RX Family Debugging with RI600/4
Contents
1. CENESAS APPLICATION NOTE RX Family R20AN0092ES0100 Rev 1 00 Debugging with RI600 4 Oct 01 2010 Introduction Real time operating system was often employed with the notion of reducing development time improving response time and integrity of the embedded system However new problems are created with the improper use of RTOS Existing standard debuggers can only display information such as local variables registers and memory contents To use standard debugger to monitor the transition communications and synchronizations of the multiple tasks semaphore event flag and data queues etc would require one to have in depth knowledge in the mechanisms of the RTOS RTOS aware tools are therefore required to enhance users ability in debugging such problems This document explains how Renesas real time OS aware debugging utility can be used to debug these problems Target Device Applicable MCU RX Family Contents 1 Guide in USING this Document cc eeeeeeecccceeeceeeeeeeeeeeeeaeeeeseeeeeeeeeseeeueeeeeeeeesseeeseeeeesseseaseeeeeeeeeeesaaas 2 2 Common Debugging ISSUES Of RTOS ccccccccccseeeeeeceeeeeeeeeeeeeeeceeeeeeaeeeeeeeeeessaaaseeseeeeeesssaaaeeeseeseaaas 3 3 Reference DOCUMENUS cccccccsssccccsececceseeeceeuseecceuseeecsagececsaeeecseuseeseseeessgeeessanseesseaseeessaeseesses 10 R20AN0092ES0100 Rev 1 00 Page 1 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 1 Guide in using this2. if not all of the memory are likely to be consumed for a duration of time To identify this phenomenon user may refer to the data coverage window to view the access rate of individual memory block as shown in Figure 11 Data Coverage Qh tt K o00046 00046D 100 003 aay 00046E 00046F 100 003 Address Label Area Data o0046 _p blki 2 64 04 Address Range Section Task Stack j Figure 11 Data Coverage Window showing Memory Block Access Rate To identify the task s that results in the memory leak user may refer to the track window Figure 12 shows Task1 is culprit for acquiring all the memory blocks R20AN0092ES0100 Rev 1 00 Page 8 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 0 OS Initialize Idle SystemStack lt OFODF2 TFOUCKO __SY YSCALLO OFO2cO lt OFOCEO lt OFOAF2 __S SCALLO OF02C0 lt OFOcBO kernel mpf_alloc OFOBAd lt OFOAF2 __SYSCALLO OFO2ZcO lt OFOEOB __SY SCALLO OFO2cO lt OFOEOE ENG OFO7B6 lt OFOACE H TaskID 2 _task2 H TaskID 3 _task3 Range 00003294 OO000000 File Cycle 00000023 address OFOESA Time 00 00 00 029 555 540 Cycle Label Address 00000023 OFOESA O00000z2 OFOEJA O0000021 OOOBSA O00000020 OFOES j lt Figure 12 Data Coverage Window showing Memory Block Access Rate 2 5 Task Starvation 2 5 1 What is it In an application every task is assigned a priority level and
3. any other appropriate measures Because the evaluation of microcomputer software alone is very difficult please evaluate the safety of the final products or system manufactured by you Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product Please use Renesas Electronics products in compliance with all applicable laws and regulations that regulate the inclusion or use of controlled substances including without limitation the EU RoHS Directive Renesas Electronics assumes no liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations 11 This document may not be reproduced or duplicated in any form in whole or in part without prior written consent of Renesas Electronics 12 Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas Electronics products or if you have any other inquiries Note 1 Renesas Electronics as used in this document means Renesas Electronics Corporation and also includes its majority owned subsidiaries Note 2 Renesas Electronics product s means any product developed or manufactured by or for Renesas Electronics CENESAS SALES OFFICES Renesas Electronics Corporation http www renesas com Refer to http www renesas com for the latest and detailed information R
4. the occurrence of a deadlock when it is improperly used Figure 1 depicts an example of a deadlock occurrence f ResourceA a Resource B Holding resource Requiring resource Figure 1 A Deadlock Example In the example TASK 1 and TASK 2 are engaged in a deadlock TASK 2 locked TASK 1 as it is holding on to Resource A that TASK 1 requires to process Likewise TASK 1 is holding on to Resource B required by TASK 2 thereby locks it 2 1 2 Why did it happen For a deadlock to occur four conditions are required e Resources are mutually exclusive When resources are mutually exclusive only one task can acquire it at any one time Other tasks that request for the resources will be placed in WAITING state e Tasks are allowed to hold on to resource s request and wait for other resource s at the same time Competition among multiple tasks for individual resource will stifle and it increases the likelihood of tasks being interlocked e Tasks cannot be forced to release resources This restriction eliminates the possibility of releasing the interlocks among tasks e Circular wait condition where each task waits for a resource currently in the holding of the next task 2 1 3 How to Identify In the occurrence of a deadlock tasks involved will be kept in a WAITING state To identify its occurrence user may monitor the status of individual task by referring to the OS object windo
