Add Trax-support to esp-idf

components/esp32/Kconfig

@@ -63,10 +63,22 @@ config MEMMAP_TRACEMEM
         of memory that can't be used for general purposes anymore. Disable this if you do not know
         what this is.
 
+config MEMMAP_TRACEMEM_TWOBANKS
+    bool "Reserve memory for tracing both pro as well as app cpu execution"
+    default "n"
+    depends on MEMMAP_TRACEMEM && MEMMAP_SMP
+    help
+        The ESP32 contains a feature which allows you to trace the execution path the processor
+        has taken through the program. This is stored in a chunk of 32K (16K for single-processor)
+        of memory that can't be used for general purposes anymore. Disable this if you do not know
+        what this is.
+
+
 # Memory to reverse for trace, used in linker script
 config TRACEMEM_RESERVE_DRAM
     hex
-    default 0x8000 if MEMMAP_TRACEMEM
+    default 0x8000 if MEMMAP_TRACEMEM && MEMMAP_TRACEMEM_TWOBANKS
+    default 0x4000 if MEMMAP_TRACEMEM && !MEMMAP_TRACEMEM_TWOBANKS
     default 0x0
 
 config MEMMAP_SPISRAM

components/esp32/cpu_start.c

@@ -43,6 +43,8 @@
 #include "esp_ipc.h"
 #include "esp_log.h"
 
+#include "trax.h"
+
 void start_cpu0(void) __attribute__((weak, alias("start_cpu0_default")));
 void start_cpu0_default(void) IRAM_ATTR;
 #if !CONFIG_FREERTOS_UNICORE
@@ -131,6 +133,15 @@ void IRAM_ATTR call_start_cpu1()
 
 void start_cpu0_default(void)
 {
+//Enable trace memory and immediately start trace.
+#if CONFIG_MEMMAP_TRACEMEM
+#if CONFIG_MEMMAP_TRACEMEM_TWOBANKS
+    trax_enable(TRAX_ENA_PRO_APP);
+#else
+    trax_enable(TRAX_ENA_PRO);
+#endif
+    trax_start_trace(TRAX_DOWNCOUNT_WORDS);
+#endif
     esp_set_cpu_freq();     // set CPU frequency configured in menuconfig
     uart_div_modify(0, (APB_CLK_FREQ << 4) / 115200);
     ets_setup_syscalls();
@@ -147,6 +158,9 @@ void start_cpu0_default(void)
 #if !CONFIG_FREERTOS_UNICORE
 void start_cpu1_default(void)
 {
+#if CONFIG_MEMMAP_TRACEMEM_TWOBANKS
+    trax_start_trace(TRAX_DOWNCOUNT_WORDS);
+#endif
     // Wait for FreeRTOS initialization to finish on PRO CPU
     while (port_xSchedulerRunning[0] == 0) {
         ;

components/esp32/heap_alloc_caps.c

@@ -186,7 +186,11 @@ void heap_alloc_caps_init() {
 #endif
 
 #if CONFIG_MEMMAP_TRACEMEM
+#if CONFIG_MEMMAP_TRACEMEM_TWOBANKS
     disable_mem_region((void*)0x3fff8000, (void*)0x40000000); //knock out trace mem region
+#else
+    disable_mem_region((void*)0x3fff8000, (void*)0x3fffc000); //knock out trace mem region
+#endif
 #endif
 
 #if 0

components/freertos/tasks.c

@@ -3755,9 +3755,8 @@ In fact, nothing below this line has/is.
 
 /* Gotcha (which seems to be deliberate in FreeRTOS, according to
 http://www.freertos.org/FreeRTOS_Support_Forum_Archive/December_2012/freertos_PIC32_Bug_-_vTaskEnterCritical_6400806.html
-) is that calling vTaskEnterCritical followed by vTaskExitCritical will leave the interrupts DISABLED! Re-enabling the
+) is that calling vTaskEnterCritical followed by vTaskExitCritical will leave the interrupts DISABLED when the scheduler
-scheduler will re-enable the interrupts instead. */
+is not running.  Re-enabling the scheduler will re-enable the interrupts instead. */
-
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
 

components/xtensa-debug-module/component.mk

@@ -0,0 +1,5 @@
+#
+# Component Makefile
+#
+
+include $(IDF_PATH)/make/component_common.mk

components/xtensa-debug-module/eri.c

@@ -0,0 +1,19 @@
+#include <stdint.h>
+#include "eri.h"
+
+uint32_t eri_read(int addr) {
+    uint32_t ret;
+    asm(
+        "RER %0,%1"
+        :"=r"(ret):"r"(addr)
+        );
+    return ret;
+}
+
+void eri_write(int addr, uint32_t data) {
+    asm volatile (
+        "WER %0,%1"
+        ::"r"(data),"r"(addr)
+    );
+}
+

