5. DSP Software¶

5.1.1.1. General Purpose Libraries¶

• MATHLIB:Standalone download page
• DSPLIB: Standalone download page
• IMGLIB: Standalone download page

These libraries are delivered with TI C66x object code and included in Processor-SDK ROTS. For development in Processor-SDK Linux, they can be downloaded from the links listed above and used in any C66x DSP code.

5.1.1.2. High Performance or Application Specific Libraries¶

• LibArch: Library Architecture and Framework, an abstraction layer for multi-core DSP library development.
• FFTLIB: optimized library for performing fast Fourier transform.
• LINALG: optimized library for performing dense linear algebra computations.

These libraries are available in both Processor-SDK RTOS and Processor-SDK Linux.

5.1.2.1. Using Libraries in Processor-SDK RTOS¶

The following diagram illustrates the software stack of various components including libraries provided with the Processor-SDK RTOS.

5.1.2.2. Using Libraries in Processor-SDK Linux¶

The following diagram illustrates the software stack in Processor-SDK Linux environment, taking LINALG as an example. Applications access the libraries on the host (ARM) side, and the actual computation may be executed on ARM or DSP according to configuration and problem size. This is explained in detail in each library’s documentation page.

5.2.1.1. Introduction¶

See CToolsLib Article for a comprehensive article on cToolsLibs and the hardware modules supported.

5.2.1.2. Overview¶

• CToolsLib is collection of embedded target APIs/library focused to enable easy programmatic access to CTools debug capabilities
• CToolsLib purpose is provided in source code for easy integration into applications
• CToolsLib consists of several libraries

5.2.1.3. Examples¶

• The CToolsLib examples package contains device or platform specific CCSv5 examples, which portrays typical use case scenarios involving individual or multiple CTools libraries. These examples also show how to integrate various CTools libraries into one’s application SW.
• The following are the various supported devices or platforms:
  • Keystone1 family of devices (C667x, C665x and TCI661x)
  • Keystone2 family of devices (66AK2Hxx, 66AK2Exx and TCI6630K2L)
  • TCI648x family of devices
  • OMAP family of devices (OMAP44xx and OMAP54xx)
  • C6A816x family of devices
  • DRA7xx family of devices

5.2.1.4. Documentation¶

• There is a generated Doxygen API description included with each CToolsLib.

5.2.1.5. Download¶

All cToolsLib libraries and example source are available in the links below. After downloading the zips you need, simply expand each zip under the same top level directory. All library and example projects are compatible with CCSv6.

The latest release of all libraries now come with CCS projects. Please refer GettingStarted.htm for more details.

5.2.1.6. Trace Decoding¶

To decoder trace from a binary dump of the ETB memory, two tools are avaialble:

Bin2TDF utility

Refer here for the detail on using BIN2TDF.

TD utility

Refer here for the detail on using TD .

5.2.1.7. Support¶

• Support Forum - Please put CToolsLib in title

Frequent Asked Questions (FAQ)

Q: Can I get the source code?

• A: The source code is included with each library.

Q: How do I know if my device supports CTools?

• A: The datasheet or Technical Reference Manual (TRM) will usually contain details on the features support and avaialble on your device. If you are unsure, you may wish to ask in the support forum.

Q: Do I have to use CToolsLib with Code Composer Studio?

• A: No, other tools such as Lauterbach Trace32 can be used with the CToolsLib. Please contact your tools vendor regarding support.

Q: Do you have approximate cycle counts for each library?

• A: For AETlib there is a file called “aetlib_profiling_stats.txt” that gives this information
• A: For ETBLib, on the TI c6x compiler on a 64x+ device, it takes approximately 1000 cycles per call at the “-o2” optimization level.

Q: Do you have the code size for each library?

• A: For AETlib there is a file called “aetlib_size_stats.txt” that gives this information
• A: For ETBLib, on the TI c6x compiler on a 64x+ device, it is approximately 4KB at the “-o2” optimization level.

Q: What license is this code provided under? / Is the code GPL compatible?