5. Document This document discusses few common problems faced in using real time operating system RTOS and explains how the various Renesas OS aware debugging facilities can be employed to identify the problems Table 1 Explanation of Document Topics Provide listing of common issues with Common Debugging Issues multi task debugging Explanations on Knowledge in embedded system of RTOS how Renesas real time OS aware debugging RI600 4 and E100 debugging utility can be used for emulator identifying the issues are also given Listing of documents that equip users Reference Documents with knowledge in the pre requisite requirements R20AN0092ES0100 Rev 1 00 Page 2 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 2 Common Debugging Issues of RTOS Often an RTOS user will encounter the following issues with multi task debugging Deadlock Stack overflow Memory corruption Memory leaks ee 5 Task starvation These problems usually arise due to unfamiliarity with resources of RTOS used incomplete execution of software development process and inadequate knowledge on limitations specifications of device used 2 1 Deadlock 2 1 1 What is it Deadlock is a special case of nested resource locks It occurs when two or more tasks got locked up as they failed to gain access to one another s resources required to resume their execution Semaphore a RTOS object that allows tasks to lock unlock resources facilitates
6. Summary 1 00 Oct 01 10 First edition issued General Precautions in the Handling of MPU MCU Products The following usage notes are applicable to all MPU MCU products from Renesas For detailed usage notes on the products covered by this document refer to the relevant sections of the document as well as any technical updates that have been issued for the products 1 Handling of Unused Pins Handle unused pins in accord with the directions given under Handling of Unused Pins in the manual The input pins of CMOS products are generally in the high impedance state In operation with an unused pin in the open circuit state extra electromagnetic noise is induced in the vicinity of LSI an associated shoot through current flows internally and malfunctions occur due to the false recognition of the pin state as an input signal become possible Unused pins should be handled as described under Handling of Unused Pins in the manual 2 Processing at Power on The state of the product is undefined at the moment when power is supplied The states of internal circuits in the LSI are indeterminate and the states of register settings and pins are undefined at the moment when power is supplied In a finished product where the reset signal is applied to the external reset pin the states of pins are not guaranteed from the moment when power Is supplied until the reset process is completed In a similar way the states of pins in a product that is rese
7. designed to be activated at an interval or within a time frame When task s is unable to activate due to other task s hogging on to the processor time task starvation happens Task starvation may results in intermittent and unexpected system behavior rather than hard failures 2 5 2 Why did it happen For instance a watchdog task at higher priority than other tasks can possibly result in starvations of other tasks 1f it is being activated at regular close intervals Alternatively deadlocks between tasks can result in task starvation as well Task starvation is largely due to poor implementation of scheduling algorithm 2 5 3 How to identify Using the conventional method of building testing locating and fixing to deal with task starvation is time consuming and expensive Using real time profile window of real time OS aware debugging tool real time profile performance of individual task may be viewed If a task s execution count time average and ratio fall below expectations it can be suspected to be suffering from starvation Figure 13 indicates task4 was not executed based on zero percentage under statistic Thus task4 may be suspected to be suffering from task starvation Realtime Profile Es B ct fe df es Function Average h m s ms us ns _ConfigureOperatingFrequency OFOB94 35 971 00 00 01 675 411 520 5 533 00 00 00 001 931 420 _meu_init OFOBBS 35 00 00 00 000 000 000 0 00 00 00 00 000 000 000 _pll from highs
