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seqdetach.jpg Property changes : Added: svn:mime-type ## -0,0 +1 ## +application/octet-stream \ No newline at end of property Index: Makefile.in =================================================================== --- Makefile.in (nonexistent) +++ Makefile.in (revision 1765) @@ -0,0 +1,568 @@ +# Makefile.in generated by automake 1.6.2 from Makefile.am. +# @configure_input@ + +# Copyright 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002 +# Free Software Foundation, Inc. +# This Makefile.in is free software; the Free Software Foundation +# gives unlimited permission to copy and/or distribute it, +# with or without modifications, as long as this notice is preserved. + +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY, to the extent permitted by law; without +# even the implied warranty of MERCHANTABILITY or FITNESS FOR A +# PARTICULAR PURPOSE. + +@SET_MAKE@ + +# +# COPYRIGHT (c) 1988-2002. +# On-Line Applications Research Corporation (OAR). 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< $< > $@ + +index.html $(PROJECT)*.html: $(PROJECT).texi \ + rtems_header.html rtems_footer.html + $(TEXI2WWW) $(TEXI2WWW_ARGS) -base $(PROJECT) $< + +@USE_DVI_TRUE@.texi.dvi: +@USE_DVI_TRUE@ $(TEXI2DVI) -q -I $(srcdir) -I $(top_srcdir) $< +@USE_DVI_TRUE@@USE_PS_TRUE@.dvi.ps: +@USE_DVI_TRUE@@USE_PS_TRUE@ TEXINPUTS="$(srcdir)$(PATH_SEPARATOR)$$TEXINPUTS" \ +@USE_DVI_TRUE@@USE_PS_TRUE@ $(DVIPS) $< -o $@ + +@TEXI2PDF_TRUE@@USE_PDF_TRUE@.texi.pdf: +@TEXI2PDF_TRUE@@USE_PDF_TRUE@ rm -f *.aux *.cp *.fn *.ky *.pg *.tp *.toc *.vr +@TEXI2PDF_TRUE@@USE_PDF_TRUE@ $(TEXI2PDF) -q -I $(srcdir) -I $(top_srcdir) $< + +# +# Process Automatically Generated Files +# + +$(srcdir)/intro.texi: intro.t + $(BMENU2) -c -p "Top" \ + -u "Top" \ + -n "Document Revision History" < $< > $@ + +$(srcdir)/revision.texi: revision.t + $(BMENU2) -c -p "Introduction" \ + -u "Top" \ + -n "Objectives" < $< > $@ + +$(srcdir)/objectives.texi: objectives.t + $(BMENU2) -c -p "Document Revision History" \ + -u "Top" \ + -n "A Rapid Tour of GDB Internals" < $< > $@ + +$(srcdir)/gdbinternals.texi: gdbinternals.t + $(BMENU2) -c -p "Implied Restrictions" \ + -u "Top" \ + -n "Interfacing GDB with RTEMS as a Target" < $< > $@ + +$(srcdir)/interfacing.texi: interfacing.t + $(BMENU2) -c -p "A Rapid Tour of GDB Internals" \ + -u "Top" \ + -n "Communication with GDB" < $< > $@ + +$(srcdir)/comm.texi: comm.t + $(BMENU2) -c -p "Interfacing GDB with RTEMS as a Target" \ + -u "Top" \ + -n "RTEMS Debugger Server Daemon" < $< > $@ + +$(srcdir)/daemon.texi: daemon.t + $(BMENU2) -c -p "Communication with GDB" \ + -u "Top" \ + -n "Conclusion" < $< > $@ + +$(srcdir)/conclusion.texi: conclusion.t + $(BMENU2) -c -p "Output of a Debug Session with the Prototype" \ + -u "Top" \ + -n "" < $< > $@ +# Tell versions [3.59,3.63) of GNU make to not export all variables. +# Otherwise a system limit (for SysV at least) may be exceeded. +.NOEXPORT: Index: rgdb_specs.texi =================================================================== --- rgdb_specs.texi (nonexistent) +++ rgdb_specs.texi (revision 1765) @@ -0,0 +1,108 @@ +\input texinfo @c -*-texinfo-*- +@c %**start of header +@setfilename rgdb_specs +@setcontentsaftertitlepage +@syncodeindex vr fn +@synindex ky cp +@paragraphindent 0 +@c %**end of header + +@c +@c COPYRIGHT (c) 1988-2002. +@c On-Line Applications Research Corporation (OAR). +@c All rights reserved. +@c +@c rgdb_specs.texi,v 1.8 2002/01/17 21:47:46 joel Exp +@c + +@c +@c Master file for the Getting Started (C) Guide +@c + +@include version.texi +@include common/setup.texi + +@ifset use-ascii +@dircategory RTEMS On-Line Manual +@direntry +* RTEMS Remote Debugger Server Specifications: (rgdb_specs). +@end direntry +@end ifset + +@c +@c Title Page Stuff +@c + +@c +@c I don't really like having a short title page. --joel +@c +@c @shorttitlepage RTEMS Remote Debugger Server Specifications + +@setchapternewpage odd +@settitle RTEMS Remote Debugger Server Specifications +@titlepage +@finalout + +@title RTEMS Remote Debugger Server Specifications +@subtitle Edition @value{EDITION}, for @value{VERSION} +@sp 1 +@subtitle @value{UPDATED} +@author Emmanuel Raguet and Eric Valette, Canon Research Centre +@author On-Line Applications Research Corporation +@page +@include common/cpright.texi +@end titlepage + +@c This prevents a black box from being printed on "overflow" lines. +@c The alternative is to rework a sentence to avoid this problem. + +@include intro.texi +@include revision.texi +@include objectives.texi +@include gdbinternals.texi +@include interfacing.texi +@include comm.texi +@include daemon.texi +@include conclusion.texi + +@ifinfo +@node Top, Introduction, (dir), (dir) +@top rgdb_specs + +This is the online version of the RTEMS Remote Debugger Server Specifications. + +@menu +* Introduction:: +* Document Revision History:: +* Objectives:: +* A Rapid Tour of GDB Internals:: +* Interfacing GDB with RTEMS as a Target:: +* Communication with GDB:: +* RTEMS Debugger Server Daemon:: +* Conclusion:: +@end menu + +@c * Command and Variable Index:: +@c * Concept Index:: +@end ifinfo +@c +@c +@c Need to copy the emacs stuff and "trailer stuff" (index, toc) into here +@c + +@c @node Command and Variable Index, Concept Index, Installing GCC AND NEWLIB, Top +@c @unnumbered Command and Variable Index + +@c There are currently no Command and Variable Index entries. + +@c @printindex fn + +@c @node Concept Index, , Command and Variable Index, Top +@c @unnumbered Concept Index + +@c There are currently no Concept Index entries. +@c @printindex cp + +@contents +@bye + Index: seqbreak.eps =================================================================== --- seqbreak.eps (nonexistent) +++ seqbreak.eps (revision 1765) @@ -0,0 +1,311 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: seq_break.eps +%%Creator: fig2dev Version 3.2 Patchlevel 1 +%%CreationDate: Tue Oct 13 14:00:22 1998 +%%For: valette@tri-yann (Eric Valette,,6891,) +%%Orientation: Portrait +%%BoundingBox: 0 0 522 1067 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1765) @@ -0,0 +1,15 @@ +2002-03-27 Ralf Corsepius + + * Makefile.am: Remove AUTOMAKE_OPTIONS. + +2002-01-18 Ralf Corsepius + + * Makefile.am: include main.am, require automake-1.5. + +2001-01-17 Joel Sherrill + + * .cvsignore: Added rtems_header.html and rtems_footer.html. + +2000-08-10 Joel Sherrill + + * ChangeLog: New file. Index: seqdetach.eps =================================================================== --- seqdetach.eps (nonexistent) +++ seqdetach.eps (revision 1765) @@ -0,0 +1,167 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: seq_detach.eps +%%Creator: fig2dev Version 3.2 Patchlevel 1 +%%CreationDate: Tue Oct 13 14:00:31 1998 +%%For: valette@tri-yann (Eric Valette,,6891,) +%%Orientation: Portrait +%%BoundingBox: 0 0 427 293 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%Magnification: 1.0000 +%%EndComments +/$F2psDict 200 dict def +$F2psDict begin +$F2psDict /mtrx matrix put +/col-1 {0 setgray} bind def +/col0 {0.000 0.000 0.000 srgb} bind def +/col1 {0.000 0.000 1.000 srgb} bind def +/col2 {0.000 1.000 0.000 srgb} bind def +/col3 {0.000 1.000 1.000 srgb} bind def +/col4 {1.000 0.000 0.000 srgb} bind def +/col5 {1.000 0.000 1.000 srgb} bind def +/col6 {1.000 1.000 0.000 srgb} bind def +/col7 {1.000 1.000 1.000 srgb} bind def +/col8 {0.000 0.000 0.560 srgb} bind def +/col9 {0.000 0.000 0.690 srgb} bind def 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pop neg 0 rm col0 sh gr +/Times-Roman ff 300.00 scf sf +8100 5625 m +gs 1 -1 sc (Close connection) dup sw pop neg 0 rm col0 sh gr +/Times-Roman ff 300.00 scf sf +4800 1650 m +gs 1 -1 sc (messages exchange) dup sw pop 2 div neg 0 rm col0 sh gr +$F2psEnd +rs Index: interfacing.t =================================================================== --- interfacing.t (nonexistent) +++ interfacing.t (revision 1765) @@ -0,0 +1,79 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c interfacing.t,v 1.3 2002/01/17 21:47:46 joel Exp +@c + +@chapter Interfacing GDB with RTEMS as a Target + +@c XXX figure reference +So, basically, porting GDB to RTEMS environment requires implementing +the functions contained in the target_ops structure. The native debugger implementation +(where the host machine is also the target one) uses direct function calls. +For our needs (remote debugging), these functions must be implemented to support +the encapsulation in UDP/IP layers and communications between different types +of host machines : the best solution is use the SUN Remote Procedure Calls API +(SUN RPC). This SUN RPC module will be explained below (see paragraph @b{Communication with GDB}). + +We can note that the functions described in the target_ops structure +are high-level functions. The main reason is that GDB was designed in order +to be able to use monitor firmware as a debug server. In the case of a Unix +OS target, these high-level functions are implemented themselves using a lower +level POSIX API. Because we want to simplify the code running on the target +and decrease its size of this code, we propose to use the POSIX layer API used +for the debug like @b{waitpid}, @b{ptrace}, ... Due to the GDB working +mode and due to our requirements, we can establish here a