• A: The header files in CToolsLib will have the relevant licenses. Generally, CToolsLib is licnesed under modified BSD license which is GPL compatible. Please see this wikipedia article.

Related

• TI.com XDS560 Product Page
• XDS560v2 System Trace
• CTools
• How OMAP software developers use System Trace to boost performance
• Using System Trace (STM)
• Etblib Example Here

5.2.2.1. Overview¶

System Analyzer is a real-time tool for analyzing, visualizing and profiling application running on single or multi core systems. Data is collected using UIA (Unified Instrumentation Architecture) software instrumentation on the target and transported via Ethernet, run-mode JTAG, stop-mode JTAG, USB or UART to the host PC for analysis and visualization in Code Composer Studio.

In a multi core system, data from all cores are correlated to a single timeline.

5.2.2.2. Unified Instrumentation Architecture (UIA)¶

UIA is the target-side package which defines the APIs, transports, interfaces and guidelines that enable developers to instrument embedded software in a way that is portable and flexible. It enables the creation of advanced tooling that can be used both in the lab and in the field. The framework includes:

• a messaging infrastructure that allows instrumentation clients to interact with instrumentation endpoints on a target device while the target is running
• an extensible set of commands and messages that can be sent over the messaging infrastructure
• protocols to be used by the target-side instrumentation framework and the host-side instrumentation client
• built-in instrumentation for DSP/BIOS for ‘out of the box’ real-time visibility into the operation of the O/S
• guidelines on how to instrument other RTOSes

5.2.2.3. Documents and Tutorials¶

System Analyzer Getting Started Guide - Get familar with System Analyzer features using a data file shipped with CCStudio.

System Analyzer User’s Guide - Detail guide on configuring and using System Analyzer and UIA.

System Analyzer Tutorials (CCSv5) - Includes a series of projects that can be built and use, along with step-by-step walkthroughs of how to configure code, set up System Analyzer, work with Analysis Features, etc.

5.2.2.4. System Analyzer and the MCSDK Demo¶

System Analyzer provides visibility into the real-time behavior and performance of the BIOS MCSDK 2.0 Image Processing Demo. The System Analyzer and the MCSDK Demo page provides more information about how to use System Analyzer with the MCSDK.

5.2.2.5. Known Issues/Errata¶

CCS Crash when opening Graph in System Analyzer

• It appears that some graphics card drivers are not compatible with Eclipse support for text rotation. This may result in a CCS crash (inside the graphics driver) when opening graphs in System Analyzer (graphs use text rotation for y-axis label). If you encounter this problem, try updating the graphics card driver. This has resolved the occurrences of this problem we’ve seen so far.

Multicore correlation not working

• Multicore event correlation is not automatically supported for JTAG transports (it is supported for Ethernet). User can explicitly add synchronization logs to enable correlation. (See Tutorial 4B for details)
• if the target is halted (either by explict halt or implicit halts such as Console I/O / CIO) while data is being collected via Ethernet then correlation will not work.
• if some target is generating data very infrequently then correlation may timeout resulting in uncorrelated data. In this case the data can be saved to a binary file and post process for correlation to work.

uia_1_00_04_35 : Tutorial 1 and Tutorial 2 do not build properly.

• The build fails with the error “dc.services.global.XDCException: xdc.PACKAGE_NOT_FOUND: can’t locate the package ‘ti.sysbios.knl’”
• To overcome this, please unzip UIAMetaData.zip <uia_1_00_04_35 install folder>/packages/ti/uia/runtime/ to update the UIAMetaData.xs file. Then delete the <Debug> folder from your project and rebuild.

uia_1_03_00_02 : JTAG Transport does not work properly on some devices.

• Project builds cleanly, System Analyzer starts normally, but no events are captured.
• To overcome this, please use uia_1_03_01_08 or later.