components/xtensa-debug-module/include/eri.h

@@ -0,0 +1,31 @@
+#ifndef ERI_H
+#define ERI_H
+
+#include <stdint.h>
+
+/*
+ The ERI is a bus internal to each Xtensa core. It connects, amongst others, to the debug interface, where it
+ allows reading/writing the same registers as available over JTAG.
+*/
+
+
+/**
+ * @brief  Perform an ERI read
+ * @param  addr : ERI register to read from
+ *
+ * @return Value read
+ */
+uint32_t eri_read(int addr);
+
+
+/**
+ * @brief  Perform an ERI write
+ * @param  addr : ERI register to write to
+ * @param  data : Value to write
+ *
+ * @return Value read
+ */
+void eri_write(int addr, uint32_t data);
+
+
+#endif

components/xtensa-debug-module/include/trax.h

@@ -0,0 +1,62 @@
+#include "soc/dport_reg.h"
+#include "sdkconfig.h"
+#include "esp_err.h"
+#include "eri.h"
+#include "xtensa-debug-module.h"
+
+
+typedef enum {
+    TRAX_DOWNCOUNT_WORDS,
+    TRAX_DOWNCOUNT_INSTRUCTIONS
+} trax_downcount_unit_t;
+
+typedef enum {
+    TRAX_ENA_NONE = 0,
+    TRAX_ENA_PRO,
+    TRAX_ENA_APP,
+    TRAX_ENA_PRO_APP,
+    TRAX_ENA_PRO_APP_SWAP
+} trax_ena_select_t;
+
+
+/**
+ * @brief  Enable the trax memory blocks to be used as Trax memory.
+ *
+ * @param  pro_cpu_enable : true if Trax needs to be enabled for the pro CPU
+ * @param  app_cpu_enable : true if Trax needs to be enabled for the pro CPU
+ * @param  swap_regions : Normally, the pro CPU writes to Trax mem block 0 while
+ *                        the app cpu writes to block 1. Setting this to true
+ *                        inverts this.
+ *
+ * @return esp_err_t. Fails with ESP_ERR_NO_MEM if Trax enable is requested for 2 CPUs 
+ *                    but memmap only has room for 1, or if Trax memmap is disabled 
+ *                    entirely.
+ */
+int trax_enable(trax_ena_select_t ena);
+
+/**
+ * @brief  Start a Trax trace on the current CPU
+ *
+ * @param  units_until_stop : Set the units of the delay that gets passed to
+ *              trax_trigger_traceend_after_delay. One of TRAX_DOWNCOUNT_WORDS
+ *              or TRAX_DOWNCOUNT_INSTRUCTIONS.
+ *
+ * @return esp_err_t. Fails with ESP_ERR_NO_MEM if Trax is disabled.
+ */
+int trax_start_trace(trax_downcount_unit_t units_until_stop);
+
+
+/**
+ * @brief  Trigger a Trax trace stop after the indicated delay. If this is called
+ *         before and the previous delay hasn't ended yet, this will overwrite
+ *         that delay with the new value. The delay will always start at the time
+ *         the function is called.
+ *
+ * @param  delay : The delay to stop the trace in, in the unit indicated to 
+ *              trax_start_trace. Note: the trace memory has 4K words available.
+ *
+ * @return esp_err_t
+ */
+int trax_trigger_traceend_after_delay(int delay);
+
+