non-exhaustive list +of some commands required to implement the previously described functions : + +@itemize @bullet +@item set up a connection with a target, +@item close a connection, +@item send a signal to the specified process, +@item get a list of process/thread/connection running, +@item control process under debug, +@item ... +@end itemize +Control means that, with this function, we can read, write the memory +of the debuggee, insert breakpoint to stop the process and resume the process +execution. This command can be implemented by emulating in the RTEMS environment +a Unix function called ``ptrace''. This function allows the control of a child +process. The ``ptrace'' function has some sub-functions which are described +below (some of these actions and standardized, the others are added due to our +needs) : + +@itemize @bullet +@item PTRACE_PEEKTEXT, PTRACE_PEEKDATA : read word at address, +@item PTRACE_POKETEXT, PTRACE_POKEDATA :write word at address, +@item PTRACE_CONT : restart after signal, +@item PTRACE_KILL : send the child a SIGKILL to make it exit, +@item PTRACE_SINGLESTEP : set the trap flag for single stepping, +@item PTRACE_ATTACH : attach to the process specified, +@item PTRACE_DETACH : detach a process that was previously attached. +@end itemize +This list only contains the command that are described in the ptrace +Unix manpage. For some specific needs (debug of one task among several ones, +register read/write,...), it is possible to create some special ptrace commands +as described after : + +@itemize @bullet +@item get current task registers, +@item set current task registers, +@item list of the threads, +@item identifier of the target thread, +@item restart to address, +@item set breakpoint at address, +@item clear breakpoint, +@item get breakpoints, +@item load dynamically a task, +@item ... +@end itemize +This list is not exhaustive and can be increased due to the needs. +All the described functions will not be implemented in a first version, only +the strictly needed. If some commands are added, the modifications must be implemented +both in RTEMS and in GDB. + + Index: seqinit.jpg =================================================================== Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Index: seqinit.jpg =================================================================== --- seqinit.jpg (nonexistent) +++ seqinit.jpg (revision 1765)

seqinit.jpg Property changes : Added: svn:mime-type ## -0,0 +1 ## +application/octet-stream \ No newline at end of property Index: process.jpg =================================================================== Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Index: process.jpg =================================================================== --- process.jpg (nonexistent) +++ process.jpg (revision 1765)

process.jpg Property changes : Added: svn:mime-type ## -0,0 +1 ## +application/octet-stream \ No newline at end of property Index: intro.t =================================================================== --- intro.t (nonexistent) +++ intro.t (revision 1765) @@ -0,0 +1,39 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c intro.t,v 1.2 2002/01/17 21:47:46 joel Exp +@c + +@chapter Introduction + +The TOOLS project aims to provide a complete development environment +for RTEMS OS. This environment must be as close as possible to the Chorus one +(gnu compiler, gnu linker, gnu debugger, ...), because it is currently the OS +which is the most used at CRF and we want to simplify the migration path from +the ChorusOs environment to the RTEMS environment. One important item of this +development environment is the remote debugger which allows the developer to +debug his software on a target machine from a host machine via a communication +link (Ethernet, serial link, ...). + + +The choice of GDB as debugger has been made with because in CRF, every +developer, which uses the ChorusOs development environment, debugs his software +using the remote debugging functionality of GDB. Providing a remote GDB debug +server running on RTEMS, will enable the developers to use transparently the +same debugger for a different RTOS. Another reason for the choice of GDB is +its constant evolution, and that it can be interfaced with graphic user interfaces +like DDD providing a very powerfull debugging environment. + + +The subject of this document is to explain how GDB works and the way +to implement a daemon on RTEMS that will be used as a debugger server for a +GDB client. We will call this daemon Rtems GDB Debug Server Daemon (RGDBSD). +We aim to provide this debugger running at least on 2 host systems : Linux 2.x +and Solaris 2.5.1 as they are the two platforms used for developing Chorus applications +today. + + Index: comm.t =================================================================== --- comm.t (nonexistent) +++ comm.t (revision 1765) @@ -0,0 +1,115 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c comm.t,v 1.5 2002/01/17 21:47:46 joel Exp +@c + +@chapter Communication with GDB + +The RTEMS remote debugger will be accessed by GDB on a host machine +through a communication link. We will use the TCP/IP stack included in RTEMS +: the FreeBSD stack. The communication link will be based based on the UDP protocol +and the BSD sockets which are parts of the FreeBSD stack. On top of these layers, +we will plug a module which allows a simple communication between different +machines (especially between different endianess machines) : the SUN Remote +Procedure Call (SUN RPC). This code is freely available on the net and comes +with a BSD like license. With this module, a process can invoke a procedure +on a remote system. The RTEMS remote debugger will be seen by GDB as a SUN RPC +server. Commands will be packed by the GDB SUN RPC client and sent to the server. +This server will unpack these commands, execute them and, if needed, return +results to the SUN RPC client. + + +Only a minimal subset of the SUN RPC library must be implemented. +For example, the portmapper related API which allows a dynamic allocation of +port numbers will not be implemented and some specific UDP port numbers will +be used to establish the communication between the host and the target. The +SUN RPC library implements the XDR module (eXternal Data Representation) which +is a standard way of encoding data in a portable fashion between different endian +systems. Below are figures describing the additional code and data size for +the minimal library implementation we currently have already implemented for +RTEMS : + +@example +$ size -x librpc.a +text data bss dec hex filename +0x40e 0x0 0x0 1038 40e rpc_callmsg.o (ex librpc.a) +0x2f1 0x18 0x0 777 309 rpc_prot.o (ex librpc.a) +0x458 0x0 0x0 1112 458 svc.o (ex librpc.a) +0x4f 0x4 0x0 83 53 svc_auth.o (ex librpc.a) +0x75c 0x18 0x0 1908 774 svc_udp.o (ex librpc.a) +0x711 0x4 0x10 1829 725 xdr.o (ex librpc.a) +0x149 0x0 0x0 329 149 xdr_array.o (ex librpc.a) +0x165 0x20 0x0 389 185 xdr_mem.o (ex librpc.a) +@end example + +We have a constraint with the use of the UDP protocol. Because this +protocol is connectionless, it is impossible, especially for the target, to +detect if the connection is always active. On the other hand, using the TCP/IP +protocols seems to be heavy especially if we plan to implement a dedicated micro +stack for debug in the future. It can be a real problem to let the debugged +process stopped during a long time even if there is no more debugger connected +to the system. To avoid such a problem, the target must periodically test the +connection with the host on another way than the one used to receive the commands. +We must therefore open two communication ways so we need two fixed UDP port +numbers. + +@enumerate +@item One port will be used by the debugger to send its commands to the +debugged process and to receive the result of these commands. View from the +remote debugger, this port will be called primary port. For this one, we choose +arbitrarily the port number 2000. +@item The other socket will be used as secondary port by the target to sometimes +test the connection between the host and the target. These tests will occur +in specific situations, when a process will be stopped on a breakpoint, single +step instruction or other means. This secondary port will also be used by the +target to signal any change in the behavior of a debugged process (stopped, +killed, waiting for,...). For the secondary port, we choose the port number +2010. +@end enumerate + +These two port numbers are used by the remote debugger to open the +two communication sockets. GDB will use its own mean to choose its port numbers +(probably the Unix portmapper). The figure layer shows the different +layers we need to implement. + +@c +@c Communications Layers Figure +@c + +@ifset use-ascii +@example +@group +XXXXX reference it in the previous paragraph +XXXXX insert layers.eps +XXXXX Caption Communications Layers +@end group +@end example +@end ifset + +@ifset use-tex +@example +@group +@c XXXXX reference it in the previous paragraph +@c XXXXX insert layers.eps +@c XXXXX Caption Communications Layers +@end group +@end example +@image{layers,,6in} +@end ifset + + +@ifset use-html +@c +@html + +@end html +@end ifset + + + + Index: version.texi =================================================================== --- version.texi (nonexistent) +++ version.texi (revision 1765) @@ -0,0 +1,4 @@ +@set UPDATED 17 January 2002 +@set UPDATED-MONTH January 2002 +@set EDITION ss-20020717 +@set VERSION ss-20020717 Index: objectives.t =================================================================== --- objectives.t (nonexistent) +++ objectives.t (revision 1765) @@ -0,0 +1,307 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c objectives.t,v 1.3 2002/01/17 21:47:46 joel Exp +@c + +@chapter Objectives + +@c XXX reference +This section is intended to clearly define the current objectives of our work. +First, we will try here to list some ambitious requirements for the debugger +in section @b{List of Requirements}. These requirements will deliberately be much more +ambitious than what we will provide directly ourselves in the hope that the +Internet development model will enable others to implement some features we +rejected for man-power reasons in the first step. We are committed to do the +core work and redistribute it but would appreciate any comment and enhancement. +Then, in section @b{Requirements Analysis} we will analyze each requirement to see +what technical problem must be solved if we want to fullfill it. After this +analysis, we will determine in section @b{Requirements Selection} the requirements we +chose to implement and the ones we will not. We will then clearly identify the +limits of our solution in section @b{Implied Restrictions}. + + +@section List of Requirements + +We will identify here possible requirements for the type of debug that may be +provided : + +@table @b + +@item [(R1)]: +We want to use GDB as the front-end debugger, + +@item [(R2)]: +We want to support at least Intel and PowerPC as target processor architecture, + +@item [(R3)]: +We want to use the GDB thread debugging interface, + +@item [(R4)]: +We want to be able to debug a remote target over a serial line, + +@item [(R5)]: +We want to be able to debug a remote target over Ethernet, + +@item [(R6)]: +The set of target code path we will be able to debug using RGDBSD must +be clearly identified. It will be called Debug Path Set (@emph{DPS}) in the +remaining of this document, + +@item [(R7)]: +@emph{DPS} must include the RTEMS core executive itself, + +@item [(R8)]: +@emph{DPS} must include the FreeBSD stack, + +@item [(R9)]: +@emph{DPS} must include anything but the FreeBSD stack and the RTEMS +core executive, + +@item [(R10)]: +We want to enable several persons to debug different parts of the code +running on the target, + +@item [(R11)]: +As much as possible the system must be frozen during a debug session +so that debugging a particular portion of code does not prevent another part +from functioning, +@end table + +@section Requirements Analysis + +@table @b + +@item [(R1)]: +Worth recalling it. It mainly imposes few restrictions on the binary +files type, target processor type as : + +@itemize @bullet + +@item the binary format must be understood by GDB (to find debugging information). +Elf, Coff and A.out are the main formats currently supported. Elf/Dwarf 2.0 +binary support will be our main target as they are the preferred format for +Intel and PowerPC processors. No change in GDB will be required for other binaries +except may be a new configuration file changing the binary/debug file format, + +@item the processor must be supported for disassemble/step instruction command, + +@item the target system must be supported. As far as I know RTEMS is not currently +@emph{officially} supported anyway, +@end itemize + +@item [(R2)]: +Our primary targets are Intel and PowerPC. We however do not think implementing +RGDBSD for other processors will be a heavy task. It will mainly require : + +@enumerate +@item Implementing exception handling for the target processor, + +@item Interfacing the generic part of RGDBSD with the low level exception handling +and make RGDBSD aware of exception used for debugging (usually illegal instruction +or dedicated trap, single step), + +@item Making GDB aware of the frame layout pushed on exceptions, + +@item Implement the code for data transfer for the exception frame, + +@item Implement code to copy data cache back to main memory and invalidate instruction +cache. This is needed in order to be sure opcode modification used to set breakpoint +that use the data cache will be proagated to the instruction cache, +@end enumerate + +As soon as we will have completed the first core work a document describing +how to port it to a new processor should be written. So far we will organize +the source tree with processor dependent directories so that port will be as +easy as possible. May be a bare processor support should be created, + + +@item [(R3)]: +GDB already has an interface for manipulating multi-threaded programs. +This interface is rather weak at the moment but it will certainly be improved +in the future with the generalization of POSIX thread API on Linux and other +operating systems. This implies that either GDB or RGDBSD is able to obtain +the list of threads currently executing. The choice of implementing this in +GDB or RGDBSD is a tradeof between target code size and simplicity, + +@item [(R4)]: +Regular GDB code contains clients code for debugging over a serial line. +However only few functions are implemented. We would like to provide a better +support and to uniformize serial line debugging with debugging over Ethernet +via the use of SLIP, + +@item [(R5)]: +Regular GDB code contains client code for debugging over Ethernet for +VxWorks via the SUN RPC library. So there will be at least one starting point +to implement remote debugging over Ethernet via SUN RPC. The Chorus remote debugging +code has been disclosed under GPL and also contains code for debugging suing +SUN RPC, + +@item [(R6)]: +Due to a classical chicken and egg problems, the remote debugging daemon +cannot be used to debug code it uses to function. Thus depending on the API +used by RGDBSD, some parts of the target system will not be debuggable via GDB. +The most important point is documentation because my feeling is that implementing +RGDBSD on a totally different @emph{dedicated} nano kernel should be possible, + +@item [(R7)]: +RTEMS core executive is a real-time OS which implements priority level +scheduling, synchronization objects, and interrupt handling. As mentioned in +previous item, we may not debug theses features if RGDBSD uses them. This requirement +is thus very strong because it impose that : + +@enumerate + +@item RGDBSD is totally interrupt driven (no thread API available), + +@item But it does not use RTEMS interrupt management, + +@item Nor does not use RTEMS exception management, + +@item RGDBSD must provide its own UDP/IP stack as the current FreeBSD code rely on +tasks switching and RTEMS provided synchronization object for input path handling, +@end enumerate + +So our feeling is that the @b{(R7)} more or less requires to write a @emph{dedicated} +nano kernel with a very small dedicated UDP/IP stack. + + +@item [(R8)]: +GDB remote debugging over Ethernet code communicates with the remote +target via the SUN RPC protocol. This requires a UDP/IP protocol and a minimal +socket like interface. In RTEMS environment, this feature is currently provided +by the FreeBSD stack. Again, if we use the FreeBSD stack itself for remote communication, +it will be impossible to debug this stack as a breakpoint in the stack code +will stop its execution and there would be no more way to communicate with the +target. A solution consists in implementing a minimal, dedicated UDP/IP stack +(with at least IP and UDP protocols, a minimal BSD sockets) and a simple SUN +RPC library, which will be both dedicated to the debug. We can use RTEMS API +to implement it if @b{(R7)} is not required. As the two stack will need +to share the same chip, a kind of shared filter must be implemented at the bottom +of the two stacks so that Ethernet frames can be dynamically directed either +to the dedicated UDP/IP debug stack or to the regular FreeBSD stack. The fact +that in the current design, the low level ethernet input routine mainly signal +a thread should facilitate the design of this filter. The output path is less +complicated as it is run by a task and thus can sleep on a synchronization object, + +@item [(R9)]: +This requirement represents what we find reasonable as a first target. +However, we can still present to the final user this kind of debugging via different +model. RTEMS can be represented as a single threaded system or, because RTEMS +is a multitasking system, as an ensemble of separate tasks. In the first representation, +the debugger sees only 1 ``task'' without distinguishing the core executive +part from the applicative part. This is the simplest way to implement the debugger +but also implies that there is no way to protect the core executive. Some of +these tasks are system tasks (tasks form the core executive and from the FreeBSD +stack), the other ones are tasks implemented by the developer. The developer +wants to debug his tasks, and sometimes only one of his tasks. We can provide +a way to debug not the entire system but only the concerned task by testing +if the current running task is a debugged task (test on