Documentation/trace/coresight-cpu-debug.txt - linux - Git at Google

 		Coresight CPU Debug Module
 		==========================

    Author:   Leo Yan <leo.yan@linaro.org>
    Date:     April 5th, 2017

 Introduction
 ------------

 Coresight CPU debug module is defined in ARMv8-a architecture reference manual
 (ARM DDI 0487A.k) Chapter 'Part H: External debug', the CPU can integrate
 debug module and it is mainly used for two modes: self-hosted debug and
 external debug. Usually the external debug mode is well known as the external
 debugger connects with SoC from JTAG port; on the other hand the program can
 explore debugging method which rely on self-hosted debug mode, this document
 is to focus on this part.

 The debug module provides sample-based profiling extension, which can be used
 to sample CPU program counter, secure state and exception level, etc; usually
 every CPU has one dedicated debug module to be connected. Based on self-hosted
 debug mechanism, Linux kernel can access these related registers from mmio
 region when the kernel panic happens. The callback notifier for kernel panic
 will dump related registers for every CPU; finally this is good for assistant
 analysis for panic.


 Implementation
 --------------

 - During driver registration, it uses EDDEVID and EDDEVID1 - two device ID
   registers to decide if sample-based profiling is implemented or not. On some
   platforms this hardware feature is fully or partially implemented; and if
   this feature is not supported then registration will fail.

 - At the time this documentation was written, the debug driver mainly relies on
   information gathered by the kernel panic callback notifier from three
   sampling registers: EDPCSR, EDVIDSR and EDCIDSR: from EDPCSR we can get
   program counter; EDVIDSR has information for secure state, exception level,
   bit width, etc; EDCIDSR is context ID value which contains the sampled value
   of CONTEXTIDR_EL1.

 - The driver supports a CPU running in either AArch64 or AArch32 mode. The
   registers naming convention is a bit different between them, AArch64 uses
   'ED' for register prefix (ARM DDI 0487A.k, chapter H9.1) and AArch32 uses
   'DBG' as prefix (ARM DDI 0487A.k, chapter G5.1). The driver is unified to
   use AArch64 naming convention.

 - ARMv8-a (ARM DDI 0487A.k) and ARMv7-a (ARM DDI 0406C.b) have different
   register bits definition. So the driver consolidates two difference:

   If PCSROffset=0b0000, on ARMv8-a the feature of EDPCSR is not implemented;
   but ARMv7-a defines "PCSR samples are offset by a value that depends on the
   instruction set state". For ARMv7-a, the driver checks furthermore if CPU
   runs with ARM or thumb instruction set and calibrate PCSR value, the
   detailed description for offset is in ARMv7-a ARM (ARM DDI 0406C.b) chapter
   C11.11.34 "DBGPCSR, Program Counter Sampling Register".

   If PCSROffset=0b0010, ARMv8-a defines "EDPCSR implemented, and samples have
   no offset applied and do not sample the instruction set state in AArch32
   state". So on ARMv8 if EDDEVID1.PCSROffset is 0b0010 and the CPU operates
   in AArch32 state, EDPCSR is not sampled; when the CPU operates in AArch64
   state EDPCSR is sampled and no offset are applied.


 Clock and power domain
 ----------------------

 Before accessing debug registers, we should ensure the clock and power domain
 have been enabled properly. In ARMv8-a ARM (ARM DDI 0487A.k) chapter 'H9.1
 Debug registers', the debug registers are spread into two domains: the debug
 domain and the CPU domain.

                                 +---------------+
                                 |               |
                                 |               |
                      +----------+--+            |
         dbg_clock -->|          |**|            |<-- cpu_clock
                      |    Debug |**|   CPU      |
  dbg_power_domain -->|          |**|            |<-- cpu_power_domain
                      +----------+--+            |
                                 |               |
                                 |               |
                                 +---------------+

 For debug domain, the user uses DT binding "clocks" and "power-domains" to
 specify the corresponding clock source and power supply for the debug logic.
 The driver calls the pm_runtime_{put|get} operations as needed to handle the
 debug power domain.

