Software Development and Debugging Using SDK

This material exempt per Department of Commerce license exception TSU © 2005 Xilinx, Inc. All Rights Reserved

Software Development and Debugging Using SDK

© 2005 Xilinx, Inc. All Rights Reserved

Objectives

After completing this module, you will be able to:• Understand the basic concepts of the Eclipse IDE • List Xilinx Software Development Kit (SDK) features• Describe GNU Debugger (GDB) functionality• Describe Xilinx Microprocessor Debugger (XMD) functionality• Describe the integration of XMD and GDB with SDK


Outline

• Software Development Kit

• Debugging Tools• Debugging Using XPS • Debugging Using SDK• Simultaneous HW/SW Debug


• Java-based application development environment• Based on the open-source effort by the Eclipse Consortium\• Feature-rich C/C++ code editor and compilation environment• Project management• Application build configuration and automatic Makefile generation• Error Navigation• Well-integrated environment for seamless debugging of embedded

targets• Source code version control

Xilinx Platform Studio Software Development Kit (SDK)


Xilinx Extensions to Eclipse• SDK leverage on Eclipse + CDT

(C/C++ Development Toolkit)– Project Management– Makefile builder– Code editor, Error Navigation– Debug – Search

• SDK value add to CDT– Debug integration using XMD– Xilinx Custom Compiler settings for

PowerPC, MicroBlaze– Profiling Flow and Visualization– Productization

Java Virtual Machine

Platform Studio SDK Extensions

C/C++ Development Perspective

Eclipse platform


Eclipse/CDT Frameworks

• Builder framework– Compiles and Links Source files– Default Build options are specified when application is created: Choice of Debug, Release,

Profile configurations– User can custom build options later when developing application– Build types: Standard Make, Managed Make

• Launch framework– Specifies what action needs to be taken: Run (+ Profile) application or Debug application– In SDK, this is akin to the Target Connection settings

• Debug framework– Launches debugger (gdb), loads application and begins debug session– Debug views show information about state of debug session– Hides ugliness of debug details

• Search framework– Helps development of application

• Help System– Online help system; context-sensitive

More information at: http://www.eclipse.org/cdt/


SDK Application Development Flow

Create softwareApp Project

Add sources + Edit

Compile + Link

Generate HardwarePlatform

Done?Import ELF file,

Download to board

Debug / Profile

Platform Studio SDK

Yes

Generate SoftwarePlatform

libraries, drivers

Platform Studio


Workspaces and Perspectives

• Workspace– Location to store preferences & internal info about Projects– Transparent to SDK users– In SDK, source files not stored under Workspace

• Views, Editors– Basic User interface element

• Perspectives– Collection of functionally related views– Layout of views in a perspective can be customized according

to user preference


Perspectives


CVS Perspective


Views• Eclipse Platform views: Navigator view, Tasks view, Problems

view• Debug views: Stack view, Variables view• C/C++ views: Projects view, Outline view


Opening Perspectives and Views

• To open a Perspective, use Window Open Perspective

• To open a view, useWindow Show View

If the view is already present in the current perspective, the view is highlighted


Editors• bracket matching• syntax coloring• content assist• refactoring • keyboard shortcuts


SDK Workbench

C/C++ project outline displays the elements of a project with file decorators (icons) for easy identification

C/C++ editor for integrated software creation

Code outline displays elements of the software file under development with file decorators (icons) for easy identification

Problems, Console, Properties view lists output information associated with the software development flow

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Outline

• Software Development Kit • Debugging Tools

• Debugging Using XPS• Debugging Using SDK• Simultaneous HW/SW Debug


Introduction

• Debugging is an integral part of embedded systems development• The debugging process is defined as testing, stabilizing, localizing,

and correcting errors• Two methods of debugging:

– Hardware debugging via a logic probe, logic analyzer, in-circuit emulator, or background debugger

– Software debugging via a debugging instrument• A software debugging instrument is source code that is added to the program

for the purpose of debugging

• Debugging types:– Functional debugging– Performance debugging


Hardware Debugging Support• ChipScope™ Pro tool cores are now included for adding to a Xilinx

Platform Studio design– PLB IBA (Integrated Bus Analyzer)– OPB IBA– VIO (Virtual I/O)