the task identifier). +GDB offers an API to ``detach'' thread so that if a detached thread hits a +breakpoint it is automatically restarted without user intervention, + +@item [(R10)]: +Several developers can work on a large project, each on a specific +module. Sometimes only one target is available for everyone. This requirements +is not really meaningfull until RTEMS supports dynamic code loading, + +@item [(R11)]: +This requirement heavily depends on the @b{(R7)} and @b{(R8)} +requirements. +@end table + +@section Requirements Selection + + +@subsection Requirement We Will Take Into Account For the First Implementation + +@table @b + +@item [(R1)]: +Obviously. + +@item [(R2)]: +As these are our targets. Of course other will be free to contribute. +We will however document the works that needs to be done in order to port the +debug code to other processors, + +@item [(R3)]: +We think it is feasible with only few RTEMS modifications, + +@item [(R5)]: +We think serial line debugging is nowadays too restrictive as most equipment +are now connected via Ethernet, + +@item [(R6)]: +This is a documentation problem and should be fairly easy to describe +once we have the RGDBSD code, + +@item [(R9)]: +We will try to provide the multi-thread target system presentation, +@end table + +@subsection Requirements We Will Not Implement + +@table @b + +@item [(R4)]: +it will not be implemented for the moment. It is just a matter on implementing +SLIP in the FreeBSD stack and alternative solutions already exist in the meantime, + +@item [(R7)]: +To simplify the first developments, we don't plan to implement a @emph{dedicated} +nano-kernel to allow the RTEMS kernel to be debugged. It means that, if any +breakpoint is set in the kernel, unpredictable behaviors can occur. So, developers +must keep in mind to avoid stopping the kernel. They must also keep in mind, +in order to not stop the kernel, that the user's tasks must have a lower priority +than the tasks used for debug. The solution is to use a specific very-high priority +level for the system tasks used directly or indirectly by RGDBSD. The SYSTEM_TASK +attribute that already exists should be fine. + +@item [(R8)]: +To avoid increasing the code size and the used memory and because the +FreeBSD stack doesn't need to be debug any more, we choose not to implement +a minimal TCP/IP stack but rather to use the FreeBSD one as communication protocol, + +@item [(R10)]: +We will see later when a file system will be available and we can implement +@b{exec} system call, + +@item [(R11)]: +Without a separate TCP/IP stack it will be hard to freeze the system +as some interrupts must occur in order to enable the FreeBSD stack to function, +@end table + +@section Implied Restrictions + +High priority level must be used for these features : + +@itemize @bullet + +@item FreeBSD interrupt handling thread, + +@item Debugger threads. +@end itemize + +This will allows these tasks not to be stopped when a process is stopped +in debug mode + +If we don't want to use a ``specific'' priority level, we must affect +priority to each of these tasks as follow : + +@itemize @bullet + +@item FreeBSD stack (high priority) + +@item Debugger (less high priority) +@end itemize + +The user must remember the higher priority level he can use for his +software in order not to block one of the previous threads and to not put breakpoints +in part of the code executed by RGDBSD. + + Index: revision.t =================================================================== --- revision.t (nonexistent) +++ revision.t (revision 1765) @@ -0,0 +1,42 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c revision.t,v 1.3 2002/01/17 21:47:46 joel Exp +@c + +@chapter Document Revision History + +@b{Current release} : + +@itemize @bullet +@item Current applicable release is 2.0. +@end itemize + +@b{Existing releases} : + +@itemize @bullet +@item 0.1 : Released the 29/09/98. First draft of this document. + +@item 0.2 : Released the 05/10/98. Second draft version. + +@item 1.0 : Released the 08/10/98. Version Approved internally. + +@item 1.1 : Released the 13/13/98. Version Distributed for comments. + +@item 2.0 : Released the 01/11/98. Version including modifications related +to comments we have got from the RTEMS mailing list. It also contains a +more precise description of RGDBSD as we now have a first prototype, + +@end itemize + +@b{Planned releases} : + +@itemize @bullet +@item 2.1 Final specification release intended to include a second round +of comments, +@end itemize + Index: seqinit.eps =================================================================== --- seqinit.eps (nonexistent) +++ seqinit.eps (revision 1765) @@ -0,0 +1,204 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: seq_init.eps +%%Creator: fig2dev Version 3.2 Patchlevel 1 +%%CreationDate: Tue Oct 13 13:59:59 1998 +%%For: valette@tri-yann (Eric Valette,,6891,) +%%Orientation: Portrait +%%BoundingBox: 0 0 482 527 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%Magnification: 1.0000 +%%EndComments +/$F2psDict 200 dict def +$F2psDict begin +$F2psDict /mtrx matrix put +/col-1 {0 setgray} bind def +/col0 {0.000 0.000 0.000 srgb} bind def +/col1 {0.000 0.000 1.000 srgb} bind def +/col2 {0.000 1.000 0.000 srgb} bind def +/col3 {0.000 1.000 1.000 srgb} bind def 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l cp +clip +n 5925 1575 m 5926 1545 l 5928 1524 l 5929 1501 l 5931 1477 l 5934 1454 l + 5937 1433 l 5941 1413 l 5945 1396 l 5950 1380 l 5956 1365 l + 5963 1350 l 5969 1337 l 5977 1324 l 5986 1311 l 5996 1297 l + 6007 1283 l 6020 1268 l 6033 1254 l 6048 1239 l 6063 1225 l + 6080 1211 l 6097 1197 l 6114 1184 l 6132 1172 l 6150 1160 l + 6169 1148 l 6188 1138 l 6203 1129 l 6220 1121 l 6237 1112 l + 6255 1104 l 6274 1095 l 6293 1087 l 6314 1079 l 6335 1071 l + 6356 1063 l 6378 1055 l 6401 1048 l 6423 1041 l 6445 1034 l + 6467 1028 l 6488 1022 l 6509 1017 l 6529 1012 l 6549 1008 l + 6568 1004 l 6588 1000 l 6606 997 l 6625 994 l 6644 991 l + 6664 989 l 6684 987 l 6704 985 l 6724 984 l 6745 983 l + 6766 982 l 6788 982 l 6809 982 l 6830 983 l 6851 984 l + 6871 985 l 6891 987 l 6911 989 l 6931 991 l 6950 994 l + 6969 997 l 6988 1000 l 7007 1004 l 7026 1008 l 7046 1012 l + 7066 1017 l 7087 1022 l 7108 1028 l 7129 1034 l 7151 1041 l + 7173 1048 l 7195 1055 l 7216 1063 l 7237 1071 l 7258 1079 l + 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COMMAND) col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +5925 7575 m +gs 1 -1 sc (RELEASE SERIALIZE AND) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +5925 7350 m +gs 1 -1 sc (IF CONTINUE COMMAND) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +5925 7800 m +gs 1 -1 sc (CONTINUE SEMAPHORES) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +10050 5250 m +gs 1 -1 sc (NOTIFY THE) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +10050 5475 m +gs 1 -1 sc (DEBUGGEE CHANGES) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +10050 5700 m +gs 1 -1 sc (TO GDB) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 300.00 scf sf +6975 8175 m +gs 1 -1 sc (\(1\)->) dup sw pop 2 div neg 0 rm col13 sh gr +/Times-Roman-iso ff 300.00 scf sf +11025 4275 m +gs 1 -1 sc (\(2\)<-) dup sw pop 2 div neg 0 rm col1 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 2775 m +gs 1 -1 sc (WAIT FOR) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 3000 m +gs 1 -1 sc (SERIALIZE) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 3225 m +gs 1 -1 sc (SEMAPHORE) dup sw pop 2 div neg 0 rm col0 sh gr +% Ellipse +n 18525 2925 1275 525 0 360 DrawEllipse gs col0 s gr + +% Ellipse +n 18525 6450 1275 525 0 360 DrawEllipse gs col0 s gr + +% Ellipse +n 18525 8250 1275 525 0 360 DrawEllipse gs col0 s gr + +% Ellipse +n 18533 9976 1275 525 0 360 DrawEllipse gs col0 s gr + +% Ellipse +n 18511 4735 1275 525 0 360 DrawEllipse gs col0 s gr + +% Polyline +gs clippath +18597 2300 m 18525 2400 l 18542 2277 l 18492 2403 l 18547 2425 l cp +clip +n 18525 2400 m 18675 2025 l 18375 2025 l 18525 1650 l gs col0 s gr gr + +% arrowhead +n 18597 2300 m 18525 2400 l 18542 2277 l col0 s +% Polyline +gs clippath +18555 4080 m 18525 4200 l 18495 4080 l 18495 4215 l 18555 4215 l cp +clip +n 18525 3450 m 18525 4200 l gs col0 s gr gr + +% arrowhead +n 18555 4080 m 18525 4200 l 18495 4080 l col0 s +% Polyline +gs clippath +18555 7605 m 18525 7725 l 18495 7605 l 18495 7740 l 18555 7740 l cp +clip +n 18525 6975 m 18525 7725 l gs col0 s gr gr + +% arrowhead +n 18555 7605 m 18525 7725 l 18495 7605 l col0 s +% Polyline +gs clippath +18555 9330 m 18525 9450 l 18495 9330 l 18495 9465 l 18555 9465 l cp +clip +n 18525 8775 m 18525 9450 l gs col0 s gr gr + +% arrowhead +n 18555 9330 m 18525 9450 l 18495 9330 l col0 s +% Polyline +gs clippath +18555 5805 m 18525 5925 l 18495 5805 l 18495 5940 l 18555 5940 l cp +clip +n 18525 5250 m 18525 5925 l gs col0 s gr gr + +% arrowhead +n 18555 5805 m 18525 5925 l 18495 5805 l col0 s +/Times-Roman-iso ff 300.00 scf sf +18450 600 m +gs 1 -1 sc ( DEBUG AND BREAKPOINT) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 300.00 scf sf +18450 825 m +gs 1 -1 sc (EXCEPTION HANDLER) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 6900 m +gs 1 -1 sc (SEMAPHORE) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 6450 m +gs 1 -1 sc (OR BREAKPOINT