*/
#undef TRACE_PINS
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
@ -100,9 +102,23 @@
# define BOARD_ARMED_STATE_LED LED_BLUE
#else
# if defined(CONFIG_STM32H7_UART5) && (GPIO_UART5_TX == GPIO_UART5_TX_3)
# error Need to disable CONFIG_STM32H7_UART5 for Trace 3 (Retarget to CAN2 if need be)
# endif
# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
# undef BOARD_HAS_CONTROL_STATUS_LEDS
# undef BOARD_OVERLOAD_LED
# undef BOARD_ARMED_STATE_LED
# define GPIO_nLED_RED GPIO_TRACED0
# define GPIO_nLED_GREEN GPIO_TRACED1
# define GPIO_nLED_BLUE GPIO_TRACED2
# define GPIO_nARMED GPIO_TRACED3
# define GPIO_nARMED_INIT GPIO_TRACED3
#endif
@ -230,10 +246,12 @@
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
* While armed it shall be configured at a GPIO OUT set LOW
*/
#if !defined(TRACE_PINS)
#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
#endif
/* PWM
*/
@ -417,7 +435,19 @@
#define BOARD_HAS_ON_RESET 1
#if defined(TRACE_PINS)
#define GPIO_TRACE \
GPIO_TRACECLK1, \
GPIO_TRACED0, \
GPIO_TRACED1, \
GPIO_TRACED2, \
GPIO_TRACED3
#else
#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
#endif
#define PX4_GPIO_INIT_LIST { \
GPIO_TRACE, \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \

BIN
platforms/nuttx/Debug/FMUv6_Trace.pex Normal file
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328
platforms/nuttx/Debug/jtrace_debug_ozone.jdebug Normal file
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@ -0,0 +1,328 @@
/*********************************************************************
* (c) SEGGER Microcontroller GmbH *
* The Embedded Experts *
* www.segger.com *
**********************************************************************
File : jtrace_debug_ozone.jdebug
Created : 26 Oct 2020 14:30
Ozone Version : V3.20e
*/
/*********************************************************************
*
* OnProjectLoad
*
* Function description
* Project load routine. Required.
*
**********************************************************************
*/
void OnProjectLoad (void) {
//
// Dialog-generated settings
//
Project.SetTraceSource ("Trace Pins");
Project.SetDevice ("STM32H753II");
Project.SetHostIF ("USB", "");
Project.SetTargetIF ("SWD");
Project.SetTIFSpeed ("4 MHz");
Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M7F.svd");
Project.AddSvdFile ("$(InstallDir)/Config/Peripherals/ARMv7M.svd");
//
// User settings
//
Edit.Preference (PREF_TIMESTAMP_FORMAT, TIMESTAMP_FORMAT_INST_CNT);
Edit.SysVar (VAR_TRACE_TIMESTAMPS_ENABLED, 0);
Edit.SysVar (VAR_TRACE_CORE_CLOCK, 480000000);
}
/*********************************************************************
*
* OnStartupComplete
*
* Function description
* Called when program execution has reached/passed
* the startup completion point. Optional.
*
**********************************************************************
*/
//void OnStartupComplete (void) {
//}
/*********************************************************************
*
* TargetReset
*
* Function description
* Replaces the default target device reset routine. Optional.
*
* Notes
* This example demonstrates the usage when
* debugging a RAM program on a Cortex-M target device
*
**********************************************************************
*/
//void TargetReset (void) {
//
// unsigned int SP;
// unsigned int PC;
// unsigned int VectorTableAddr;
//
// VectorTableAddr = Program.GetBaseAddr();
//
// if (VectorTableAddr != 0xFFFFFFFF) {
// SP = Target.ReadU32(VectorTableAddr);
// Target.SetReg("SP", SP);
// } else {
// Util.Log("Project file error: failed to get program base");
// }
//
// PC = Elf.GetEntryPointPC();
//
// if (PC != 0xFFFFFFFF) {
// Target.SetReg("PC", PC);
// } else if (VectorTableAddr != 0xFFFFFFFF) {
// PC = Target.ReadU32(VectorTableAddr + 4);
// Target.SetReg("PC", PC);
//}
/*********************************************************************
*
* BeforeTargetReset
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
//void BeforeTargetReset (void) {
//}
/*********************************************************************
*
* AfterTargetReset
*
* Function description
* Event handler routine. Optional.
