VxWorks소개 및 디버깅 환경.ppt

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2 Wind River & VxWorks? Network Equipment Industrial & Automotive Aerospace & Defense Consumer 30% 20% 25% 25% Media gateways Wireless access points WiMAX base stations Radio network controllers Broadband access systems Customer premises equipment VoIP phones Switches Telematics Vehicle tracking and airbag deployment notification Remote/mobile payment Traffic and point-ofinterest information Location-based services Infotainment Audio, gaming, video Navigation Powertrain / X-by-wire: steer, brake, drive Test & Measurement equipment Medical devices Robotics Power-generation equipment Semiconductor equipment Avionics Integrated Modular Avionics (IMA) cores Displays Flight controls Flight management Command and control Communications Software Defined Radio Intelligence, surveillance, and reconnaissance Radar, sonar Space Instruments Navigation Propulsion Weapons systems Smartphones Feature phones Portable media players Digital cameras Set-top boxes IPTVs PVR/DVRs Digital televisions Home access/gateways IP video security/monitors VoIP telephony Digital copiers Laser printers Multifunction printers 350 million devices worldwide use Wind River technology 2 Copyright 2005 Wind River Systems, Inc.

5 VxWorks : Embedded Hard Real Time OS : 0( )~255( ) API( ) Supervisor Mode Function call (no trap, no jump table) User mode : Protection (Linux Default) Nested latency 5 Copyright 2005 Wind River Systems, Inc.

6 VxWorks vs. Linux Benchmark VxWorks G Hz Pentium4 Vanilla G Hz Pentium4 Interrupt Respone : 3.3 us Interrupt Respone : 5.8 us Kernel Task : 7.4 us User Task : 35 us Fork : 97 us Execve : 348 us 6 Copyright 2005 Wind River Systems, Inc.

9 Task Stop Suspended context switch Suspended & Pended Suspend Breakpoint Hit Or Error Detected by ED&R Ready / Running Wait something Get something Pended Delay Done Delay Suspended & Delayed Wait something with Timeout Suspended & Pended & Delayed Delayed Get something or Timed Out Pended & Delayed 9 Copyright 2005 Wind River Systems, Inc.

10 Typical (~ VxWorks5.x) Shared Environment: Program code & data Kernel objects Heap Supervisor privilege tasks Direct device access I/O Custom Dev Driver Challenges Sem A App A Code Sem B App B Code VxWorks Kernel Environment 10 Copyright 2005 Wind River Systems, Inc. MsgQ A App C Code? Integration Symbols App D Code Task 1 VxWorks OS Modules VxWorks BSP Task 2 Driver 1 Task 3 Driver 2 App errors system errors Application ( ) Heap manager

11 RTP(Real Time Process) Linux Process Task Container RTP objects (semaphores, sockets, etc.) Task User mode Kernel Access System Call / Protection RTP Task RTP Direct Access RTP Kernel : Protection non-overlapped memory model 11 Copyright 2005 Wind River Systems, Inc.

12 RTP(Real Time Process) GREY: Supervisor only REST: SUP + USR RTP private mapping RTP overlap RTP System Call Supervisor Kernel task RTP Access Published API RTP-private memory mappings: rtpmemshow() similar output as vmcontextshow() 12 Copyright 2005 Wind River Systems, Inc.

13 RTP vs. Linux Process System call Address Space Protection : Processe Kernel Direct Access Process Etc. VxWorks Task (thread) Process Linux Process Tasks (pthreads) RTP Real Time / Determinism / Linux : Open & Generic VxWorks lightweight : Thread switching speed & latency 13 Copyright 2005 Wind River Systems, Inc.

14 RTP vs. Linux Process Global scheduling VxWorks RTP Task Scheduling : Task Task Create & load Caller RTP object & memory context. RTP Setup Caller can wait for the RTP to be up & running, or continue running concurrently. Linux RTP Linux Demand paging : Determinism (No Page Fault) MMU/MMU-less support Linux VxWorks non-overlapped memory model Non-overlapped : RTP virtual memory MMU and MMU-less programming model Linux overlapped memory model : requires an MMU Non-overlapped fork/exec(). µclinux fork/exec Compatibility with VxWorks kernel APIs Large subset of VxWorks kernel API (hardware Access BSP Processor feature Access API ) POSIX API 14 Copyright 2005 Wind River Systems, Inc.

