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[[Image:Arm-logo.jpg|right|200px]]

''The reference software development tool suite for ARM processors''

''Developed by ARM Architecture experts, the ARM DS-5™ toolchain enables engineers to develop robust and highly optimized embedded software for ARM application processors, such as the Cortex™-A series, Cortex-R real-time processors and other ARM embedded processors. The DS-5 toolchain comprises tools such as the best-in-class ARM C/C++ Compiler, a powerful Linux/Android™/RTOS-aware debugger, the ARM Streamline™ system-wide performance analyzer and real-time system model simulators, all conveniently packaged in a user friendly integrated development environment (IDE) based on the Eclipse.''

==Introduction==
This is a quick start for ARM DS-5 software, DSTREAM debugging hardware, and Bluetechnix CM-i.MX6 Quad/Dual/Solo.

This document is not exhaustive, please refer to the [[#Further reading|Further reading]] chapter how to retrieve documentation about DS-5.

==What you will need==
*ARM DS-5 software for Linux or Windows
*ARM DSTREAM Debug and Trace unit (optional)
*Ethernet connection between host and target (optional)

==What is supported==
*DS-5 Community Edition
**Linux application debugging (gdbserver)
**Streamline™ system-wide performance analyzer
*DS-5 Professional Edition & DSTREAM
**Bare Metal Debug (via JTAG)
**Linux Kernel/Device Driver Debug (via JTAG)
**Tracing using the Cortex-A9 ETB (Embedded Trace Buffer) (via JTAG)

==Install ARM DS-5==
You may start with the free DS-5 Community Edition, which is available at https://ds.arm.com/ds-5-community-edition/.

Evaluation licenses for the Professional Edition are available - see https://ds.arm.com/downloads/.

==U-Boot debugging with DSTREAM==
DS-5 and DSTREAM are used to initialize the i.MX6 target (including SDRAM), load the U-Boot ELF file to the target's memory, and debug/trace it.

You can download the initialization scripts for CM-i.MX6 from https://support.becom-group.com/releases/imx/mx6/ds-5/.
*'''cmimx6dq_mmdc_ddr3_init.ds''' for the Quad- or Dual-Core processor
*'''cmimx6s_mmdc_ddr3_init.ds''' for the Solo processor

How to create a proper debug configuration.
*Click ''Run'' from the menu and choose ''Debug Configurations...''.
*Right-click on ''DS-5 Debugger'' and click ''New''.
*On the ''Connection'' tab, in the ''Select target'' area, select one of the following, depending on the number of ARM cores your modules has.
**'''Freescale''' → '''i.MX6 Quad (Generic)'''
**'''Freescale''' → '''i.MX6 Dual (Generic)'''
**'''Freescale''' → '''i.MX6 Solo (Generic)'''
*Select ''Bare Metal Debug'' → ''Debug Cortex-A9_0''.

: [[Image:Ds5 mx6 debugconfiguration 3.png|864px]]

*Open the ''Files'' tab.
*Select the U-Boot ELF file '''u-boot''' (from LTIB's rootfs) as application to download, and check the ''Load symbols'' box.

: [[Image:Ds5 mx6 debugconfiguration 4.png|912px]]

*Now open the ''Debugger'' tab.
*Select ''Debug from entry point''.
*Select ''Run target initialization debugger script'', and choose file '''cmimx6''xx''_mmdc_ddr3_init.ds''' via the ''File System...'' button (file download link above).
*If you like U-Boot to start as soon as you start the DS-5 debugging session, put ''continue'' into the ''Execute debugger commands'' field.
*Finally, add U-Boot's source folder as a source search directory.

: [[Image:Ds5 mx6 debugconfiguration 5.png|912px]]

The following screenshot shows DS-5 while U-Boot debugging, in processor-stopped state.

: [[Image:Ds5 mx6 uboot debugging.png|1260px]]

==Linux kernel debugging with DSTREAM==

The default kernel configuration of the CM-i.MX6 includes the option to compile the kernel with debug info.
Kernel hacking -->
[*] Kernel debugging
[*] Compile the kernel with debug info

This will include symbol information for the debugger in the 'vmlinux' kernel executable.

=== Create a DS-5 debug configuration ===
*Click ''Run'' from the menu and choose ''Debug Configurations...''.
*Right-click on ''DS-5 Debugger'' and click ''New''.
*On the ''Connection'' tab, in the ''Select target'' area, select one of the following, depending on the number of ARM cores your modules has.
**'''Freescale''' → '''i.MX6 Quad (Generic)'''
**'''Freescale''' → '''i.MX6 Dual (Generic)'''
**'''Freescale''' → '''i.MX6 Solo (Generic)'''
*Select ''Linux Kernel and/or Device Driver Debug'' → ''Debug Cortex-A9x4 SMP''.

*Go to the ''Debugger'' tab within the debug configuration.
*In the ''Files'' area, select ''Load symbols from file'' and add the file 'vmlinux' from LTIB's rpm/BUILD/linux/ directory.
*Check ''Execute debugger commands'' and add the command
add-symbol-file "<LinuxSourceDir>/vmlinux" S:0x0
:below. (Replace <LinuxSourceDir> with your kernel's source directory, which usually is ltib/rpm/BUILD/linux/.)
*In the ''Paths'' area, add the Linux kernel's source directory as Source search directory.