 For CPU domain, the different SoC designs have different power management
 schemes and finally this heavily impacts external debug module. So we can
 divide into below cases:

 - On systems with a sane power controller which can behave correctly with
   respect to CPU power domain, the CPU power domain can be controlled by
   register EDPRCR in driver. The driver firstly writes bit EDPRCR.COREPURQ
   to power up the CPU, and then writes bit EDPRCR.CORENPDRQ for emulation
   of CPU power down. As result, this can ensure the CPU power domain is
   powered on properly during the period when access debug related registers;

 - Some designs will power down an entire cluster if all CPUs on the cluster
   are powered down - including the parts of the debug registers that should
   remain powered in the debug power domain. The bits in EDPRCR are not
   respected in these cases, so these designs do not support debug over
   power down in the way that the CoreSight / Debug designers anticipated.
   This means that even checking EDPRSR has the potential to cause a bus hang
   if the target register is unpowered.

   In this case, accessing to the debug registers while they are not powered
   is a recipe for disaster; so we need preventing CPU low power states at boot
   time or when user enable module at the run time. Please see chapter
   "How to use the module" for detailed usage info for this.


 Device Tree Bindings
 --------------------

 See Documentation/devicetree/bindings/arm/coresight-cpu-debug.txt for details.


 How to use the module
 ---------------------

 If you want to enable debugging functionality at boot time, you can add
 "coresight_cpu_debug.enable=1" to the kernel command line parameter.

 The driver also can work as module, so can enable the debugging when insmod
 module:
 # insmod coresight_cpu_debug.ko debug=1

 When boot time or insmod module you have not enabled the debugging, the driver
 uses the debugfs file system to provide a knob to dynamically enable or disable
 debugging:

 To enable it, write a '1' into /sys/kernel/debug/coresight_cpu_debug/enable:
 # echo 1 > /sys/kernel/debug/coresight_cpu_debug/enable

 To disable it, write a '0' into /sys/kernel/debug/coresight_cpu_debug/enable:
 # echo 0 > /sys/kernel/debug/coresight_cpu_debug/enable

 As explained in chapter "Clock and power domain", if you are working on one
 platform which has idle states to power off debug logic and the power
 controller cannot work well for the request from EDPRCR, then you should
 firstly constraint CPU idle states before enable CPU debugging feature; so can
 ensure the accessing to debug logic.

 If you want to limit idle states at boot time, you can use "nohlt" or
 "cpuidle.off=1" in the kernel command line.

 At the runtime you can disable idle states with below methods:

 It is possible to disable CPU idle states by way of the PM QoS
 subsystem, more specifically by using the "/dev/cpu_dma_latency"
 interface (see Documentation/power/pm_qos_interface.txt for more
 details).  As specified in the PM QoS documentation the requested
 parameter will stay in effect until the file descriptor is released.
 For example:

 # exec 3<> /dev/cpu_dma_latency; echo 0 >&3
 ...
 Do some work...
 ...
 # exec 3<>-

 The same can also be done from an application program.

 Disable specific CPU's specific idle state from cpuidle sysfs (see
 Documentation/admin-guide/pm/cpuidle.rst):
 # echo 1 > /sys/devices/system/cpu/cpu$cpu/cpuidle/state$state/disable


 Output format
 -------------

 Here is an example of the debugging output format:

 ARM external debug module:
 coresight-cpu-debug 850000.debug: CPU[0]:
 coresight-cpu-debug 850000.debug:  EDPRSR:  00000001 (Power:On DLK:Unlock)
 coresight-cpu-debug 850000.debug:  EDPCSR:  handle_IPI+0x174/0x1d8
 coresight-cpu-debug 850000.debug:  EDCIDSR: 00000000
 coresight-cpu-debug 850000.debug:  EDVIDSR: 90000000 (State:Non-secure Mode:EL1/0 Width:64bits VMID:0)
 coresight-cpu-debug 852000.debug: CPU[1]:
 coresight-cpu-debug 852000.debug:  EDPRSR:  00000001 (Power:On DLK:Unlock)
 coresight-cpu-debug 852000.debug:  EDPCSR:  debug_notifier_call+0x23c/0x358
 coresight-cpu-debug 852000.debug:  EDCIDSR: 00000000
 coresight-cpu-debug 852000.debug:  EDVIDSR: 90000000 (State:Non-secure Mode:EL1/0 Width:64bits VMID:0)
	Coresight CPU Debug Module
	==========================