EXCEP,) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 6225 m +gs 1 -1 sc (IF SINGLE STEP) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 6675 m +gs 1 -1 sc (RELEASE WAKE-UP) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 8100 m +gs 1 -1 sc (WAIT FOR) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 8550 m +gs 1 -1 sc (SEMAPHORE) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 8325 m +gs 1 -1 sc (CONTINUE) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +17700 1425 m +gs 1 -1 sc (RECEIVE EXCEPTION) col0 sh gr +/Times-Roman-iso ff 300.00 scf sf +17250 8850 m +gs 1 -1 sc (->\(1\)) dup sw pop 2 div neg 0 rm col13 sh gr +/Times-Roman-iso ff 300.00 scf sf +17175 6975 m +gs 1 -1 sc (<-\(2\)) dup sw pop 2 div neg 0 rm col1 sh gr +/Times-Roman-iso ff 300.00 scf sf +17250 3525 m +gs 1 -1 sc (->\(1\)) dup sw pop 2 div neg 0 rm col13 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 10275 m +gs 1 -1 sc (RETURN OF EXCEPTION) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 10050 m +gs 1 -1 sc (AND) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18525 9825 m +gs 1 -1 sc (RESTORE CONTEXT) dup sw pop 2 div neg 0 rm col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +18075 4950 m +gs 1 -1 sc (CONTEXT) col0 sh gr +/Times-Roman-iso ff 180.00 scf sf +17700 4725 m +gs 1 -1 sc (SAVE EXCEPTION ) col0 sh gr +% Polyline +60.000 slw +n 16275 75 m 16050 75 16050 10500 225 arcto 4 {pop} repeat + 16050 10725 20775 10725 225 arcto 4 {pop} repeat + 21000 10725 21000 300 225 arcto 4 {pop} repeat + 21000 75 16275 75 225 arcto 4 {pop} repeat + cp gs col0 s gr +$F2psEnd +rs Index: daemon.t =================================================================== --- daemon.t (nonexistent) +++ daemon.t (revision 1765) @@ -0,0 +1,437 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c daemon.t,v 1.4 2002/01/17 21:47:46 joel Exp +@c + +@chapter RTEMS Debugger Server Daemon + +We will describe in this section how this debugger server will be +implemented on RTEMS environment. Our initial target is based on Intel Pentium +and we will use an Ethernet link to communicate between the host and the target. + +The RTEMS remote debugger will be composed by several tasks and exception +handlers : + +@itemize @bullet +@item an initialization task which opens the sockets and runs the SUN RPC +server. This task will also connect the interrupt handlers and launch the communication +task +@item a communication task which receives the SUN RPC commands, executes +them and sends the result to the GDB client, +@item A debuggee event management task which waits for events. We need a different +task than the command management task in order to be able to still accept commands +while no event has yet occurred for the debuggee. An example could be a continue +command from GDB and then hitting to DEL key to see what is currently going +on on the target side because an expected breakpoint is not caught... +@item a debug exception handler which manages the hardware breakpoint and +single step exceptions (INT 1 on Intel x86), +@item a breakpoint exception handler which manages the software breakpoints +exceptions (INT 3 on Intel x86), +@item a default exception handler used to catch every possible errors make on the +target system, +@end itemize + +@c XXX figure reference +@c XXX references to other sections +Figure @b{remote debugger tasks and handlers} represents these +different tasks and handlers. The synchronization between the different task +and exception handlers will be described below in the section +@b{Synchronization Among Tasks and Exception Handlers}. +Some open issues we have faced for a prototype implementation are described +in the section @b{Open Issues}. The temporary workaround we chose are described +in chapter @b{Workarounds for Open Issues in Prototype}. + + +@section The INITIALIZATION task + +This is the task that must be executed at the boot phase of RTEMS. +It initializes the debug context. It must : + +@itemize @bullet +@item open the UDP sockets, +@item run the SUN RPC server main loop, +@item create the COMMAND MANAGEMENT task, +@item connect the DEBUG EXCEPTION handler, +@item connect the SOFTWARE BREAKPOINT handler, +@item delete itself. +@end itemize +If an error occurs at any step of the execution, the connections established +before the error will be closed, before the initialization task deletes itself. + + +@section The COMMAND_MNGT task + +This task is in charge of receiving the SUN RPC messages and executing +the associated commands. This task must have an important priority because it +must be executed each time a command message comes from the debugger. It must +be executed even if one or both exception handlers are executed. But the COMMAND +MANAGEMENT task must not block the TCP/IP module without which no message can +be received. + +When not executing a command, this task is waiting for a SUN RPC message +on the primary port. This idle state blocks the task, so the other active tasks +can run. Once a message comes from Ethernet via the primary port, the COMMAND +MANAGEMENT task wakes up and receives the message which is a request from GDB. +This request is sent to the SUN RPC server code which extracts the command and +its arguments, executes it and, if needed, sends a result to GDB. After having +performed these actions, the task sleeps, waiting for another message. + +A particular case is the reception of the ATTACH command : in this +case the COMMAND_MNGT task creates the EVENT_MNGT task described below before +going to wait on UDP socket again. + + +@section The EVENT_MNGT task + +This task is in charge of managing events happening on the debuggee such as +breakpoint, exceptions. This task does a basic simple loop waiting for event +on a synchronization variable. It is waken up by exception handlers code. It +then signals GDB that an event occurred and then go sleeping again as further +requests will be processed by the COMMAND_MNGT task. + + +@section The DEBUG EXCEPTION handler + +This handler is connected to the DEBUG exception (INT 1 on Intel ix86). +This exception is entered when : + +@itemize @bullet +@item executing a single-step instruction, +@item hardware breakpoint condition is true, +@end itemize +These events will be treated by the debugger because they are the +primary event used when debugging a software for instruction stepping. In both +cases, the DEBUG EXCEPTION handler code is executed. Please note that the execution +context of the exception handler is the supervisor stack of the task that generated +the exception. This implies: + +@itemize @bullet +@item We may sleep in this context, +@item We have as many possible execution context for the DEBUG EXCEPTION handler as +we need to, +@item When we enter the high level exception handler code, a normalized exception +context has been pushed on the system stack and a pointer to this context is +available as the first argument (cf c/src/exec/score/cpu/i386/cpu.c for more +details), +@end itemize +First the exception handler wakeup the EVENT_MNGT task. Then it will +cause the faulting thread to sleep on a synchronization object. As soon as GDB +receives the event notifying that the debuggee status has changed, it will start +sending requests to get the debuggee status (registers set, faulty task id, +...). These requests are handled by the COMMAND MANAGEMENT task. When this task +receive a PTRACE_CONT command it will resume the execution of the task that +caused the exception by doing a V on the synchronization object. + + +@section The BREAKPOINT EXCEPTION handler + +This handler is connected to the BREAKPOINT exception (INT3 on Intel +Ix86). Each time the debugger wants to place a software breakpoint in the debuggee, +a debuggee opcode is temporarily replaced by an instruction causing BREAKPOINT +exception (the ``INT 3'' instruction on Intel ix86). When ``INT 3'' is executed, +the BREAKPOINT handler is executed. Otherwise, the exception processing is the +same than the one described in previous section. + + +@section Synchronization Among Tasks and Exception Handlers + +The previous chapters have presented a simplified and static view of the various +tasks and exceptions handlers. This chapter is more focussed on synchronization +requirements about the various pieces of code executed when RGDBSD is operating. + + +@subsection Implicit Synchronization Using Task Priorities + +This chapter is relevant on Uniprocessor System (UP) only. However, it will +also list the requirements for explicit synchronization on Multi-processor Systems +(MP). Below are the task priorities sorted by high priority. They are not supposed +to be equal : + +@enumerate +@item Network Input Task. This is the highest priority task. This can be regarded +as a software interrupt task for FreeBSD code, +@item RGDBSD command task. As this task waits on UDP sockets, it shall not prevent +the previous task from running. As the main debug entry point, it should preempt +any other task in the system, +@item RGDBSD event task. This task should preempt any task but the two mentionned +before to signal a debug event to GDB. The command task shall be able to preempt +this task for emergency command such as DEL, or REBOOT, +@item Applications tasks (task we are able to debug), +@end enumerate + +Using