5.2.2.6. FAQs¶

Q: When can I use System Analyzer auto configuration

When launching a Live or Binary File session users can choose to let System Analyzer auto configure itself. For this to work you must:

• have a debug session running with the symbol/program file loaded
• generated rta and uia xml file (program.rta.xml and program.uia.xml) files should be located where the project generated them or in the same folder as the .out file
• if using Ethernet transport it is expected that IP address is output in the console

Q: Configuring System Analyzer when auto configuration is not possible

See Configuring System Analyzer Transport and Endpoints in Chapter 4 of the System Analyzer User’s Guide.

Q: Can I launch System Analyzer before the target if running

If using Ethernet transport, System Analyzer expects that the target is up and running and the Ethernet connection is established before it is started. For JTAG transport the target does not have to be running.

Q: What happens if the target is halted while collecting data using Ethernet transport

Halting the target may result in the ethenet connection getting disconnected. The connection can be re-established using the connect button.

Q: How to Profile functions using enter and exit hook functions

In order to do inclusive and exclusive profiling of functions(using Context Aware Profiler of System Analyzer), a UIA log is needed at the entry and exit point of functions. One can add entry and exit hook functions to every function in the source by doing the following

Use the following compiler options when compiling the source

--entry_hook=functionEntryHook
--entry_parm=address
--exit_hook=functionExitHook
--exit_parm=address

To use the required UIA events, need this include

#include <ti/uia/events/UIABenchmark.h>

Add entry and exit hook functions to the source (The below one is for Context aware function profiling)

void functionEntryHook( void (*addr)() ){
    Log_write3(UIABenchmark_startInstanceWithAdrs, (IArg)"context=0x%x, fnAdrs=0x%x:",(IArg)0, (IArg)addr);
}

void functionExitHook( void (*addr)() ){
    Log_write3(UIABenchmark_stopInstanceWithAdrs,  (IArg)"context=0x%x, fnAdrs=0x%x:",(IArg)0, (IArg)addr);
}

For CCS 5.5 and later

void functionEntryHook( void (*addr)() ){
    Log_write2(UIAProfile_enterFunctionAdrs, (IArg)0, (IArg)addr);
}

void functionExitHook( void (*addr)() ){
    Log_write2(UIAProfile_exitFunctionAdrs,  (IArg)0, (IArg)addr);
}

The 1st parameter after the message string( 3rd parameter to Log_write3) is a context parameter (For CCS 5.5 and later is the 2nd parameter to Log_write2) and can be used to specify an additional level of qualification (e.g. Task Context). For our purpose out here we can ignore this and just set it to 0.

If task aware profiling is needed, the Task context has to be logged. SYS/BIOS automatically logs events for task switches and SWI and HWI Start and Stop events. See Enabling and Disabling logging Sec 5.2.2 in the System Analyzer User’s Guide. Context change can also be explicitly logged by the application. For more on Profiling using system analyzer refer to Section 3.5,4.12 of the user’s guide.

Profiling Results when using Libraries: Hook functions will not be added and hence called from functions in libraries that have been linked in. This will cause the Exclusive counts of the functions making calls to the Library, to include the Library functions duration.

5.2.2.7. Trouble Shooting¶

System Analyzer Events or Packets are being dropped

See Troubleshooting System Analyzer Connections section in the System Analyzer User’s Guide.

No Events showing up in System Analyzer Views

See Troubleshooting System Analyzer Connections section in the System Analyzer User’s Guide.

System Analyzer cannot connect to the target to retrieve logs

See Troubleshooting System Analyzer Connections section in the System Analyzer User’s Guide.

System Analyzer Events do not make sense

See Troubleshooting System Analyzer Connections section in the System Analyzer User’s Guide.

Time values in the logs are too large

See Troubleshooting System Analyzer Connections section in the System Analyzer User’s Guide.