	Author: Leo Yan <leo.yan@linaro.org>
	Date: April 5th, 2017

	Introduction
	------------

	Coresight CPU debug module is defined in ARMv8-a architecture reference manual
	(ARM DDI 0487A.k) Chapter 'Part H: External debug', the CPU can integrate
	debug module and it is mainly used for two modes: self-hosted debug and
	external debug. Usually the external debug mode is well known as the external
	debugger connects with SoC from JTAG port; on the other hand the program can
	explore debugging method which rely on self-hosted debug mode, this document
	is to focus on this part.

	The debug module provides sample-based profiling extension, which can be used
	to sample CPU program counter, secure state and exception level, etc; usually
	every CPU has one dedicated debug module to be connected. Based on self-hosted
	debug mechanism, Linux kernel can access these related registers from mmio
	region when the kernel panic happens. The callback notifier for kernel panic
	will dump related registers for every CPU; finally this is good for assistant
	analysis for panic.


	Implementation
	--------------

	- During driver registration, it uses EDDEVID and EDDEVID1 - two device ID
	registers to decide if sample-based profiling is implemented or not. On some
	platforms this hardware feature is fully or partially implemented; and if
	this feature is not supported then registration will fail.

	- At the time this documentation was written, the debug driver mainly relies on
	information gathered by the kernel panic callback notifier from three
	sampling registers: EDPCSR, EDVIDSR and EDCIDSR: from EDPCSR we can get
	program counter; EDVIDSR has information for secure state, exception level,
	bit width, etc; EDCIDSR is context ID value which contains the sampled value
	of CONTEXTIDR_EL1.

	- The driver supports a CPU running in either AArch64 or AArch32 mode. The
	registers naming convention is a bit different between them, AArch64 uses
	'ED' for register prefix (ARM DDI 0487A.k, chapter H9.1) and AArch32 uses
	'DBG' as prefix (ARM DDI 0487A.k, chapter G5.1). The driver is unified to
	use AArch64 naming convention.

	- ARMv8-a (ARM DDI 0487A.k) and ARMv7-a (ARM DDI 0406C.b) have different
	register bits definition. So the driver consolidates two difference:

	If PCSROffset=0b0000, on ARMv8-a the feature of EDPCSR is not implemented;
	but ARMv7-a defines "PCSR samples are offset by a value that depends on the
	instruction set state". For ARMv7-a, the driver checks furthermore if CPU
	runs with ARM or thumb instruction set and calibrate PCSR value, the
	detailed description for offset is in ARMv7-a ARM (ARM DDI 0406C.b) chapter
	C11.11.34 "DBGPCSR, Program Counter Sampling Register".

	If PCSROffset=0b0010, ARMv8-a defines "EDPCSR implemented, and samples have
	no offset applied and do not sample the instruction set state in AArch32
	state". So on ARMv8 if EDDEVID1.PCSROffset is 0b0010 and the CPU operates
	in AArch32 state, EDPCSR is not sampled; when the CPU operates in AArch64
	state EDPCSR is sampled and no offset are applied.


	Clock and power domain
	----------------------

	Before accessing debug registers, we should ensure the clock and power domain
	have been enabled properly. In ARMv8-a ARM (ARM DDI 0487A.k) chapter 'H9.1
	Debug registers', the debug registers are spread into two domains: the debug
	domain and the CPU domain.

	+---------------+
	\| \|
	\| \|
	+----------+--+ \|
	dbg_clock -->\| \|**\| \|<-- cpu_clock
	\| Debug \|**\| CPU \|
	dbg_power_domain -->\| \|**\| \|<-- cpu_power_domain
	+----------+--+ \|
	\| \|
	\| \|
	+---------------+

	For debug domain, the user uses DT binding "clocks" and "power-domains" to
	specify the corresponding clock source and power supply for the debug logic.
	The driver calls the pm_runtime_{put\|get} operations as needed to handle the
	debug power domain.