• ChipScope Pro tool evaluation version shipped with the EDK

– Analyzer evaluation ends after 90 days– Core insertion/generation works indefinitely– Supports Solaris OS and Windows platforms

• Linux to be added in an upcoming release• Enables co-debug of software with GNU gdb and hardware with

ChipScope Analyzer


Software Debugging Support

• EDK supports software debugging via:– GNU Debugger (GDB) tools

• Unified interface for debugging and verifying MicroBlaze and PowerPC systems

– Xilinx Microprocessor Debugger (XMD)• Runs all of the hardware debugging tools and

communicates with the hardware– GNU tools communicate with the hardware through

XMD


GDB Functionality

User Interface

User Interface

Target Hardware

(TCP/IP) (TCP/IP)

GDB Remote Protocol

GDB Remote Protocol

JTAG UART

PowerPC™ System MicroBlaze™ System

PPC405 Debug Port JTAG UART

UARTlite

XMD stub

Host Software

PowerPC-eabi-gdb

Host Software

mb-gdb

Host Software

Tcl/Terminal Interface

XMD

JTAG

MB Cycle-Accurate Instruction Set Simulator

JTAG

MicroBlaze System

MDM

Host Software


GDB Functionality

• GDB is a source-level debugger that helps you debug your program– Start your program– Set breakpoints (make your program stop on specified conditions)– Examine what has happened, when your program encounters breakpoints

• Registers• Memory• Stack• Variables • Expressions

– Change things in your program so that you can experiment with correcting the effects of one bug and go on to another

• You can use GDB to debug programs written in C and C++


GDB

MemoryLocation

AssemblyInstructions

C Code


GDB GUI

• Runtime control– S: Step by source lines (Step into functions) – SI: Step by machine instruction– C: Continue to next breakpoint– N: Next source line (Steps over functions)– NI: Next machine instruction– F: Finish (Ignores all breakpoints)


GDB Functionality• Breakpoints can be enabled or disabled• To change any memory value, simply double-click in a memory field


GDB Functionality

• Blue represents registers that have changed• To change any value, double-click in a field


XMD Functionality

User Interface

User Interface

Target Hardware

(TCP/IP) (TCP/IP)

GDB Remote Protocol

GDB Remote Protocol

JTAG UART

PowerPC™ System MicroBlaze™ System

PPC405 Debug Port JTAG UART

UARTlite

XMD stub

Host Software

PowerPC-eabi-gdb

Host Software

mb-gdb

Host Software


XMD

JTAG


JTAG

MicroBlaze System

MDM

Host Software


XMD Functionality

• Xilinx Microprocessor Debug (XMD) engine – A program that facilitates a unified GDB interface– A Tool command language (Tcl) interface

• XMD supports debugging user programs on different targets:– Cycle-accurate MicroBlaze processor instruction set simulator– MicroBlaze systems running xmdstub on a hardware board– MicroBlaze systems using the MDM peripheral– PowerPC systems on a hardware board

• mb-gdb and powerpc-eabi-gdb communicate with xmd by using the Remote TCP protocol and controlling the corresponding targets

• GDB can connect to xmd on the same computer or on a remote computer on the Internet


XMD Tcl Interface• x?: lists all Tcl commands• xrmem target addr [num]: Reads num bytes or 1 byte from the memory

address addr• xwmem target addr value: Writes an 8-bit byte value at the specified memory

addr• xrreg target [reg]: Reads all registers or only register number reg• xwreg target reg value: Writes a 32-bit value into register number reg• xdownload target [-data] filename [addr]: Downloads the given ELF or data

file (with -data option) onto the memory of the current target • xcontinue target [addr]: Continues execution from the current PC or from the

optional address argument• xstep target: Single steps one MicroBlaze processor instruction. If the PC is

at an IMM instruction, the next instruction is executed as well


MicroBlaze Processor: XMD

• Three ways to debug MicroBlaze processor code:– OPB JTAG UART core

• Intrusive: requires xmdstub software

– OPB UART core• Intrusive: requires

xmdstub software– OPB MDM core

• Non-intrusive: hardware interface

MicroBlaze

(TCP/IP)