5.2.2.8. Technical Support and Product Updates¶

For technical discussions and issues, please visit

• C66x Multicore forum: https://e2e.ti.com/support/dsp/c6000_multi-core_dsps/f/639.aspx
• BIOS Embedded Software forum: https://e2e.ti.com/support/embedded/f/355.aspx
• Embedded Processors Documentation:

For product updates, - Use the CCS/Eclipse Update Manager (see the Getting Started Guide above)

5.2.3.1. Overview¶

In a multicore environment there would be data generated by a producer in one core and would need to be consumed by multiple consumers in other cores/same core. For example, a target log information to be consumed by ARM and CCS System Analyzer.

The trace framework (TF) provides a mechanism to send the information to multiple consumers for a given producer. In trace framework, Producer populates the associated Ring buffer. Consumers consume the ring buffer and send the data to external actual consumers (like System Analyzer in CCS). The hand shake between producers and consumers happen using shared memory area known as contract memory between producers and consumers.

It is upto the consumer application to either send the data to final consumers (using ethernet for System Analyzer) or local consuption for any OAM (Operations and maintenance) features on ARM.

5.2.3.2. Driver Configuration¶

Traceframework requires Producer, Consumer and Contract shared memory to be configured using tf_contractInit(), tf_contractCreate(), tf_prodCreate() and tf_consCreate() functions. For details about individual fields of this structure, see the Doxygen help by opening PDK_INSTALL_DIR\Traceframeworkckages\ti\drv\Traceframework\docs\doxygen\html\index.html.

5.2.3.3. APIs¶

API reference for application:

#include <ti/instrumentation/traceframework/traceframework.h>

5.2.3.4. Example¶

5.2.3.5. Application Integration Details¶

Sys BIOS DSP (C66) Use case

Reference library path to be included in application build environment:

<ti/instrumentation/traceframework/lib/c66>

SysBIOS based application

Any RTSC application that needs to use trace framework library, should have a RTSC configuration file. Please refer to <ti/instrumentation/traceframework/test/TFUnitTest/<soc>/c66/bios/tfw_Uia_utest.cfg> sample RTSC cfg file for reference.

5.2.3.6. Additional References¶

5.2.4.1. Introduction¶

This section describes the Fault Management APIs and provides information on how to instrument a DSP image for exception. This library is currently supported for K2x devices only.

5.2.4.2. FM DSP Exception APIs & Usage¶

A DSP application can create and install an exception hook configured with the following features using the APIs provided by FM:

• Retrieve DSP register status for a core dump
• Halt system IO, such as DMAs
• Inform remote DSPs an exception has occurred
• Inform ARM/Host a DSP exception has occurred

Retrieving Last Register Status

An exception hook function that intends to create a core dump must call the following API:

void Fault_Mgmt_getLastRegStatus(void);

The API stores relevant DSP core register values into the memory region mapped to the fault_mgmt_data data array for the core dump that is provided to the ARM/Host.

Halting System IO

When a DSP exception is detected, invoking the FM instrumented exception hook function, system IO that offload data transfers can be stopped using the following API:

Fault_Mgmt_haltIoProcessing(Fm_GlobalConfigParams *fmGblCfgParams, Fm_HaltCfg *haltCfg)

The API provides the ability to disable all or subsets of the following system IO:

• AIF2 PE (Tx) and PD (Rx) channels
• EDMA3 DMA, QDMA, and INT channels
• CPDMA Tx/Rx channels
• SGMII switch

The exception hook can invoke this function in order to stop DSP enabled IO from continuing data transfers that may wipe out data important to deciphering the source of the DSP exception. However, care must be taken to not disable resources in use by the ARM/Host. If this occurs the ARM/Host may experience unstable behavior preventing it from properly receiving and handling the DSP core dump.

