[ext] Configurable TER value, for automatic tracing

Auterion · Jan 21, 2025 · 1004596 · 1004596
1 parent a507e74
commit 1004596
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diff --git a/ext/orbetto/README.md b/ext/orbetto/README.md
@@ -97,10 +97,12 @@ python3 -m emdbg.bench.fmu --target px4_fmu-v5x --stlink
 Reset your target and start the capture:
 
 ```
-(gdb) px4_trace_swo_stm32f7
+(gdb) px4_trace_swo_stm32f7 <TER_REG>
 (gdb) continue
 ```
 
+Values for `<TER_REG>` are as described in [TER_REG](#ter_reg).
+
 
 ### FMUv6x
 
@@ -114,10 +116,32 @@ python3 -m emdbg.bench.fmu --target px4_fmu-v6x --jlink
 Reset your target and start the capture:
 
 ```
-(gdb) px4_trace_swo_stm32h7
+(gdb) px4_trace_swo_stm32h7 <TER_REG>
 (gdb) continue
 ```
 
+Values for `<TER_REG>` are as described in [TER_REG](#ter_reg).
+
+
+### TER_REG
+
+The `<TER_REG>` parameter defines which stimulus ports are enabled for
+ITM and therefore which information will be included in the trace.
+The stimulus port numbers are defined in the enum contained in
+[itm.h](https://github.com/Auterion/embedded-debug-tools/blob/main/src/emdbg/patch/data/itm.h).
+Enabling stimulus port `i` requires setting bit `i` of the `TER_REG` parameter.
+
+Useful values are:
+- Task information: `0x0000000F`.
+- Workqueue scheduling: `0x00000010`.
+- Semaphore profiling: `0x000000E0`.
+- Heap profiling: `0x00000F00`.
+- DMA profiling: `0x00007000`.
+- All optional user channels: `0xFFFF0000`.
+
+As described above, they can be combined with a `bitwise or` to get combinations. For example:
+- Task information + Workqueue scheduling: `0x0000001F`.
+
 
 ### Finish
 

diff --git a/ext/orbetto/src/TRACE.md b/ext/orbetto/src/TRACE.md
@@ -36,10 +36,12 @@ python3 -m emdbg.bench.fmu --target px4_fmu-v5x --orbtrace
 Reset the target and start the capture:
 
 ```
-(gdb) px4_etm_trace_tpiu_swo_stm32f7
+(gdb) px4_etm_trace_tpiu_swo_stm32f7 <TER_REG>
 (gdb) Continue
 ```
 
+Values for `<TER_REG>` are as described in: [TER_REG](https://github.com/Auterion/embedded-debug-tools/blob/main/ext/orbetto/README.md#ter_reg).
+
 
 ### FMUv6x
 
@@ -53,10 +55,12 @@ python3 -m emdbg.bench.fmu --target px4_fmu-v6x --orbtrace
 Reset the target and start the capture. You might need to power cycle the target:
 
 ```
-(gdb) px4_etm_trace_tpiu_swo_stm32h7
+(gdb) px4_etm_trace_tpiu_swo_stm32h7 <TER_REG>
 (gdb) Continue
 ```
 
+Values for `<TER_REG>` are as described in: [TER_REG](https://github.com/Auterion/embedded-debug-tools/blob/main/ext/orbetto/README.md#ter_reg).
+
 
 ### Visualization
 

diff --git a/src/emdbg/debug/data/cortex_m.gdb b/src/emdbg/debug/data/cortex_m.gdb
@@ -114,21 +114,7 @@ define px4_configure_orbuculum
     ITMSYNCEna 1
 
     # Enable ITM ports
-    # We always need the task information
-    set $TER = 0x0000000F
-    # Enable workqueue scheduling
-    set $TER |= 0x00000010
-
-    # Enable semaphore profiling
-    # set $TER |= 0x000000E0
-    # Enable heap profiling
-    # set $TER |= 0x00000F00
-    # Enable DMA profiling
-    # set $TER |= 0x00007000
-
-    # Enable all optional user channels
-    set $TER |= 0xFFFF0000
-
+    set $TER = $arg0
     # Write the TER to the device
     ITMTER 0 $TER
     # Enable the ITM
@@ -201,7 +187,7 @@ define px4_etm_trace_tpiu_swo_stm32f7
 
     enableSTM32TRACE 4 3 1
 
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
 
     startETM
 
@@ -220,7 +206,7 @@ define px4_trace_tpiu_swo_stm32f7
 
     enableSTM32TRACE 4 3 1
 
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
 
     # -o trace.swo dumps the RAW data, not the demuxed data!!!
     shell killall orbuculum
@@ -234,7 +220,7 @@ define px4_etm_trace_tpiu_swo_stm32h7
 
     px4_enable_trace_stm32h7 4
 
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
 
     startETM
 
@@ -252,7 +238,7 @@ define px4_trace_tpiu_swo_stm32h7
 
     px4_enable_trace_stm32h7 4
 
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
 
     # -o trace.swo dumps the RAW data, not the demuxed data!!!
     shell killall orbuculum

diff --git a/src/emdbg/debug/data/jlink.gdb b/src/emdbg/debug/data/jlink.gdb
@@ -15,7 +15,7 @@ define px4_trace_swo_stm32f7
     tbreak nx_start
     continue
     monitor SWO EnableTarget 216000000 27000000 1 0
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
     shell nc localhost 2332 > trace.swo &
 end
 
@@ -24,6 +24,6 @@ define px4_trace_swo_stm32h7
     tbreak nx_start
     continue
     monitor SWO EnableTarget 120000000 30000000 1 0
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
     shell nc localhost 2332 > trace.swo &
 end
diff --git a/src/emdbg/debug/data/openocd.gdb b/src/emdbg/debug/data/openocd.gdb
@@ -13,7 +13,7 @@ define px4_trace_swo_stm32f7
     monitor tpiu init
     monitor itm ports off
 
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
 
     enableSTM32SWO 7
 end
@@ -26,7 +26,7 @@ define px4_trace_swo_stm32h7
 
     px4_enable_swo_stm32h7 60000000
 
-    px4_configure_orbuculum
+    px4_configure_orbuculum $arg0
 
     shell orbuculum -O "-Tu -a 60000000" -o trace.swo &
 end