15 ED&R(Error Detection & Report) Event ED&R log Circular buffer ED&R log Soft reboot (persistent memory) Exception Rebooting Booting Stack Pages Program Pages Address Space Heap Blocks Start Read only Stack Raw data Stop 0x0 15 Copyright 2005 Wind River Systems, Inc.

16 ED&R : void badfunc(funcptr *tp) { WIND_TCB *ptcb; ptcb = taskidcurrent; printf("addr=0x%x, Stack=0x%x ~ 0x%x\n", &tp, ptcb- >pstackbase, ptcb->pstackend); } (*(FUNCPTR) &tp)(); &tp FUNCPTR tp 16 Copyright 2005 Wind River Systems, Inc.

17 ED&R : -> Addr=0x863f98, Stack=0x ~ 0x program Exception current instruction address: 0x00863f98 Machine Status Register: 0x0008b032 Condition Register: 0x Task: 0x6dba48 "t54" 0x6dba48 (t54): task 0x6dba48 has had a failure and has been stopped. 0x6dba48 (t54): fatal kernel task-level exception! -> edrshow ERROR LOG ========= Log Size: Record Size: Max Records: 7 CPU Type: Errors Missed: Error count: 1 Boot count: bytes (8 pages) 4096 bytes 0x5a Generation count: 19 0 (old) + 0 (recent) 17 Copyright 2005 Wind River Systems, Inc.

18 ED&R : ==[1/1]============================================================== Severity/Facility: FATAL/KERNEL Boot Cycle: 1 OS Version: Time: THU JAN 01 06:40: (ticks = ) Task: Injection Point: "t54" (0x006dba48) excarchlib.c:2532 fatal kernel task-level exception! <<<<<Memory Map>>>>> 0x > 0x00268f28: kernel 0x0087b000 -> 0x : ed_stack_exe.out 18 Copyright 2005 Wind River Systems, Inc.

19 ED&R : <<<<<Exception Information>>>>> program Exception current instruction address: 0x00863f98 Machine Status Register: 0x0008b032 Condition Register: 0x <<<<<Registers>>>>> r0 = 0x0087b0cc sp = 0x00863f90 r2 = 0x r3 = 0x r4 = 0x r5 = 0x r6 = 0x006dba48 r7 = 0x a r8 = 0x r9 = 0x r10 = 0x r11 = 0x00863f98 r12 = 0x r13 = 0x r14 = 0x r15 = 0x r16 = 0x r17 = 0x r18 = 0x r19 = 0x r20 = 0x r21 = 0x r22 = 0x r23 = 0x r24 = 0x r25 = 0x r26 = 0x r27 = 0x r28 = 0x r29 = 0x r30 = 0x0087b094 r31 = 0x006dba48 msr = 0x0008b032 lr = 0x0087b0d8 ctr = 0x00863f98 pc = 0x00863f98 cr = 0x xer = 0x pgtblptr = 0x scsrtblptr = 0x0069bccc srtblptr = 0x0069bccc 19 Copyright 2005 Wind River Systems, Inc.

20 ED&R : <<<<<Disassembly>>>>> 0x863f dee.long 04000dee 0x863f7c 00863f98.long 00863f98 0x863f f18.long 00863f18 0x863f84 eeeeeeee.long eeeeeeee 0x863f88 eeeeeeee.long eeeeeeee 0x863f8c eeeeeeee.long eeeeeeee 0x863f fa0.long 00863fa0 0x863f b0cc.long 0087b0cc *0x863f98 001b9048.long 001b9048 0x863f9c long x863fa fc0.long 00863fc0 0x863fa f60.long 00111f60 0x863fa long x863fac long x863fb0 eeeeeeee.long eeeeeeee 0x863fb4 eeeeeeee.long eeeeeeee 20 Copyright 2005 Wind River Systems, Inc.