: [[Image:Ds5 mx6 debugconfiguration 2.png|912px]]

=== Debug Linux kernel code ===
*Then, make sure your CM-i.MX6 has booted Linux, and click on 'Debug'.
*DSTREAM will now connect to the processor, but will not halt it. You can do this by pressing the yellow 'Pause' button in the 'Debug Control' view.
*Below is a screenshot of DS-5 after halting the processor at a breakpoint in the GPU kernel driver.

: [[Image:Ds5 mx6 linux kernel debug.png|1260px]]

=== Debug a kernel module ===

Once DS-5 is connected to a target running Linux (Using the ''Linux Kernel and/or Device Driver Debug'' debugging target), it keeps track of all loaded kernel modules.

To view all loaded kernel modules, you have to open the ''Modules'' view in DS-5.
*From the menu, select ''Window'', ''Show View'', ''Modules''.

To enable source-level debugging for a kernel module, you have to load the symbol information first. In our example, we want to debug the ''flexcan'' kernel module.
*We load the kernel module on the i.MX6 with the command
modprobe flexcan
*The kernel module now shows up in the ''Modules'' view. Note that the ''Symbol'' column contains 'no symbols', because DS-5 has no symbol information for this kernel module yet.
*We right-click into the ''Host File'' field of the ''flexcan'' module, and select ''Add Symbol File''.
*We choose the appropriate <tt>.ko</tt> file (which is the kernel module) straight from the Linux kernel's build directory:
/home/harald/imx/6/31-ltibinstall1-4.1.0/ltib/rpm/BUILD/linux-3.0.35/drivers/net/can/flexcan.ko
*Now, the symbol information is loaded.

If we set a breakpoint e.g. into the ''flexcan_start_xmit()'' function, and send something on the CAN bus (via the Linux terminal), the breakpoint will be hit.

'''NOTE:''' All frequently execute steps can be fully automated with DS-5's scripting capabilities!

A short explanation of the screenshot below:
*''Debug Control'' view: You can see that process 'cantest' stopped within the ''flexcan_start_xmit()'' function.
*''Breakpoints'' view: The first breakpoint was set by us, the other breakpoints are automatically set by DS-5 to intercept kernel module loading/unloading.
*''Modules'' view: You can see that the 'flexcan' module has symbol information loaded. The 'Host File' field contains the kernel module file.

: [[Image:Ds5 mx6 linux module debug.png|1260px]]

Here is the link to ARM's Getting Started on Kernel modules debugging: [https://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0478p/deb1332953027609.html]

== Enable Tracing ==
DS-5 may use the on-chip ETB (Embedded Trace Buffer) of the i.MX6 to capture a small amount of real time trace data.

*In the debug configuration dialog, go to the ''Connection'' tab.
*Click the ''Edit...'' button for DTSL options.

*In the DTSL (Debug and Trace Services Layer) Configuration Editor, tab ''Trace Buffer'', set the Trace capture method to ''On Chip Trace Buffer (ETB)''.

: [[Image:Ds5 mx6 trace 1.png|600px]]

*On the ''Cortex-A9'' tab, enable trace for individual Cortex-A9 cores, and select other options according to your wishes.

: [[Image:Ds5 mx6 trace 2.png|600px]]

*Click ''OK'' and ''Debug'' in the parent dialog to start debugging.
*If the processor is now halted, e.g. by a breakpoint, the ''Trace'' view updates with instruction trace and source-level function analysis.
*If the ''Trace'' view is not yet opened, select ''Window'' from the menu, ''Show View'', and ''Trace''.

The screenshot below shows the kernel code trace while the processor executes an instance of the ''md5sum'' application.

: [[Image:Ds5 mx6 traceview.png|1260px]]

== Using DS-5 Streamline ==

*Streamline works over an Ethernet connection.
*No JTAG connection nor debugger hardware is required.
*Supported by the DS-5 Community Edition.

=== Prepare the target ===

The CM-i.MX6 Linux BSP comes with Streamline support out of the box, this means,
*the Linux kernel is compiled with debugging options
*the ''gator'' kernel module is automatically installed,
*and the ''gatord'' daemon is automatically started at boot. You might notice the following message on the terminal:
Starting 'gatord' for ARM DS-5 Streamline

Be sure that your CM-i.MX6 is connected to the network and has a valid IP address.

=== Start streaming ===

*If the Streamline view is not visible in DS-5, open ''Window'' from the menu, and select ''Show View'', ''Other...''.
*In the opened window, from folder ''ARM Streamline'', select the ''Streamline Data'' view.
*Enter the IP address of your CM-i.MX6 in the top field of the Streamline view, and click the ''Start Capture'' button right of it. Choose a folder for storing the capture data afterwards.

: [[Image:Ds5 mx53 streamline.png|1260px]]

*Now, you can see a live view of the running system, including CPU Activity, Memory usage, Disk I/O etc.
*After you have stopped streaming, you may analyse the data in the ''Capture_Cxx_Axx'' view.

: [[Image:Ds5 mx53 streamline 2.png|1260px]]

== Further reading ==
*ARM Infocenter for DS-5: https://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.subset.swdev.ds5/index.html
**ARM Infocenter for DS-5 Streamline: https://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0482m/index.html
*ARM Infocenter for DSTREAM: https://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.subset.swdev.dstream/index.html
*DS-5 Community Edition: https://ds.arm.com/ds-5-community-edition/
*DS-5 Product Page: https://www.arm.com/products/tools/software-tools/ds-5/index.php
*DS-5 Downloads: https://www.arm.com/products/tools/software-tools/ds-5/ds-5-downloads.php

[[Category:I.MX53]]

ARM DS-5 Quick Start (i.MX6) - Versionsgeschichte

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