components/xtensa-debug-module/include/xtensa-debug-module.h

@@ -0,0 +1,75 @@
+#ifndef XTENSA_DEBUG_MODULE_H
+#define XTENSA_DEBUG_MODULE_H
+
+/*
+ERI registers / OCD offsets and field definitions
+*/
+
+#define ERI_DEBUG_OFFSET 0x100000
+
+#define ERI_TRAX_OFFSET         (ERI_DEBUG_OFFSET+0)
+#define ERI_PERFMON_OFFSET      (ERI_DEBUG_OFFSET+0x1000)
+#define ERI_OCDREG_OFFSET       (ERI_DEBUG_OFFSET+0x2000)
+#define ERI_MISCDBG_OFFSET      (ERI_DEBUG_OFFSET+0x3000)
+#define ERI_CORESIGHT_OFFSET    (ERI_DEBUG_OFFSET+0x3F00)
+
+#define ERI_TRAX_TRAXID         (ERI_TRAX_OFFSET+0x00)
+#define ERI_TRAX_TRAXCTRL       (ERI_TRAX_OFFSET+0x04)
+#define ERI_TRAX_TRAXSTAT       (ERI_TRAX_OFFSET+0x08)
+#define ERI_TRAX_TRAXDATA       (ERI_TRAX_OFFSET+0x0C)
+#define ERI_TRAX_TRAXADDR       (ERI_TRAX_OFFSET+0x10)
+#define ERI_TRAX_TRIGGERPC      (ERI_TRAX_OFFSET+0x14)
+#define ERI_TRAX_PCMATCHCTRL    (ERI_TRAX_OFFSET+0x18)
+#define ERI_TRAX_DELAYCNT       (ERI_TRAX_OFFSET+0x1C)
+#define ERI_TRAX_MEMADDRSTART   (ERI_TRAX_OFFSET+0x20)
+#define ERI_TRAX_MEMADDREND     (ERI_TRAX_OFFSET+0x24)
+
+#define TRAXCTRL_TREN           (1<<0)  //Trace enable. Tracing starts on 0->1
+#define TRAXCTRL_TRSTP          (1<<1)  //Trace Stop. Make 1 to stop trace.
+#define TRAXCTRL_PCMEN          (1<<2)  //PC match enable
+#define TRAXCTRL_PTIEN          (1<<4)  //Processor-trigger enable
+#define TRAXCTRL_CTIEN          (1<<5)  //Cross-trigger enable
+#define TRAXCTRL_TMEN           (1<<7)  //Tracemem Enable. Always set.
+#define TRAXCTRL_CNTU           (1<<9)  //Post-stop-trigger countdown units; selects when DelayCount-- happens.
+                                        //0 - every 32-bit word written to tracemem, 1 - every cpu instruction
+#define TRAXCTRL_TSEN           (1<<11) //Undocumented/deprecated?
+#define TRAXCTRL_SMPER_SHIFT    12      //Send sync every 2^(9-smper) messages. 7=reserved, 0=no sync msg
+#define TRAXCTRL_SMPER_MASK     0x7     //Synchronization message period
+#define TRAXCTRL_PTOWT          (1<<16) //Processor Trigger Out (OCD halt) enabled when stop triggered
+#define TRAXCTRL_PTOWS          (1<<17) //Processor Trigger Out (OCD halt) enabled when trace stop completes
+#define TRAXCTRL_CTOWT          (1<<20) //Cross-trigger Out enabled when stop triggered
+#define TRAXCTRL_CTOWS          (1<<21) //Cross-trigger Out enabled when trace stop completes
+#define TRAXCTRL_ITCTO          (1<<22) //Integration mode: cross-trigger output
+#define TRAXCTRL_ITCTIA         (1<<23) //Integration mode: cross-trigger ack
+#define TRAXCTRL_ITATV          (1<<24) //replaces ATID when in integration mode: ATVALID output
+#define TRAXCTRL_ATID_MASK      0x7F    //ARB source ID
+#define TRAXCTRL_ATID_SHIFT     24
+#define TRAXCTRL_ATEN           (1<<31) //ATB interface enable
+
+#define TRAXSTAT_TRACT          (1<<0)  //Trace active flag.
+#define TRAXSTAT_TRIG           (1<<1)  //Trace stop trigger. Clears on TREN 1->0
+#define TRAXSTAT_PCMTG          (1<<2)  //Stop trigger caused by PC match. Clears on TREN 1->0
+#define TRAXSTAT_PJTR           (1<<3)  //JTAG transaction result. 1=err in preceding jtag transaction.
+#define TRAXSTAT_PTITG          (1<<4)  //Stop trigger caused by Processor Trigger Input. Clears on TREN 1->0
+#define TRAXSTAT_CTITG          (1<<5)  //Stop trigger caused by Cross-Trigger Input. Clears on TREN 1->0
+#define TRAXSTAT_MEMSZ_SHIFT    8       //Traceram size inducator. Usable trace ram is 2^MEMSZ bytes.
+#define TRAXSTAT_MEMSZ_MASK     0x1F
+#define TRAXSTAT_PTO            (1<<16) //Processor Trigger Output: current value
+#define TRAXSTAT_CTO            (1<<17) //Cross-Trigger Output: current value
+#define TRAXSTAT_ITCTOA         (1<<22) //Cross-Trigger Out Ack: current value
+#define TRAXSTAT_ITCTI          (1<<23) //Cross-Trigger Input: current value
+#define TRAXSTAT_ITATR          (1<<24) //ATREADY Input: current value
+
+#define TRAXADDR_TADDR_SHIFT    0       //Trax memory address, in 32-bit words.
+#define TRAXADDR_TADDR_MASK     0x1FFFFF //Actually is only as big as the trace buffer size max addr.
+#define TRAXADDR_TWRAP_SHIFT    21      //Amount of times TADDR has overflown
+#define TRAXADDR_TWRAP_MASK     0x3FF
+#define TRAXADDR_TWSAT          (1<<31) //1 if TWRAP has overflown, clear by disabling tren.
+
+#define PCMATCHCTRL_PCML_SHIFT  0       //Amount of lower bits to ignore in pc trigger register
+#define PCMATCHCTRL_PCML_MASK   0x1F 
+#define PCMATCHCTRL_PCMS        (1<<31) //PC Match Sense, 0 - match when procs PC is in-range, 1 - match when
+                                        //out-of-range
+
+
+#endif