theses priorities eliminates the need for adding more synchronization +objects in the next section. My belief is that symmetric MP support will require +more important change in the RTEMS than RGDBSD itself like multiple scheduler +queues, task to processor binding for non symmetric IO, use a different implementation +for @emph{task_disable_preemption}, ... + + +@subsection Explicit Synchronization + +This chapter will describe the synchronization variables that need to be implemented +in order to sequence debug events in a way that is compatible with what GDB +code expects. The root of the problem is that GDB code mainly expects that once +a debug event has occurred on the debuggee, the entire debuggee is frozen and +no other event will occur before the CONTINUE command is issued. This behavior +is hard to achieve in our case as once we hit a breakpoint, only the task that +hits the breakpoint will be asleep on a synchronization object. Other tasks +may hit other breakpoints while we are waiting commands from GDB generating +potential unexpected events. There is a solutions if RGDBSD itself use RTEMS +threads to fix this problem by creating a task that loops forever at a priority +superior to any debugged task but below RGDBSD task priorities. Unfortunately +this will not work for the case we use the nano-kernel implementation and we +think it is better to study synchronization problems now. We also expects that +multi-thread debug support hardening in GDB will remove some event serializations +requirements. Here is the list of synchronization variables we plan to use and +their usage. They are all regular semaphores. They are not binary semaphores +because the task that does V is not the task that has done the P. + +@itemize @bullet +@item @emph{WakeUpEventTask} : used by exception handler code to wake up the EVENT_MNGT +task by doing a V operation on this object. When target code is running normally +the EVENT_MNGT task sleeps due to a P operation on this semaphore, +@item @emph{SerializeDebugEvent} : used to serialize events in a way compatible to +what GDB expects. Before doing a V operation on @emph{WakeUpEventTask}, the +exception handler does a P on this semaphore to be sure processing of another +exception is not in progress. Upon reception of a CONTINUE command, the COMMAND_MNGT +task will issue a V operation so that the exception code can wake up EVENT_MNGT +task using the mechanism described above, +@item @emph{RestartFromException} : (in fact one semaphore per task) used by exception +handling code to put a faulty task to sleep once it has generated an exception +by doing a P operation on this semaphore. In the case the exception was generated +due to a breakpoint, GDB command will modify back the BREAKPOINT opcode to the +original value before doing the CONTINUE command. This command will perform +a V on this semaphore. In the case it is a real non restartable exception (faulty +memory reference via invalid pointer for example), GDB will not allow to restart +the program avoiding any loop. So not special analysis of cause of exception +is foreseen as far as RGDBSD code is concerned, +@end itemize + +@section Open Issues + +Here are some problems we have faced while implementing our prototype : + +@table @b +@item [Protected ReadMem/WriteMem (I1)]: +A GDB user can request to see the content +of a corrupted pointer. The request PEEK_DATA will be performed by the COMMAND_MNGT +task. It shall not enter the default exception handler set by RGDBSD or it will +cause a dead lock in the RGDBSD code. Replacing the default exception vector +before calling @b{readMem/writeMem} can be temporarily sufficient but : + +@itemize @bullet +@item It will never work on MP system as it will rely on task priorities to insure +that other task will not cause exceptions while we have removed the default +exception handler, + +@item This feature should not be usable in RGDBSD only but also by an embedded debugger +that may run without any task. It is also unavoidable in case of protected memory +and in this case no priority mechanism can be used, + +@item In the case of using RGDBSD code on a dedicated nano kernel, this code will +be called from interrupt level and we need a way to be sure we can debug other +interrupts that may also cause exceptions, +@end itemize + +@item [ATTACH Command Implementation (I2)]: +After the @emph{target rtems symbolic_ip_target_name} +command, the normal operation is to issue an @emph{attach lid} command where +@emph{lid} represents a valid execution context. For Unix this is a process +id, for other multi-tasking system this is the id of a thread. After the attach +command, GDB expects to be waken up in the same manner as it is for normal events. +Once waken up it expects to have a complete register context available and also +that the target task is in a stopped state and that it can restart it using +the regular CONTINUE command. In RTEMS there is a way to get force a thread +to become inactive via @emph{rtems_task_suspend} but no way to get the full +registers set for the thread. A partial context can be retrieved from the task +@emph{Registers} data structure. On the other hand, relying on @emph{rtems_task_suspend} +will be a problem for the nano-kernel implementation. + +@item [Stopping Target System (I3)]: +Allthough it might not be obvious, most of the +actions made by a GDB user assume the target is not running. If you modify a +variable via the @emph{set variable = value} command you expect that the value +is the one you have put when restarting. If a still running task modifies the +same value in the mean time, this may be false. On the other hand, stopping +all the tasks on the target system impose to have a very deep knowledge of the +system. Using an interrupt driven RGDBSD, may facilitate the implementation +on the nano-kernel. + +@item [Getting Tasks Contexts (I4)]: +As previously mentionned there is no way to get +tasks execution contexts via the RTEMS API. This is needed when debugging for +example via this classical sequence : + +@enumerate + +@item @emph{(gdb) target rtems symbolic_ip_target_name} + +@item @emph{(gdb) info threads <=} get a thread list on screen + +@item @emph{(gdb)} @emph{attach thread_id} <= thread_id is one of the thread in +the list + +@item @emph{(gdb) b a_function_of_interest } + +@item @emph{(gdb) continue} + +@item @emph{(gdb)} @emph{backtrace} <= print the call stack on the screen once we +have hit the breakpoint + +@item @emph{(gdb) thread target another_thread_li <=} change implicit current thread +value for gdb commands + +@item @emph{(gdb)} @emph{backtrace <=} should print the backtrace for the chosen thread +@end enumerate +In our execution model, we have a valid context only for the threads that hits +the breakpoint as it has been pushed by the exception handler code. The other +thread is still running and during the various RPC requesting memory access, +it even changes as the COMMAND_MNGT thread is going to sleep. So the backtrace +command will fail. We must find a way to make this work as it is very usefull +when debugging multi-threaded programs, + + +@item [Backtrace Stop convention (I5)]: +The backtrace command on RTEMS task does not +gracefully terminate as GDB does not find some backtrace termination condition +it expects. +@end table + +@section Workarounds for Open Issues in Prototype + +@table @b + +@item [(I1)]: +Not implemented.We would rather like to work on the formalization of +per thread flags and global flags that are much more general than any kludge +we could implement, + +@item [(I2)]: +We have tried two solutions in our prototype. The first one was to use +the @emph{idle} thread context contained in the @emph{Registers} task control +block field. The drawback of this solution was that we had to implement specific +code for the continue operation immediately following the attach command. We +then decided to create a dedicated task that will only exist during the attach +phase. This task will call the ``ENTER_RGDB'' exception. This call will execute +the Exception Handler that saves a valid context and that notifies a change +to GDB. After the first CONTINUE command from GDB, this task will continue its +execution and delete itself, + +@item [(I3)]: +As explained above in the synchronization chapter, we choose to serialize +events in a way that makes GDB think the system is frozen, + +@item [(I4)]: +As a temporary fix, we have called @emph{rtems_task_suspend} and used +the context switch contex for tasks that are unknown to RGDBSD, + +@item [(I5)]: +Not Implemented yet. If I remember correctly, setting the frame pointer +to 0 at task initialization for CISC processor solves this problem (ebp = 0x0 +on Intel or a6 = 0x0 on 680x0). This should be done in rtems_task_create function +in the path to really starts the task for the first time. The processor/system +specific stop condition can be found as macros in the GDB source tree. +@end table + +@section Output of a Debug Session with the Prototype + +This is a sample session with the remote debugging prototype. Note that +some lines have been broken so they would print properly when printed. + +@example +GNU gdb 4.17 +Copyright 1998 Free Software Foundation, Inc. +GDB is free software, covered by the GNU