IO Halt Configuration Parameters

The Fm_HaltCfg structure is used to define which system IO will be disabled upon invocation of the IO halt API. A user can specify that an entire IO be disabled or a subset of an IO be disabled. The Fm_HaltCfg structure has the following parameters:

• int32_t haltAif If set to a non-zero value, will halt all AIF2 PE and PD channels except those specified within the Fm_ExcludedResource’s list. All AIF2 PE and PD channels will be disabled if the Fm_ExcludedResource’s list is NULL.
• int32_t haltSGMII If set to a non-zero value, will halt the SGMII ethernet switch. Note: This will prevent ARM Linux ethernet from working properly.
• int32_t haltEdma3 If set to a non-zero value, will halt all EMDA3 DMA, QDMA, and INT channels except those specified within the Fm_ExcludedResource’s list. All EDMA3 DMA, QDMA, and INT channels will be disabled if the Fm_ExcludedResource’s list is NULL. Note: Some EDMA3 channels are used by ARM Linux to access NAND in UBIFS. UBIFS will not work correctly if these channels are halted.
• int32_t haltCpdma If set to a non-zero value, will halt all CPDMA channels except those specified within the Fm_ExcludedResource’s list. All CPDMA channels will be disabled if the Fm_ExcludedResource’s list is NULL. Note: Some CPDMA channels are used by ARM Linux which will exhibit unknown behavior if the relevant CPDMA channels are halted.
• Fm_ExcludedResource *excludedResources; List of specific system IO values that should not be disabled.

A customized version of the Fm_ExcludedResource’s list can be created. However, a version has been created and supplied in pdk_#_##_##_##\packages\ti\instrumentation\fault_mgmt\device\k2x\src\fm_device.c which already accounts for all resources used the ARM Linux kernel delivered with the latest PROCSDK release.

Informing Remote DSP Core’s of Exception

Remote DSP cores can be informed of a DSP exception and told to halt functioning using the following API:

void Fault_Mgmt_notify_remote_core(uint32_t core_id);

The DSP local to the exception will interrupt remote cores via their NMI causing them to enter their own exception handling routine. This allows all DSPs to be brought down when a single DSP exception occurs. In multi-core application this may help preserve information relevant to deciphering the root cause of the original DSP exception.

Informing ARM/Host of DSP Exception

A DSP core can inform the ARM/Host an exception has occurred via the following API:

void Fault_Mgmt_notify(void);

This function will notify the ARM/Host an exception has occurred via Remoteproc and should be the last FM API called within the instrumented exception hook function.

5.2.4.3. Instrumenting a DSP Application with FM Exception APIs¶

Create and install an exception hook in the DSP application that utilizes the DSP FM APIs.

• In the .cfg (Configuro Script) file of the application add following commands to create a section

var devType = "k2?";  /* Replace k2? with the k2 device in use k2e, k2h, k2k, or k2l */
/* Load and use the Fault Management package */
var Fault_mgmt = xdc.useModule('ti.instrumentation.fault_mgmt.Settings')
Fault_mgmt.deviceType = devType;

/*
 * The SysMin used here vs StdMin, as trace buffer address is required for
 * Linux trace debug driver, plus provides better performance.
 */
Program.global.sysMinBufSize = 0x8000;
var System = xdc.useModule('xdc.runtime.System');
var SysMin = xdc.useModule('xdc.runtime.SysMin');
System.SupportProxy = SysMin;
SysMin.bufSize = Program.global.sysMinBufSize;

/* Configure resource table for trace only.
   Note that traceOnly parameter should not
   be set if application is using MessageQ based IPC
   to communicate between cores.
 */
var Resource = xdc.useModule('ti.ipc.remoteproc.Resource');
Resource.loadSegment = Program.platform.dataMemory;
Resource.traceOnly = true;

/* Load the Exception and register a exception hook */
var Exception = xdc.useModule('ti.sysbios.family.c64p.Exception');
Exception.exceptionHook = '&myExceptionHook';
Exception.enablePrint = true;

/* Add note section for coredump */
Program.sectMap[".note"] = new Program.SectionSpec();
Program.sectMap[".note"] = Program.platform.dataMemory;
Program.sectMap[".note"].loadAlign = 128;

• In a source/header file, create a exception hook function as follows

/* Fault Management Include File */
#include <ti/instrumentation/fault_mgmt/fault_mgmt.h>

Void myExceptionHook(Void)
{
    uint32_t   i;
    Fm_HaltCfg haltCfg;
    uint32_t   efr_val;