components/xtensa-debug-module/trax.c

@@ -0,0 +1,64 @@
+#include <stdio.h>
+#include "soc/dport_reg.h"
+#include "sdkconfig.h"
+#include "esp_err.h"
+#include "eri.h"
+#include "xtensa-debug-module.h"
+#include "trax.h"
+#include "esp_log.h"
+
+#define TRACEMEM_MUX_PROBLK0_APPBLK1    0
+#define TRACEMEM_MUX_BLK0_ONLY          1
+#define TRACEMEM_MUX_BLK1_ONLY          2
+#define TRACEMEM_MUX_PROBLK1_APPBLK0    3
+
+static const char* TAG = "log";
+
+int trax_enable(trax_ena_select_t which) {
+#if !CONFIG_MEMMAP_TRACEMEM
+    return ESP_ERR_NO_MEM;
+#endif
+#if !CONFIG_MEMMAP_TRACEMEM_TWOBANKS
+    if (which == TRAX_ENA_PRO_APP || which == TRAX_ENA_PRO_APP_SWAP) return ESP_ERR_NO_MEM;
+#endif
+    if (which == TRAX_ENA_PRO_APP || which == TRAX_ENA_PRO_APP_SWAP) {
+        WRITE_PERI_REG(DPORT_TRACEMEM_MUX_MODE_REG, (which == TRAX_ENA_PRO_APP_SWAP)?TRACEMEM_MUX_PROBLK1_APPBLK0:TRACEMEM_MUX_PROBLK0_APPBLK1);
+    } else {
+        WRITE_PERI_REG(DPORT_TRACEMEM_MUX_MODE_REG, TRACEMEM_MUX_BLK0_ONLY);
+    }
+    WRITE_PERI_REG(DPORT_PRO_TRACEMEM_ENA_REG, (which == TRAX_ENA_PRO_APP || which == TRAX_ENA_PRO_APP_SWAP || which == TRAX_ENA_PRO));
+    WRITE_PERI_REG(DPORT_APP_TRACEMEM_ENA_REG, (which == TRAX_ENA_PRO_APP || which == TRAX_ENA_PRO_APP_SWAP || which == TRAX_ENA_APP));
+    return ESP_OK;
+}
+
+
+int trax_start_trace(trax_downcount_unit_t units_until_stop) {
+#if !CONFIG_MEMMAP_TRACEMEM
+    return ESP_ERR_NO_MEM;
+#endif
+    uint32_t v;
+    if (eri_read(ERI_TRAX_TRAXSTAT)&TRAXSTAT_TRACT) {
+        ESP_LOGI(TAG, "Stopping active trace first.");
+        //Trace is active. Stop trace.
+        eri_write(ERI_TRAX_DELAYCNT, 0);
+        eri_write(ERI_TRAX_TRAXCTRL, eri_read(ERI_TRAX_TRAXCTRL)|TRAXCTRL_TRSTP);
+        //ToDo: This will probably trigger a trace done interrupt. ToDo: Fix, but how? -JD
+        eri_write(ERI_TRAX_TRAXCTRL, 0);
+    }
+    eri_write(ERI_TRAX_PCMATCHCTRL, 31); //do not stop at any pc match
+    v=TRAXCTRL_TREN | TRAXCTRL_TMEN | TRAXCTRL_PTOWS | (1<<TRAXCTRL_SMPER_SHIFT);
+    if (units_until_stop == TRAX_DOWNCOUNT_INSTRUCTIONS) v|=TRAXCTRL_CNTU;
+    //Enable trace. This trace has no stop condition and will just keep on running.
+    eri_write(ERI_TRAX_TRAXCTRL, v);
+    return ESP_OK;
+}
+
+
+int trax_trigger_traceend_after_delay(int delay) {
+#if !CONFIG_MEMMAP_TRACEMEM
+    return ESP_ERR_NO_MEM;
+#endif
+    eri_write(ERI_TRAX_DELAYCNT, delay);
+    eri_write(ERI_TRAX_TRAXCTRL, eri_read(ERI_TRAX_TRAXCTRL)|TRAXCTRL_TRSTP);
+    return ESP_OK;
+}