GDB Remote Protocol

UART

Host Software

mb-gdb

Host Software


XMD

JTAG


JTAG

JTAGUART UART MDM

OPB Bus



• MicroBlaze processor stub target (xmdstub) – User programs can be downloaded or executed directly from mb-gdb

• To debug programs on the hardware by using xmdstub:1. A JTAG UART or a UART must be included in the hardware system2. A JTAG UART or a UART must be specified as the DEBUG_PERIPHERAL3. The xmdstub executable must be included in the MicroBlaze processor’s

local memory at system startup

• Sample session of XMD with a hardware stub target– XMD% mbconnect stub -comm jtag -posit 2

• Connect to a MicroBlaze processor target via a stub, using JTAC communication, and an FPGA which is second in the JTAG chain



• MicroBlaze processor simulator target• mb-gdb and xmd can be used to debug programs on the cycle-

accurate simulator built into XMD• Simulator target requirements

– Programs should be compiled for debugging and should be linked with the startup code in crt0.o

– Programs can have a maximum size of 64 KB only– Does not support the simulation of OPB peripherals

• Sample session of XMD and GDB– XMD% mbconnect sim



• MicroBlaze processor MDM (hardware OPB_MDM debug core on-board)

• The MDM target supports non-intrusive debugging by using:– Hardware breakpoints– Hardware single step– This removes the need to run xmdstub– This removes the requirement to have large memory

• Sample session of XMD and GDB– XMD% mbconnect mdm


XMD Options

• mbconnect <sim|stub|mdm> [options]• Simulator target options

– -memsize size

• xmdstub target options– -comm <serial|jtag>– -posit device position– -chain device count <list of BSDL files>– -port serial port– -baud baud rate


Outline

• Software Development Kit • Debugging Tools• Debugging Using XPS

• Debugging Using SDK• Simultaneous HW/SW Debug


A Debugging Sample

This will go through the necessary steps, generate a bitstream file, and download the file

Compile with the debugging option

Compile with the debugging option

1Download the bitstreamDownload the bitstream

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Start XMD

Set XMD Debug OptionsSet XMD Debug Options3

This opens a connection with the hardware, indicating whether the connecting ports and are enabled or not

Start the XMD shellStart the XMD shell4

Set connection type and JTAG properties


Start Software Debugger

Start Software DebuggerStart Software Debugger5

A source code window displays

A source code window displays

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Change the code window display from SOURCE to MIXED to show C and assembly code

If there are more than one application in the project then the tools will provide choice to select an application


Software Debugger Connect

A window displayingC and assembly code

A window displayingC and assembly code

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Select the target as Remote/TCP: XMD

Select the target as Remote/TCP: XMD

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Enter the port number that was displayed when connecting to the target


Debug Program

Set any breakpoints as necessarySet any breakpoints as necessary9

Click the Run button

Click the Run button

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When a breakpoint is encountered, the debugger stops

When a breakpoint is encountered, the debugger stops

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View the necessary windowsView the necessary windows12

Exit the debugger by typing quit in the console window


Outline

• Software Development Kit • Debugging Tools• Debugging Using XPS• Debugging Using SDK

• Simultaneous HW/SW Debug


Debugging Using SDK

Eclipse CDT

XMD

powerpc-eabi-gdb (or)

mb-gdb

JTAG / XMD protocolXilinx custom graphical debug interface

auto-launched

auto-launched

gdb remote protocol


SDK Debug Perspective

The stack frame for target threads that you are debugging. Each thread in your program is represented as a node in the tree

Variables, Breakpoints, and Registers views allow for viewing and real-time interaction with the view contents for more powerful debugging potential

C/C++ editor highlights the location of the execution pointer, along with allowing the setting of breakpoints

Code outline and disassembly view provide compiler level insight to what is occurring in the running source

Console view lists output information

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Debugging in XPS vs SDKDebugging in XPS

- Download bitstream from XPS

- Launch XMD- Provide Target Connection

Options- Launch GDB (Insight GUI)- Set GDB Server connection

port in GDB- Download program - Begin Debugging

Debugging in SDK

- Download bitstream from XPS

- Launch XMD- Provide Target Connection

Options- Launch GDB (Insight GUI)- Set GDB Server connection

port in GDB- Download program - Begin Debugging


Knowledge Check

• What is the XMD command line used to connect to a MicroBlaze processor core via JTAG?