	For CPU domain, the different SoC designs have different power management
	schemes and finally this heavily impacts external debug module. So we can
	divide into below cases:

	- On systems with a sane power controller which can behave correctly with
	respect to CPU power domain, the CPU power domain can be controlled by
	register EDPRCR in driver. The driver firstly writes bit EDPRCR.COREPURQ
	to power up the CPU, and then writes bit EDPRCR.CORENPDRQ for emulation
	of CPU power down. As result, this can ensure the CPU power domain is
	powered on properly during the period when access debug related registers;

	- Some designs will power down an entire cluster if all CPUs on the cluster
	are powered down - including the parts of the debug registers that should
	remain powered in the debug power domain. The bits in EDPRCR are not
	respected in these cases, so these designs do not support debug over
	power down in the way that the CoreSight / Debug designers anticipated.
	This means that even checking EDPRSR has the potential to cause a bus hang
	if the target register is unpowered.

	In this case, accessing to the debug registers while they are not powered
	is a recipe for disaster; so we need preventing CPU low power states at boot
	time or when user enable module at the run time. Please see chapter
	"How to use the module" for detailed usage info for this.


	Device Tree Bindings
	--------------------

	See Documentation/devicetree/bindings/arm/coresight-cpu-debug.txt for details.


	How to use the module
	---------------------

	If you want to enable debugging functionality at boot time, you can add
	"coresight_cpu_debug.enable=1" to the kernel command line parameter.

	The driver also can work as module, so can enable the debugging when insmod
	module:
	# insmod coresight_cpu_debug.ko debug=1

	When boot time or insmod module you have not enabled the debugging, the driver
	uses the debugfs file system to provide a knob to dynamically enable or disable
	debugging:

	To enable it, write a '1' into /sys/kernel/debug/coresight_cpu_debug/enable:
	# echo 1 > /sys/kernel/debug/coresight_cpu_debug/enable

	To disable it, write a '0' into /sys/kernel/debug/coresight_cpu_debug/enable:
	# echo 0 > /sys/kernel/debug/coresight_cpu_debug/enable

	As explained in chapter "Clock and power domain", if you are working on one
	platform which has idle states to power off debug logic and the power
	controller cannot work well for the request from EDPRCR, then you should
	firstly constraint CPU idle states before enable CPU debugging feature; so can
	ensure the accessing to debug logic.

	If you want to limit idle states at boot time, you can use "nohlt" or
	"cpuidle.off=1" in the kernel command line.

	At the runtime you can disable idle states with below methods:

	It is possible to disable CPU idle states by way of the PM QoS
	subsystem, more specifically by using the "/dev/cpu_dma_latency"
	interface (see Documentation/power/pm_qos_interface.txt for more
	details). As specified in the PM QoS documentation the requested
	parameter will stay in effect until the file descriptor is released.
	For example:

	# exec 3<> /dev/cpu_dma_latency; echo 0 >&3
	...
	Do some work...
	...
	# exec 3<>-

	The same can also be done from an application program.

	Disable specific CPU's specific idle state from cpuidle sysfs (see
	Documentation/admin-guide/pm/cpuidle.rst):
	# echo 1 > /sys/devices/system/cpu/cpu$cpu/cpuidle/state$state/disable


	Output format
	-------------

	Here is an example of the debugging output format:

	ARM external debug module:
	coresight-cpu-debug 850000.debug: CPU[0]:
	coresight-cpu-debug 850000.debug: EDPRSR: 00000001 (Power:On DLK:Unlock)
	coresight-cpu-debug 850000.debug: EDPCSR: handle_IPI+0x174/0x1d8
	coresight-cpu-debug 850000.debug: EDCIDSR: 00000000
	coresight-cpu-debug 850000.debug: EDVIDSR: 90000000 (State:Non-secure Mode:EL1/0 Width:64bits VMID:0)
	coresight-cpu-debug 852000.debug: CPU[1]:
	coresight-cpu-debug 852000.debug: EDPRSR: 00000001 (Power:On DLK:Unlock)
	coresight-cpu-debug 852000.debug: EDPCSR: debug_notifier_call+0x23c/0x358
	coresight-cpu-debug 852000.debug: EDCIDSR: 00000000
	coresight-cpu-debug 852000.debug: EDVIDSR: 90000000 (State:Non-secure Mode:EL1/0 Width:64bits VMID:0)