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10. f electrical characteristics such as characteristic values operating margins immunity to noise and amount of radiated noise When changing to a product with a different part number implement a system evaluation test for the given product Notice All information included in this document is current as of the date this document is issued Such information however is subject to change without any prior notice Before purchasing or using any Renesas Electronics products listed herein please confirm the latest product information with a Renesas Electronics sales office Also please pay regular and careful attention to additional and different information to be disclosed by Renesas Electronics such as that disclosed through our website Renesas Electronics does not assume any liability for infringement of patents copyrights or other intellectual property rights of third parties by or arising from the use of Renesas Electronics products or technical information described in this document No license express implied or otherwise is granted hereby under any patents copyrights or other intellectual property rights of Renesas Electronics or others You should not alter modify copy or otherwise misappropriate any Renesas Electronics product whether in whole or in part Descriptions of circuits software and other related information in this document are provided only to illustrate the operation of semiconductor products and application examples You a
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12. peed OFOBDC 43 00 00 00 000 000 000 0 00 00 00 00 000 000 000 _highspeed from pll OFrOocos LF 00 00 00 000 000 000 0 00 00 00 00 000 000 000 _highspeed from focol25k OFOc1A 55 00 00 00 000 000 000 0 00 00 00 00 000 000 000 taski 0F0CS2 29 00 00 00 459 671 460 1 _task2 OFroc70 26 00 00 00 420 593 470 1 353 00 00 00 000 473 400 00 00 00 000 433 600 task3 OFOCSA 19 00 00 04 646 174 330 7 nn 00 00 004 789 870 task4 OFOCGE 15 00 00 000 000 009 At ne OF 00 00 000 000 000 _handletransact OFOCAE 166 00 00 05 134 283 810 mice J 00 00 00 005 287 620 Figure 13 Real time Profile Window showing Task Starvation R20AN0092ES0100 Rev 1 00 Page 9 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 3 Reference Documents User s Manual e RI600 4 V 1 00 User s Manual e RX Family Hardware Manual e E100 Emulator User s Manual e High performance Embedded Workshop Real time OS aware debugging Application Note The latest version can be downloaded from the Renesas Electronics website R20AN0092ES0100 Rev 1 00 Page 10 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 Website and Support Renesas Electronics Website e http www renesas com Inquiries http www renesas com inquiry All trademarks and registered trademarks are the property of their respective owners R20AN0092ES0100 Rev 1 00 Page 11 of 11 Oct 01 2010 RENESAS Revision Record Description Rev Date Page
13. r READY Break r j Objecti 4 Object2 A Objects A Object4 A Object A Objecth A Object A Object A Object9 A Objectio Figure 3 OS Object Window Task Objects 2 2 Stack Overflow 2 2 1 What is it In RI600 4 each task is being allocated with a fixed stack size statically in the configurator file Figure 4 This block of memory denotes the worst case memory consumption of the individual task during run time A stack overflow occurs when the stack exceeds its capacity and no more data can be inserted into it When stack overflow occurred application instability or even breakdown will happened i Task Definition task 1 name ID Taski_ Main entry addr Main Task Stack size 50 priority 6 initial start i exin 0x0 Figure 4 Defining User Stack in Configurator File 2 2 2 Why did it happen Stack overflow happened when the required stack size exceeded the allocated stack size An insufficient stack allocation is largely due to two common causes The stack is a region of memory where local variables are created Therefore sizes of the local variables declared are directly proportional to the amount of stack memory consumed When local variables that are far too large are created stack overflow will occur Figure 5 shows an example of a large local variable that consume more stack memory than being allocated for a task R20AN0092ES0100 Rev 1 00 Page 4 of 11 Oct 01 2010 RENESAS RX Family Debugging wi