• What is the advantage of using MDM over a JTAG UART?

• Into what parts of the design do debuggers provide visibility?


Answers

• What is the XMD command line used to connect to a MicroBlaze processor core via JTAG?– XMD% mbconnect stub -comm jtag -posit 2

• What is the advantage of using MDM over a JTAG UART?– Non-intrusive– Less memory required

• Into what parts of the design do debuggers provide visibility?– Registers– Memory– Stack– Variables – Expressions


Knowledge Check

• Describe XPS-SDK flow


Answers

• Describe XPS-SDK flow– Using XPS, design the embedded system hardware platform and specify

the software platform settings (libraries, device drivers, etc.)– Launch SDK, create a software application project, and point to the XPS

project containing the embedded system platform– Using SDK, develop and compile applications for the selected embedded

system– Using SDK, download the software executable to the target device to debug

and profile your software application. (Use XPS or iMPACT tools to first download the hardware platform bitstream to the FPGA device)

– In XPS, point to the software executable created in SDK and merge it into the FPGA bitstream for production use


Where Can I Learn More?

• Tool documentation– Embedded System Tools Guide GNU Compiler

Tools– Embedded System Tools Guide GNU Debugger– Embedded System Tools Guide Xilinx

Microprocessor Debugger– Xilinx Platform Studio SDK Online Documentation

• Support Website– EDK Website: www.xilinx.com/edk


Outline

• Software Development Kit• Debugging Tools• Debugging Using XPS • Debugging Using SDK• Simultaneous HW/SW Debug


Simultaneous HW/SW Debug• ChipScope™ Pro PLB & IBA cores

in target• ChipScope Pro Analyzer on host• GDB debugger on host• XMD supports simultaneous

access over Xilinx parallel cables• PLB/OPB IBA instantiation in XPS

– Treated like the peripheral cores

Set breakpoint in GDB: when hit → triggers the ChipScope tool

Set trigger in ChipScope: when hit → halts CPU and debugger stops

UART GPIOOn-Chip

PeripheralHi-Speed

PeripheralGB

E-Net

e.g.Memory

Controller

ArbiterOn-Chip Peripheral Bus

Arb

iter

Processor Local Bus

PowerPC405 Core

DSOCMBRAM

ISOCMBRAM

BusBridge

UART GPIOOn-Chip

PeripheralUARTUART GPIOGPIO

On-ChipPeripheralOn-Chip

PeripheralHi-Speed

PeripheralGB

E-Net

e.g.Memory

Controller

Hi-SpeedPeripheralHi-Speed

PeripheralGB

E-NetGB

E-Net

e.g.Memory

Controller

e.g.Memory

Controller

ArbiterOn-Chip Peripheral Bus

Arb

iter

Processor Local Bus

PowerPC405 Core

DSOCMBRAM

ISOCMBRAM

DSOCMBRAM

DSOCMBRAM

DSOCMBRAM

ISOCMBRAMISOCMBRAMISOCMBRAM

BusBridge

BusBridge

IBAIBA

MicroBlaze32-Bit RISC CoreMicroBlaze

32-Bit RISC CoreMDM

Minimal skid-by as cross-triggering is done on chip between IBA cores and PPC and MicroBlaze™ debug

interfaces


Simultaneous HW/SW Debug

Flexible Soft IPFlexible Soft IPMicroBlaze

32-Bit RISC CoreMicroBlaze

32-Bit RISC Core

Arb

iter OPB

On-Chip Peripheral Bus

Arb

iter

Arb

iter OPB

On-Chip Peripheral BusOn-Chip Peripheral Bus

MDMMDM

IBAIBA

JTAGJTAG Flexible Soft IPFlexible Soft IPMicroBlaze

32-Bit RISC CoreMicroBlaze

32-Bit RISC Core

Arb

iter OPB

On-Chip Peripheral Bus

Arb

iter

Arb

iter OPB

On-Chip Peripheral BusOn-Chip Peripheral Bus

MDMMDM

IBAIBA

JTAGJTAG

XMDXMD

Xilinx parallel cable

Active trigger when addr bus = 0xC200

Trigger out signal from IBA to CPU debug halt signal in

Software Development and Debugging Using SDK

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