* - Sets the PC register to program reset value.
* - Sets the SP register to program reset value on Cortex-M.
*
**********************************************************************
*/
void AfterTargetReset (void) {
unsigned int SP;
unsigned int PC;
unsigned int VectorTableAddr;
VectorTableAddr = Elf.GetBaseAddr();
if (VectorTableAddr == 0xFFFFFFFF) {
Util.Log("Project file error: failed to get program base");
} else {
SP = Target.ReadU32(VectorTableAddr);
Target.SetReg("SP", SP);
PC = Target.ReadU32(VectorTableAddr + 4);
Target.SetReg("PC", PC);
}
}
/*********************************************************************
*
* DebugStart
*
* Function description
* Replaces the default debug session startup routine. Optional.
*
**********************************************************************
*/
//void DebugStart (void) {
//}
/*********************************************************************
*
* TargetConnect
*
* Function description
* Replaces the default target IF connection routine. Optional.
*
**********************************************************************
*/
//void TargetConnect (void) {
//}
/*********************************************************************
*
* BeforeTargetConnect
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
void BeforeTargetConnect (void) {
Project.SetJLinkScript("FMUv6_Trace.pex");
}
/*********************************************************************
*
* AfterTargetConnect
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
//void AfterTargetConnect (void) {
//}
/*********************************************************************
*
* TargetDownload
*
* Function description
* Replaces the default program download routine. Optional.
*
**********************************************************************
*/
//void TargetDownload (void) {
//}
/*********************************************************************
*
* BeforeTargetDownload
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
//void BeforeTargetDownload (void) {
//}
/*********************************************************************
*
* AfterTargetDownload
*
* Function description
* Event handler routine. Optional.
* - Sets the PC register to program reset value.
* - Sets the SP register to program reset value on Cortex-M.
*
**********************************************************************
*/
void AfterTargetDownload (void) {
unsigned int SP;
unsigned int PC;
unsigned int VectorTableAddr;
VectorTableAddr = Elf.GetBaseAddr();
Util.Log("___");
if (VectorTableAddr == 0xFFFFFFFF) {
Util.Log("Project file error: failed to get program base");
} else {
SP = Target.ReadU32(VectorTableAddr);
Target.SetReg("SP", SP);
PC = Target.ReadU32(VectorTableAddr + 4);
Target.SetReg("PC", PC);
}
}
/*********************************************************************
*
* BeforeTargetDisconnect
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
//void BeforeTargetDisconnect (void) {
//}
/*********************************************************************
*
* AfterTargetDisconnect
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
//void AfterTargetDisconnect (void) {
//}
/*********************************************************************
*
* AfterTargetHalt
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
//void AfterTargetHalt (void) {
//}
/*********************************************************************
*
* BeforeTargetResume
*
* Function description
* Event handler routine. Optional.
*
**********************************************************************
*/
//void BeforeTargetResume (void) {
//}
/*********************************************************************
*
* OnSnapshotLoad
*
* Function description
* Called upon loading a snapshot. Optional.
*
* Additional information
* This function is used to restore the target state in cases
* where values cannot simply be written to the target.
* Typical use: GPIO clock needs to be enabled, before
* GPIO is configured.
*
**********************************************************************
*/
//void OnSnapshotLoad (void) {
//}
/*********************************************************************
*
* OnSnapshotSave
*
* Function description
* Called upon saving a snapshot. Optional.
*
* Additional information
* This function is usually used to save values of the target
* state which can either not be trivially read,
* or need to be restored in a specific way or order.
* Typically use: Memory Mapped Registers,
* such as PLL and GPIO configuration.
*
**********************************************************************
*/
//void OnSnapshotSave (void) {
//}
/*********************************************************************
*
* OnError
*
* Function description
* Called when an error ocurred. Optional.
*
**********************************************************************
*/
//void OnError (const char* sErrorMsg) {
//}