21 ED&R : <<<<<Traceback>>>>> 0x00111f60 vxtaskentry +0x54 : 0x00863f98 () value = 0 = 0x0 -> Cf. Entry Point Symbol Table <<<<<Traceback>>>>> 0x00111f60 vxtaskentry +0x54 : badfunc () value = 0 = 0x0 21 Copyright 2005 Wind River Systems, Inc.

22 Task / Process Shared Memory (Mutual Exclution Sema : Mutex) / ISR Event Task-to-Task, ISR-to-Task Synch (» light-weight Binary Sema) / Task Message Channel (Single / Multi-Processor ) (Socket, RPC) VxMP (Asymmetric Multi-Processor CPU ) 22 Copyright 2005 Wind River Systems, Inc.

26 WindShell C (Interpreter) (,, ) (MsgQ, Sema etc.) (vi ) -> x = (8 * 6) / 4 x = 0x20ff378: value = 12 = 0xc -> Nom = Nelson new symbol Nom added to symbol table. Nom = 0x23fe798: value = = 0x23fe7a0 = Nom + 0x8 -> printf ( Hello %s, number is %d.\n, Nom, 0x20) Hello Nelson, number is 32. value = 28 = 0x1c -> &x value = = 0x20ff378 = x 26 Copyright 2005 Wind River Systems, Inc.

27 (b, s, tt, c) WindShell b Display breakpoints and eventpoints b addr[,task[,count]] Set breakpoint c [task[,addr[,addr1]]] Continue from breakpoint cret [task] Continue to subroutine return s [task[,addr[,addr1]]] Single step so [task] Single step/step over subroutine l [adr[,ninst]] List disassembled memory tt [task] Do stack trace on task -> b printf value = 0 = 0x0 -> b # Breakpoint Address Ctx Ctx Id Cnt Stops N Hard x13EC78: printf any n/a 0 task y - value = 0 = 0x0 -> sp main task spawned: id = 0x4eb3b0, name = s18u0 value = = 0x4eb3b0 -> Break at 0x13EC78: printf Task: 0x4EB3B0 (s18u0) c Hello World! -> 27 Copyright 2005 Wind River Systems, Inc.

31 StethoScope : RealTime Data Monitor Signals Bar Installed Signals List Legend Used Signal Dump Shows Value for every timestamp Monitor Shows RealtimeValue & Modify 31 Copyright 2005 Wind River Systems, Inc.

32 TraceScope : Code Execution Tracer Overview Global View of Task/Fuction Interactions Columns of Tasks Trace View Timestamp Sequence ID Spend Time Return Value Detail View Function Traces Function Callstack 32 Copyright 2005 Wind River Systems, Inc.

33 ProfileScope : Statistical Profiling Stoplight Toggle %CPU Total View Selection %CPU Current Graphical Usage Meter Profilescope Status Task & Function Call Tree 33 Copyright 2005 Wind River Systems, Inc.

Memory Scope : Mem Leak Detection Which Function (Full Call Stack)?

36 Diagnostics : Sensor Point Dynamic patch No Rebooting No Func Recompile Ex. Printf Access variables within the scope of the function foo ( arg1) { int error; if (arg1 < 500) { error = 0; } else error = 1; log($arg1); $arg1 = 501; Monitor, configure, control } return (error) log($error); 36 Copyright 2005 Wind River Systems, Inc.

Persistent Memory Core image Workbench IDE Workbench Debugger

37 Diagnostics : Core Image Dump Stack Backtrace Core Image Kernel Fatal System Exception, Panic, Task-level exception ( ) Persistent Memory Core image Workbench IDE Workbench Debugger Core Image Stack Backtrace Exception,, 37 Copyright 2005 Wind River Systems, Inc.

강의10

강의10 Computer Programming gdb and awk 12 th Lecture 김현철컴퓨터공학부서울대학교 순서 C Compiler and Linker 보충 Static vs Shared Libraries ( 계속 ) gdb awk Q&A Shared vs Static Libraries ( 계속 ) Advantage of Using Libraries Reduced