The repository is a revision of itm-tools by japaric. Several new features are added to PC sampling for analysis.

Tracing interrupt handling

This set of tools currently supports:

• Exception tracing, via excevt
• PC sampling, via pcsampl, and
• Port demuxing, via port-demux

NOTE: These tools have been designed to deal with ITM traces that contain only few different, but related, packet types. If your ITM traces contain timestamps, PC sampling, instrumentation, exception trace and other kind of packets, all intermixed, then these tools won't work for you. In practice, though, it's likely that you'll only trace one aspect at a time due to the bandwidth limit of the ITM output.

The ITM can generate an exception trace packet any time the processor enters, leaves or returns from an interrupt. Timestamp packets can be attached to these packets. This information can be used to trace interrupt prioritization and measure the execution time of interrupt handlers. excevt simplifies the analysis and visualization of this information.

To configure the ITM for exception tracing you can add the following commands to your GDB script. Alternatively, you can configure the ITM peripheral from the application.

$ tail openocd.gdb
# NOTE: pick ONE of these (see cortex-m-quickstart for more details)
# monitor tpiu config internal itm.bin uart off 8000000
monitor tpiu config external uart off 8000000 2000000

# set EXCEVTENA; clear PCSAMPLENA
monitor mmw 0xE0001000 65536 4096

# on the STM32F1 the timestamp counter will not stop when the processor is
# halted. This results in timestamp packets being emitted when the processor is
# halted. So we disable timestamping when halting the processor from the
# debugger (e.g. # bkpt)
define hook-stop
  echo clear TSENA\n
  monitor mmw 0xE0000E80 0 2
end

NOTE: In practice, you should not mix debugging and tracing as the debugger will interfere with timestamps and other event counters -- this is ARM's recommendation. We mix them here because that makes the tools easier to try out and these are just examples.

Here's an example RTFM application that features a few interrupt handlers that preempt each other.

#[rtfm::app(device = stm32f103xx)]
const APP: () = {
    #[init]
    fn init() {
        rtfm::pend(Interrupt::EXTI0);

        // set TSENA: enable local timestamps
        unsafe {
            core.ITM.tcr.modify(|r| r | (1 << 1));
        }
    }

    // taken after `init` returns
    #[interrupt(priority = 1)]
    fn EXTI0() { // IRQ(6)
        rtfm::pend(Interrupt::EXTI2);

        // wait a bit so all ITM packets are flushed
        asm::delay(256);

        asm::bkpt(); // stop tracing
    }

    #[interrupt(priority = 2)]
    fn EXTI1() { // IRQ(7)
        asm::delay(256);
    }

    #[interrupt(priority = 3)]
    fn EXTI2() { // IRQ(8)
        // NOTE: EXTI1 has lower priority
        rtfm::pend(Interrupt::EXTI1);

        asm::delay(512);
    }
};

Collecting ITM traces from this application,

$ # collect ITM data
$ cat /dev/ttyUSB0 > itm.bin

$ # on another terminal: run program to `asm::bkpt`
$ cargo run --release

Produces these packets:

$ itm-decode itm.bin
ExceptionTrace { function: Enter, number: 22 }
LocalTimestamp { delta: 30, tc: 0, len: 2 }
ExceptionTrace { function: Enter, number: 24 }
LocalTimestamp { delta: 20, tc: 0, len: 2 }
ExceptionTrace { function: Exit, number: 24 }
LocalTimestamp { delta: 528, tc: 0, len: 3 }
ExceptionTrace { function: Enter, number: 23 }
LocalTimestamp { delta: 3, tc: 0, len: 1 }
ExceptionTrace { function: Exit, number: 23 }
LocalTimestamp { delta: 268, tc: 0, len: 3 }
ExceptionTrace { function: Return, number: 22 }
LocalTimestamp { delta: 7, tc: 0, len: 2 }

Which can be better visualized using the excevt tool:

$ excevt -t itm.bin
!000000000 → IRQ(6)
=000000020 → IRQ(8)
=000000548 ← IRQ(8)
=000000551 → IRQ(7)
=000000819 ← IRQ(7)
=000000826 ↓ IRQ(6)

The left column shows the timestamp of the events. = means a precise timestamp, < means that the event occurred before the reported timestamp and ! means that the counter was reset due to packet loss.

The arrows on the second column indicate whether the processor entered the interrupt (→), left the interrupt (←) or returned to the interrupt handler (↓).