General Public License, +and you are welcome to change it and/or distribute copies of it +under certain conditions. Type "show copying" to see the conditions. +There is absolutely no warranty for GDB. +Type "show warranty" for details. +This GDB was configured as --host=i686-pc-linux-gnu --target=i386-rtems. +Attaching remote machine across net... +Connected to net-test. +Now the "run" command will start a remote process. +Setting up the environment for debugging gdb. +(gdb) attach 1 +Attaching program: /build-rtems/pc386/tests/debug.exe pid 1 +0x230715 in enterRdbg () +(gdb) info threads +There are 8 threads: +Id. Name Detached Suspended +134283273 Rini No No <= current target thread +0x230715 in enterRdbg () +134283272 Evnt No No +_Thread_Dispatch () at /rtems/c/src/exec/score/src/thread.c:315 +134283271 SPE2 No No +_Thread_Dispatch () at /rtems/c/src/exec/score/src/thread.c:315 +134283270 SPE1 No No +_Thread_Handler () at /rtems/c/src/exec/score/src/thread.c:1107 +134283269 RDBG No No +0x230715 in enterRdbg () +134283268 SCrx No No +_Thread_Dispatch () at /rtems/c/src/exec/score/src/thread.c:315 +134283267 SCtx No No +_Thread_Dispatch () at /rtems/c/src/exec/score/src/thread.c:315 +134283266 ntwk No No +_Thread_Dispatch () at /rtems/c/src/exec/score/src/thread.c:315 +(gdb) b init.c:89 +Breakpoint 1 at 0x200180: file \ + /rtems/c/src/tests/samples/debug/init.c, line 89. +(gdb) c +Continuing. +Thread 134283273 (Rini) has been deleted. +[Switching to Rtems thread 134283271 (Not suspended) \ + ( <= current target thread )] +Breakpoint 1, example2 (argument=4) at \ + /rtems/c/src/tests/samples/debug/init.c:89 +89 tuto += tuti; +(gdb) s +90 if (print_enable2) +(gdb) c +Continuing. +Breakpoint 1, example2 (argument=4) at \ + /rtems/c/src/tests/samples/debug/init.c:89 +89 tuto += tuti; +(gdb) b init.c:66 +Breakpoint 2 at 0x200128: file \ + /rtems/c/src/tests/samples/debug/init.c, line 66. +(gdb) c +Continuing. +Switching to Rtems thread 134283270 (Not suspended) \ + ( <= current target thread )] +Breakpoint 2, example1 (argument=4) at \ + /rtems/c/src/tests/samples/debug/init.c:66 +66 toto += titi; +(gdb) c +Continuing. +[Switching to Rtems thread 134283271 (Not suspended) \ + ( <= current target thread )] +Breakpoint 1, example2 (argument=4) at \ + /rtems/c/src/tests/samples/debug/init.c:89 +89 tuto += tuti; +(gdb) bt +#0 example2 (argument=4) + at /rtems/c/src/tests/samples/debug/init.c:89 +#1 0xf0009bd0 in ?? () +(gdb) thread target 134283270 +thread 134283270 [SPE1], _Thread_Dispatch () at \ + /rtems/c/src/exec/score/src/thread.c:315 +315 executing = _Thread_Executing; +(gdb) c +Continuing. +Breakpoint 2, example1 (argument=4) at \ + /rtems/c/src/tests/samples/debug/init.c:66 +66 toto += titi; +(gdb) detach +Detaching program: /build-rtems/pc386/tests/debug.exe pid 1 +Warning: the next command will be done localy! \ + If you want to restart another remote +program, reuse the target command +(gdb) +@end example + + Index: Makefile.am =================================================================== --- Makefile.am (nonexistent) +++ Makefile.am (revision 1765) @@ -0,0 +1,81 @@ +# +# COPYRIGHT (c) 1988-2002. +# On-Line Applications Research Corporation (OAR). +# All rights reserved. +# +# Makefile.am,v 1.7 2002/03/28 00:53:21 joel Exp +# + + +PROJECT = rgdb_specs +EDITION = 1 + +include $(top_srcdir)/project.am +include $(top_srcdir)/main.am + +GENERATED_FILES = intro.texi revision.texi objectives.texi gdbinternals.texi \ + interfacing.texi comm.texi daemon.texi conclusion.texi +COMMON_FILES = $(top_srcdir)/common/setup.texi \ + $(top_srcdir)/common/cpright.texi + +FILES = + +info_TEXINFOS = rgdb_specs.texi +rgdb_specs_TEXINFOS = $(FILES) $(COMMON_FILES) $(GENERATED_FILES) + +JPEG_FILES = layers.jpg process.jpg seqinit.jpg seqbreak.jpg seqdetach.jpg + +PDF_IMAGES = layers.pdf process.pdf seqdetach.pdf seqbreak.pdf seqinit.pdf + +if USE_HTML +html_project_DATA += $(JPEG_FILES) +endif + +# +# Process Automatically Generated Files +# + +$(srcdir)/intro.texi: intro.t + $(BMENU2) -c -p "Top" \ + -u "Top" \ + -n "Document Revision History" < $< > $@ + +$(srcdir)/revision.texi: revision.t + $(BMENU2) -c -p "Introduction" \ + -u "Top" \ + -n "Objectives" < $< > $@ + +$(srcdir)/objectives.texi: objectives.t + $(BMENU2) -c -p "Document Revision History" \ + -u "Top" \ + -n "A Rapid Tour of GDB Internals" < $< > $@ + +$(srcdir)/gdbinternals.texi: gdbinternals.t + $(BMENU2) -c -p "Implied Restrictions" \ + -u "Top" \ + -n "Interfacing GDB with RTEMS as a Target" < $< > $@ + +$(srcdir)/interfacing.texi: interfacing.t + $(BMENU2) -c -p "A Rapid Tour of GDB Internals" \ + -u "Top" \ + -n "Communication with GDB" < $< > $@ + +$(srcdir)/comm.texi: comm.t + $(BMENU2) -c -p "Interfacing GDB with RTEMS as a Target" \ + -u "Top" \ + -n "RTEMS Debugger Server Daemon" < $< > $@ + +$(srcdir)/daemon.texi: daemon.t + $(BMENU2) -c -p "Communication with GDB" \ + -u "Top" \ + -n "Conclusion" < $< > $@ + +$(srcdir)/conclusion.texi: conclusion.t + $(BMENU2) -c -p "Output of a Debug Session with the Prototype" \ + -u "Top" \ + -n "" < $< > $@ + +noinst_DATA = layers.eps process.eps seqdetach.eps seqbreak.eps seqinit.eps + +EXTRA_DIST = comm.t conclusion.t daemon.t gdbinternals.t interfacing.t \ + intro.t objectives.t revision.t $(noinst_DATA) $(JPEG_FILES) Index: seqbreak.jpg =================================================================== Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Index: seqbreak.jpg =================================================================== --- seqbreak.jpg (nonexistent) +++ seqbreak.jpg (revision 1765)

seqbreak.jpg Property changes : Added: svn:mime-type ## -0,0 +1 ## +application/octet-stream \ No newline at end of property Index: layers.jpg =================================================================== Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Index: layers.jpg =================================================================== --- layers.jpg (nonexistent) +++ layers.jpg (revision 1765)

layers.jpg Property changes : Added: svn:mime-type ## -0,0 +1 ## +application/octet-stream \ No newline at end of property Index: gdbinternals.t =================================================================== --- gdbinternals.t (nonexistent) +++ gdbinternals.t (revision 1765) @@ -0,0 +1,309 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c gdbinternals.t,v 1.7 2002/01/17 21:47:46 joel Exp +@c + +@chapter A Rapid Tour of GDB Internals + +To help the reader to understand what needs to be implemented, we +will present briefly how GDB works regardless if the target is local or remote. +A debugger is a tool which enables control of the execution of software on a +target system. In most of cases, the debugger connects to a target system, attaches +a process, inserts breakpoints and resumes execution. Then the normal execution +is completely events driven (process execution stopped due to a breakpoint, +process fault, single-step,...) coming from the debuggee. It can also directly +access some parts of the target processor context (registers, data memory, code +memory,...) and change their content. Native GDB debugger can just be seen as +special cases where the host and the target are on the same machine and GDB +can directly access the target system debug API. + + +In our case, the host and the target are not on the same machine and +an Ethernet link is used to communicate between the different machines. Because +GDB needs to be able to support various targets (including Unix core file, ...), +each action that needs to be performed on the debuggee is materialized by a +field of the following @emph{targets_op}s structure : + +@example +struct target_ops +@{ + char *to_shortname; /* Name this target type */ + char *to_longname; /* Name for printing */ + char *to_doc; /* Documentation. Does not include trailing + newline, and starts with a one-line + description (probably similar to + to_longname). */ + void (*to_open) PARAMS ((char *, int)); + void (*to_close) PARAMS ((int)); + void (*to_attach) PARAMS ((char *, int)); + void (*to_detach) PARAMS ((char *, int)); + void (*to_resume) PARAMS ((int, int, enum target_signal)); + int (*to_wait) PARAMS ((int, struct target_waitstatus *)); + void (*to_fetch_registers) PARAMS ((int)); + void (*to_store_registers) PARAMS ((int)); + void (*to_prepare_to_store) PARAMS ((void)); + + /* Transfer LEN bytes of memory between GDB address MYADDR and + target address MEMADDR. If WRITE, transfer them to the target, + else transfer them from the target. TARGET is the target from + which we get this function. + + Return value, N, is one of the following: + + 0 means that we can't handle this. If errno has been set, + it is the error which prevented us from doing it (FIXME: + What about bfd_error?). + + positive (call it N) means that we have transferred N bytes + starting at MEMADDR. We might be able to handle more bytes + beyond this length, but no promises. + + negative (call its absolute value N) means that we cannot + transfer right at MEMADDR, but we could transfer at least + something at MEMADDR + N. */ + + int (*to_xfer_memory) + PARAMS ((CORE_ADDR memaddr, char *myaddr, + int len, int write, + struct target_ops * target)); + + void (*to_files_info) PARAMS ((struct target_ops *)); + int (*to_insert_breakpoint) PARAMS ((CORE_ADDR, char *)); + int (*to_remove_breakpoint) PARAMS ((CORE_ADDR, char *)); + void (*to_terminal_init) PARAMS ((void)); + void (*to_terminal_inferior) PARAMS ((void)); + void (*to_terminal_ours_for_output) PARAMS ((void)); + void (*to_terminal_ours) PARAMS ((void)); + void (*to_terminal_info) PARAMS ((char *, int)); + void (*to_kill) PARAMS ((void)); + void (*to_load) PARAMS ((char *, int)); + int (*to_lookup_symbol) PARAMS ((char *, CORE_ADDR *)); + void (*to_create_inferior) PARAMS ((char *, char *, char **)); + void (*to_mourn_inferior) PARAMS ((void)); + int (*to_can_run) PARAMS ((void)); + void (*to_notice_signals) PARAMS ((int pid)); + int (*to_thread_alive) PARAMS ((int pid)); + void (*to_stop) PARAMS ((void)); + enum strata to_stratum; + struct target_ops + *DONT_USE; /* formerly to_next */ + int to_has_all_memory; + int to_has_memory; + int to_has_stack; + int to_has_registers; + int to_has_execution; + struct section_table + *to_sections; + struct section_table + *to_sections_end; + int to_magic; + /* Need sub-structure for target machine related rather than comm related? */ +@}; +@end example + +This structure contains pointers to functions (in C++, this would +be called a virtual class). Each different target supported by GDB has its own +structure with the relevant implementation of the functions (some functions +may be not implemented). When a user connects GDB to a target via the ``target'' +command, GDB points to the structure corresponding to this target. Then the +user can attache GDB to a specific task via the ``attach'' command. We have +therefore identified two steps to begin a remote debug session : + +@enumerate +@item the choice of the target type (in our case RTEMS), +@item the choice of what to debug (entire system, specific task,...), +@end enumerate +Note that in the case of natives debugger, the choice of the target is implicitly +performed by commands like @b{run}, @b{attach}, @b{detach}. Several +figures will now be described showing the main steps of a debug session. + +@c XXX figure reference +Figure @b{Debug session initialization} explains how the debugger connects to the target +: + +@enumerate +@item The debugger opens a connection to the target. The word ``connection'' +doesn't only mean Ethernet or serial link connection but all the ways by which +a process can communicate with another one (direct function call, messages mailbox, +...), +@item The targets checks if it can accept or reject this connection, +@item If the connection is accepted, the host ``attaches'' the process, +@item the target stops the process, notifies a child's stop to the host +and waits for command, +@item the host can ask information about the debugged process (name, registers,...) +or perform some action like setting breakpoints, ... +@end enumerate + +@c XXX figure reference +Figure @b{Breakpoint and process execution} explains how the debugger manages the +breakpoints and controls the execution of a process : + +@enumerate +@item The host asks the debuggee what is the opcode at the concerned address +in order for GDB to memorize this instruction, +@item the host sends a CONTINUE command : it asks the target to write the +``DEBUG'' opcode (for example, the INTEL ``DEBUG'' opcode is INT3 which +generate a breakpoint trap) instead of the debugged opcode. +@item then the host waits for events, +@item after the change of instruction, the target resumes the execution +of the debuggee, +@item when the ``DEBUG'' opcode is executed, the breakpoint exception +handler is executed and it notifies the host that the process is stopped. Then +it waits for commands (if no command is sent after a certain amount of time, +the connection will be closed by the target). +@item the host asks the target to re-write the right opcode instead of the +''DEBUG'' opcode and then can ask information +@end enumerate + +@c XXX figure reference +Figure @b{Breakpoint and process execution} also shows the case of other ``CONTINUE'' +commands (remember that the ``DEBUG'' opcode has been replaced by the right +instruction): + +@enumerate +@item Host sends first a ``single step'' command to execute the debugged +instruction, +@item It then waits for ``single step`` exception event, +@item the target, once the single step executed, calls the debug exception +handler. It notifies the host that execution is suspended and wait for commands. +@item the host asks the target to re-write the ``DEBUG'' opcode (breakpoint +trap) instead of the debugged one. +@item then the host sends a ``CONTINUE'' command in order the target to +resume the process execution to the next breakpoint. +@end enumerate + +@c XXX figure reference +Figure @b{Detach a process and close a connection} explains how the debugger disconnects from +a target : + +@enumerate +@item the host sends a detach command to the target. +@item the target detaches the concerned process, notifies the detachment +and resumes the process execution. +@item once notified, the host sends a close connection command. +@item the target closes the connection. +@end enumerate +These 3 examples show that the mains actions that are performed by +the host debugger on the target are only simple actions which look like : + +@itemize @bullet +@item read/write code, +@item read/write data, +@item read/write registers, +@item manage exceptions, +@item send/receive messages to/from the host. +@end itemize + + +@c +@c Debug session initialization Figure +@c + +@ifset use-ascii +@example +@group +XXXXX reference it in the previous paragraph +XXXXX insert seqinit.eps +XXXXX Caption Debug session initialization +@end group +@end example +@end ifset + +@ifset use-tex +@example +@group +@c XXXXX reference it in the previous paragraph +@c XXXXX insert seqinit.eps +@c XXXXX Caption Debug session initialization +@end group +@end example +@page +@image{seqinit} +@end ifset + + +@ifset use-html +@c +@html + +@end html +@end ifset + + +@c +@c Breakpoint and process execution Figure +@c + +@ifset use-ascii +@example +@group +XXXXX reference it in the previous paragraph +XXXXX insert seqbreak.eps +XXXXX Caption Breakpoint and process execution +@end group +@end example +@end ifset + +@ifset use-tex +@example +@group +@c XXXXX reference it in the previous paragraph +@c XXXXX insert seqbreak.eps +@c XXXXX Caption Breakpoint and process execution +@end group +@end example +@page +@sp 5 +@image{seqbreak,,9in} +@end ifset + +@ifset use-html +@c +@html + +@end html +@end ifset + + + +@c +@c Detach a process and close a connection Figure +@c + +@ifset use-ascii +@example +@group +XXXXX reference it in the previous paragraph +XXXXX insert seqdetach.eps +XXXXX Caption Detach a process and close a connection +@end group +@end example +@end ifset + +@ifset use-tex +@example +@group +@c XXXXX reference it in the previous paragraph +@c XXXXX insert seqdetach.eps +@c XXXXX Caption Detach a process and close a connection +@end group +@end example +@sp 10 +@image{seqdetach} +@end ifset + +@ifset use-html +@c +@html + +@end html +@end ifset + + + + Index: conclusion.t =================================================================== --- conclusion.t (nonexistent) +++ conclusion.t (revision 1765) @@ -0,0 +1,51 @@ +@c +@c RTEMS Remote Debugger Server Specifications +@c +@c Written by: Eric Valette +@c Emmanuel Raguet +@c +@c +@c conclusion.t,v 1.4 2002/01/17 21:47:46 joel Exp +@c + +@chapter Conclusion + +In this document we have presented how we envisage to add remote debugging facilities +to RTEMS by implementing a remote debugger daemon for GDB. As any debug implemented +in software, it will have limitation but we are confident that most of them +can be removed by adding separate software components dedicated to debug activity. +We must keep in mind that even with this approach, no software will enable the +debug of code with interrupt entirely masked at processor level and that In +Circuit Emulator (ICE) or use of BDM extension on the target board are the ultimate +way to really debug any portion of an RTOS. BDM support in GDB is still weak +but people are working on it and we may get something better in a near future. + +@ifset use-ascii +@example +@group +XXXXX reference it in the previous paragraph +XXXXX insert process.eps +XXXXX Caption remote debugger tasks and handlers +@end group +@end example +@end ifset + +@ifset use-tex +@example +@group +@c XXXXX reference it in the previous paragraph +@c XXXXX insert process.eps +@c XXXXX Caption remote debugger tasks and handlers +@end group +@end example +@image{process,6in,} +@end ifset + + +@ifset use-html +@c +@html + +@end html +@end ifset + Index: . =================================================================== --- . (nonexistent) +++ . (revision 1765)

. Property changes : Added: svn:ignore ## -0,0 +1,33 ## +Makefile +Makefile.in +comm.texi +conclusion.texi +daemon.texi +gdbinternals.texi +index.html +interfacing.texi +intro.texi +layers.pdf +mdate-sh +objectives.texi +process.pdf +revision.texi +rgdb_specs +rgdb_specs*.html +rgdb_specs.aux +rgdb_specs.cp +rgdb_specs.dvi +rgdb_specs.fn +rgdb_specs.ky +rgdb_specs.log +rgdb_specs.pdf +rgdb_specs.pg +rgdb_specs.ps +rgdb_specs.toc +rgdb_specs.tp +rgdb_specs.vr +seqbreak.pdf +seqdetach.pdf +seqinit.pdf +rtems_header.html +rtems_footer.html