    /* Copy register status into fault management data region for ARM/Host */
    Fault_Mgmt_getLastRegStatus();

    memset(&haltCfg, 0, sizeof(haltCfg));
    efr_val = CSL_chipReadEFR();

    /* If triggered exception originates from another core through
     * NMI exception don't need to halt processing and notify other cores
     * since the parent core where the exception originally triggered via
     * event would notify them.  This eliminates recursive exceptions */
    if (!(efr_val & 0x80000000)) {
        /* Halt all processing - Only need to be done on one core */
        haltCfg.haltAif = 1;
        haltCfg.haltCpdma = 1;
#if EXCLUDE_LINUX_RESOURCES_FROM_HALT
        haltCfg.haltSGMII = 0;
        /* EDMA used by kernel to copy data to/from NAND in UBIFS */
        haltCfg.haltEdma3 = 0;
        haltCfg.excludedResources = &linuxResources[0];
#else
        haltCfg.haltSGMII = 1;
        haltCfg.haltEdma3 = 1;
        haltCfg.excludedResources = NULL;
#endif

        Fault_Mgmt_haltIoProcessing(&fmGblCfgParams, &haltCfg);

        for (i = 0; i < fmGblCfgParams.maxNumCores; i++) {
            /* Notify remote DSP cores of exception - WARNING: This will generate NMI
             * pulse to the remote DSP cores */
            if (i != CSL_chipReadDNUM()) {
                Fault_Mgmt_notify_remote_core(i);
            }
        }
    }

    /* Notify ARM/Host of crash */
    Fault_Mgmt_notify();
}

A sample test application is provided in pdk_#_##_##_##\packages\ti\instrumentation\fault_mgmt\test\k2x\c66\bios\fmCoreDumpK2XC66TestProject. The test application uses the default resource exclusion list provided with FM in pdk_#_##_##_##\packages\ti\instrumentation\fault_mgmt\device\k2x\src. The default list has been configured to exclude all Linux owned IO from the halting on exception. This allows the Linux kernel to remain operational after DSP exception so that the core dump can be processed.

5.2.4.4. FM Global Configuration Parameters¶

The Fm_GlobalConfigParams structure informs the IO halt and cleanup features of the system peripheral resource ranges that could not be pulled from CSL. The user should not create their own version of this structure. Instead, the version of the structure provided within pdk_#_##_##_##\packages\ti\instrumentation\fault_mgmt\device\k2x\src\fm_device.c should be used. This structure has been statically created based on device peripheral parameters.

5.2.4.5. FM Tests¶

The Fault Management module comes with a single test application, fmCoreDumpK2HC66TestProject. The fmCoreDumpK2HC66TestProject forces a DSP exception which causes the FM core dump logic to execute. The example can be run from CCS or downloaded from Linux via MPM. After executing the application, from the Linux shell, check /var/log/syslog for a message saying a crash event was detected on the DSP to which the core dump test was loaded and run.

5.2.4.6. Additional References¶

5.2.5.1. Introduction¶

The Watchdog Timer Module provides configuration and use of the watchdog timer mode for the DSP local timers. The watchdog mode is a 64-bit timer mode for the local timers.

5.2.5.2. Modes of Operation¶

Following modes of operations are supported

• DEFAULT_NO_OUTPUT_EVENT: Default on system reset, WD timeout causes no output event
• LOCAL_RESET_INPUT: WD timeout causes local reset input to CorePac
• NMI_INPUT: WD timeout causes NMI input to CorePac
• NMI_INPUT_PLUS_LOCAL_RESET_INPUT: WD timeout causes an NMI input followed by a local reset input. The delay between the NMI and the local reset is configurable.
• DEVICE_RESET: WD timeout event causes a device reset.

Resets can be configured as a hard or soft reset.

5.2.5.3. Driver Configuration¶

#include <ti/instrumentation/wdtimer/WatchdogTimer.h>

WatchdogTimer_ResetTimer()