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15. re fully responsible for the incorporation of these circuits software and information in the design of your equipment Renesas Electronics assumes no responsibility for any losses incurred by you or third parties arising from the use of these circuits software or information When exporting the products or technology described in this document you should comply with the applicable export control laws and regulations and follow the procedures required by such laws and regulations You should not use Renesas Electronics products or the technology described in this document for any purpose relating to military applications or use by the military including but not limited to the development of weapons of mass destruction Renesas Electronics products and technology may not be used for or incorporated into any products or systems whose manufacture use or sale is prohibited under any applicable domestic or foreign laws or regulations Renesas Electronics has used reasonable care in preparing the information included in this document but Renesas Electronics does not warrant that such information is error free Renesas Electronics assumes no liability whatsoever for any damages incurred by you resulting from errors in or omissions from the information included herein Renesas Electronics products are classified according to the following three quality grades Standard High Quality and Specific The recommended applications for each Renesas Electronics pro
16. s A memory leak can diminish the performance of the device as it reduces the amount of available memory When too much memory leaks occur part or whole device might stops working correctly which may eventually lead to a system failure due to memory exhaustion 2 4 2 Why did it happen Each resource declared used takes up space in memory When an application runs tasks can acquire memory or gain access to resources using various kernel objects e g semaphore If a task is incorrectly deleted it might not get to release the acquired resources This abrupt deletion of the operating task can result in a corrupt data structure unreleased resource and or inaccessible data structure due to the unreleased resource thereby resulting in memory leak Figure 10 illustrates an example of a memory leak due to abrupt termination of a task In Figure 10 task2 terminates task1 before it releases the acquired memory pool ID_MPF1 If the process repeats device will eventually run out of memory for allocation R20AN0092ES0100 Rev 1 00 Page 7 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 oid taski P INT exinfj ER lErcd lNumber lErcd get mpr ID MPF1 sp blki 1 lErecd Sta tsk ID TAS5EzZ 2 lErcd wai sem ID SEMI oid taske VP INT exinfj ER lEred lNumber lErcd ter tsk IPD TAsk1 lErecd Sta tak ID TASE3 3 Figure 10 Memory Leak 2 4 3 How to identify In the event of a memory leak large part
17. t by an on chip power on reset function are not guaranteed from the moment when power Is supplied until the power reaches the level at which resetting has been specified 3 Prohibition of Access to Reserved Addresses Access to reserved addresses is prohibited The reserved addresses are provided for the possible future expansion of functions Do not access these addresses the correct operation of LSI is not guaranteed if they are accessed 4 Clock Signals After applying a reset only release the reset line after the operating clock signal has become stable When switching the clock signal during program execution wait until the target clock signal has stabilized When the clock signal is generated with an external resonator or from an external oscillator during a reset ensure that the reset line is only released after full stabilization of the clock signal Moreover when switching to a clock signal produced with an external resonator or by an external oscillator while program execution is in progress wait until the target clock signal is stable 5 Differences between Products Before changing from one product to another i e to a product with a different part number confirm that the change will not lead to problems The characteristics of an MPU or MCU in the same group but having a different part number may differ in terms of the internal memory capacity layout pattern and other factors which can affect the ranges o
18. t used 1 Free15 Detail Registered events Save Load Figure 7 Setting Hardware Break for Stack Overflow Detection R20AN0092ES0100 Rev 1 00 Page 5 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 Alternatively user may refer to the Data Coverage Window for the access rate of individual task stack If a particular task stack access rate hit 100 stack overflow is likely to have occurred as shown in Figure 8 Data Coverage fe il ste ODOO8eO 000923 TaskID 2 Entry task2 20 00024 000987 TaskID 3 Entry task3 OO045 000856 TaskID O Entry M3T MR3O I tS 000988 OOOSEB TaskID 4 Entry _task4 QOOGBF TaskID 1l Entry _taskl RAM oooss STK TASK nans 60 O008 64 OOO 68 OO08 6c o00 e 70 oo08 74 Address Range j Section Figure 8 Data Coverage Window showing Task Stack Usage 2 3 Memory Corruption 2 3 1 What is it When contents of memory location are unintentionally modified memory corruption is said to have occurred When the corrupted memory contents are accessed it will leads to bizarre application behavior or even system crash 2 3 2 Why did it happen Memory corruptions are largely a result of programming errors Memory corruption errors may occur in one of the following ways e Accessing un initialized memory that may lead to unpredictable application behavior e Accessing out of bound memory With the improper use of pointers memory loca