The last column indicates the interrupt, or exception, associated to the event. IRQ(n) means a device specific interrupt. For Cortex-M exceptions you'll see the standard name, for example SysTick. Finally, you may also see the word Thread, which indicates thread mode (that is not servicing any interrupt or exception).

excevt also works when timestamps are disabled. For example, if you comment out the setting TSENA in the above example and re-run the program, you'll get these outputs from itm-decode and excevt:

$ itm-decode itm.bin
ExceptionTrace { function: Enter, number: 22 }
ExceptionTrace { function: Enter, number: 24 }
ExceptionTrace { function: Exit, number: 24 }
ExceptionTrace { function: Enter, number: 23 }
ExceptionTrace { function: Exit, number: 23 }
ExceptionTrace { function: Return, number: 22 }

$ excevt itm.bin
 ????????? → IRQ(6)
 ????????? → IRQ(8)
 ????????? ← IRQ(8)
 ????????? → IRQ(7)
 ????????? ← IRQ(7)
 ????????? ↓ IRQ(6)

Profiling firmware

The ITM can also be configured to output periodic packets that contain snapshots of the program counter. These can be used to answer the question: where is my program spending most of its time? pcsampl can process the data and answer this question.

To configure the ITM for periodic PC sampling you can add the following commands to your GDB script.

$ tail openocd.gdb
# NOTE: pick ONE of these (see cortex-m-quickstart for more details)
# monitor tpiu config internal itm.bin uart off 8000000
monitor tpiu config external uart off 8000000 2000000

echo clear EXCEVTENA; set PCSAMPLENA\n
monitor mmw 0xE0001000 4096 65536
echo enable CYCCNT; set POSTINIT / POSTRESET to 3\n
monitor mmw 0xE0001000 103 510

Here's an example RTFM application that runs two periodic tasks and sleeps when none of the tasks is active.

#[rtfm::app(device = stm32f103xx)]
const APP: () = {
    #[init(spawn = [foo, bar])]
    fn init() {
        // bootstrap periodic tasks
        spawn.foo().unwrap();
        spawn.bar().unwrap();
    }

    #[task(priority = 1, schedule = [foo])]
    #[inline(never)]
    fn foo() {
        static mut COUNT: u8 = 0;

        // fake work
        asm::delay(1024);

        *COUNT += 1;
        if *COUNT > 100 {
            asm::bkpt(); // stop tracing
        } else {
            schedule.foo(scheduled + 30_000.cycles()).unwrap();
        }
    }

    #[task(priority = 2, schedule = [bar])]
    #[inline(never)]
    fn bar() {
        // fake work
        asm::delay(512);

        schedule.bar(scheduled + 20_000.cycles()).unwrap();
    }

    extern "C" {
        fn EXTI0();
        fn EXTI1();
    }
};

Collecting the ITM packets produces a few kilobytes of data:

$ itm-decode itm.bin 2>/dev/null | wc
  11714   58591  362321

This information can be summarized using the pcsampl tool:

$ pcsampl -e target/thumbv7m-none-eabi/release/app itm.bin 2>/dev/null
    % FUNCTION
91.69 *SLEEP*
 3.70 app::foo_o7xa::h9e4953f3ea6a58d8
 2.87 app::bar_t7fm::hf544b1b6f026d266
 0.95 SysTick
 0.52 EXTI1
 0.26 EXTI0
 0.01 main
-----
 100% 11692 samples

The percentage of time spent sleeping is always displayed first. Afterwards, the percentage of time spent in other functions is reported, in descending order.

The ITM lets the software send instrumentation packets. These packets carry a stimulus port number which the application can use to mux different sources of information into a single stream of data. Naturally, the receiver must demux this data back into the original streams. port-demux provides such functionality.

To enable port muxing of instrumentation packets you can add the following commands to your GDB script.

$ tail openocd.gdb
# NOTE: pick ONE of these (see cortex-m-quickstart for more details)
# monitor tpiu config internal itm.bin uart off 8000000
monitor tpiu config external uart off 8000000 2000000

# enable ITM ports
monitor itm port 0 on
monitor itm port 1 on
monitor itm port 2 on

# use this if you used any of the other GDB script snippets
echo clear EXCEVTENA and PCSAMPLENA\n
monitor mmw 0xE0001000 0 69632

Here's a cortex-m-rt application that reports data using three different stimulus ports.

#[entry]
fn main() -> ! {
    let mut p = cortex_m::Peripherals::take().unwrap();

    iprint!(&mut p.ITM.stim[0], "Hell");

    // imagine this interrupts the port 0 write
    iprint!(&mut p.ITM.stim[1], "The ");

    // imagine this interrupts the port 1 write
    iprintln!(&mut p.ITM.stim[2], "The answer is 42");

    // resume port 1 write
    iprintln!(
        &mut p.ITM.stim[1],
        "quick brown fox jumps over the lazy dog"
    );

    // resume port 0 write
    iprintln!(&mut p.ITM.stim[0], "o, world!");

    asm::bkpt();

    loop {}
}

You can set up port-demux to demux the stream of data as it's received.

$ cat /dev/ttyUSB0 | port-demux -f

And then watch over the demuxed streams

$ # on another terminal
$ tail -f 0.stim
Hello, world!

$ # on another terminal
$ tail -f 1.stim
The quick brown fox jumps over the lazy dog

$ # on another terminal
$ tail -f 2.stim
The answer is 42

The code in this repository is distributed under the terms of both the MIT license and the Apache License (Version 2.0).

See LICENSE-APACHE and LICENSE-MIT for details.