19. th RI600 4 Task Definition PREREEREEEEEREEREERE EERE ER EES veel task 1 name IL_TASE1 a r r r aia seas Perens oid taski VP INT exinf initial Start GM f Stack 51zZ6 sie ER Ered lNumber priority 1 a wen cba sane double variable y 200 exint 1 7 valable yrequire 200 X 4 bytes Task allocated 512 bytes stack size S00 bytes of memory Figure 5 Stack Overflow due to Large Local Variable The other major cause of a stack overflow results from infinite recursion Infinite recursion is a design error that causes the functions to be executed in an infinite loop as shown in Figure 6 oid check output int var int output wee output output i Old get output int war int output check output output I Figure 6 Stack Overflow due to Infinite Recursion 2 2 3 How to identify In Renesas E100 emulator task stack access violation facility is provided By activating this option error is detected when one task attempts writing to the task stack of another task Users are able to define the actions to be taken when a task stack access violation is detected Figure 7 shows the setting of hardware break as the action for task stack violation E Hardware Break Hardware Break OR Exception l violation of access protection Detail V Read From a uninitialized memory Detail Detail Performance overflow r Trace memory overflow V Task stack access violation Detail Even
20. tion outside of current task stack boundary may result in a system crash e Writing data beyond buffer capacity 2 3 3 How to identify There are three types of memory protection available for users Figure 9 The protection available includes e Violation of access protection e Reading from non initialize memory e Stack Access violation R20AN0092ES0100 Rev 1 00 Page 6 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 Configuration properties if Violation of access protection if Read from uninitialized memory Performance overflow Trace memory overflow r Checked thems will display warning in a dialog balloon Cancel Help Do not show this dialog box again Figure 9 Configuration Settings for Memory Protection Violation of access protection allows the detection of an incorrect access to an unused area or writing to a ROM area Reading from a non initialized area can also be detected The actions correspond to the detection can be in the form of a warning display or color highlight in the RAM Monitor window Stack access violation detects an error when one task attempts to write to the stack of another task 2 4 Memory Leaks 2 4 1 What is it A memory leaks occurs when acquired memory is not released that causes system to run out of memory eventually It is one of the most common problems found in multi task applications that involve high frequency of memory passing among the task
21. w of Renesas real time OS aware debugging extension as shown in Figure 2 and Figure 3 Figure 2 of task analyze window displays the execution time of respective tasks As can be seen execution duration of tasks 1 and 2 are very short as compared to tasks 3 and 4 Therefore user will be able to identify the need to investigate both tasks 3 and 4 R20AN0092ES0100 Rev 1 00 Page 3 of 11 Oct 01 2010 RENESAS RX Family Debugging with RI600 4 Task Analyze Ha Mark 43966 563046 519080 ID neme Num Max Run Time Min Run Time Avg Run Time Total Run Time Statistic RI600 4 In 1 4104 4104 4104 4104 0 793 D task1 1 1912 1912 1912 1912 0 353 D ae T 1 2 _task2 1 1956 1956 1956 1956 3 4 _task3 126 3416 1944 2054 258840 49 878 _task4 126 2812 1236 2003 252368 Figure 2 Task Analysis Window Figure 3 shows the OS object window for task object The OS object window displays the status of individual task From Figure 3 user will be able to identify the reason for the low execution duration of tasks 1 and 2 Both tasks are in a WAITING for respective semaphore resource Tasks and 2 are therefore engaged in a deadlock OS Object mx RA BY GAR BEN BY Ake Object ID Entry address Kind Ya Auto update RA Task 1 _taskl Status WaitFactor TIA Break Y Task _taske Status WaitPFactor 3 Break 2 pTI Task 3 taski Status WaitFactor RUNNING Break Task 4 Status WaLtFacto
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