Humility is the debugger for
Hubris.
Note that to build it, you will need to initialize submodule, either
via git clone --recursive
, or git submodule update --init
or similar.
Hubris is the artifact that actually runs, and it must be allowed to be
optimized in terms of size, space, and run-time; in as much as contortions are
required for debuggability, they should be borne by Humility, not Hubris. As a
concrete example of this, Humility operates exclusively on release
builds of
Hubris, relying on (unloaded) DWARF information in the binaries to make sense of
the system.
Humility is Hubris-specific: it is not trying to be a generic in situ debugger, but rather specifically focused on debugging Hubris-based systems. Humility is therefore willing to encode Hubris-specific concepts like archives and tasks.
Debuggers must cut through abstractions, which often requires knowledge of underlying implementation detail. For Humility, this means being willing to take advantage of microcontroller-specific debug facilities where applicable. While Hubris may make decisions in the name of greater portability, Humility will generally make decisions to maximize debuggability, even where these facilities are highly specific to a particular MCU.
Humility is unafraid to offer device-specific functionality where that
functionality is useful for system debuggability. (For example,
humility i2c
functions as an I^2^C analyzer.) That said, all device
interaction uses Hubris as a proxy to actually communicate with the devices
themselves (e.g., via HIF);
Humility does not seek to create second I/O path.
Humility seeks to be useful, and therefore seeks to offer all manners of debugging: in situ, postmortem, dynamic instrumentation, static instrumentation, etc.
Humility operates by specifying a subcommand. There are options that are Humility-wide (that is, applying to every subcommand), as well as options that are specific to particular subcommands.
While some autodetection is possible, Humility regrettably may need to be made aware of the specifics of the target chip. Supported chips include:
STM32F407VGTx
(default): STM32F407 as found on the reference Discovery boardLPC55S69JBD100
: LPC55S69 as found on the LPCXpresso55S69STM32H7B3LIHxQ
: STM32H7B3 as found on the STM32H7B3I-DK
The target chip can be specified via the -c
option or the HUMILITY_CHIP
environment variable.
Humility needs to have some way of extracting information and/or controlling the microcontroller running Hubris. This is done through some variant of a debug probe, a separate microcontroller that speaks to debug-specific functionality on the target microcontroller. (For details of the mechanics of these probes on ARM parts, see RFD 65.)
For most evaluation boards, this debug probe is available on the board, and is connected to a host via USB, e.g. ST's STLink/V2 on the STM32F407 Discovery or the LPC-Link2 present on the LPCXpresso55S69. (On the Gemini board, there are two SWD headers, one for the LPC55S28 and the other for the STM32H753.) While Humility allows for direct attachment to an on-chip debugger, doing so precludes other connections (from, for example, OpenOCD), making it to disruptive to development workflows. To allow for easier development workflows, Humility also has the option to attach via OpenOCD.
The debug probe to use is specified to Humility via
the -p
option (long form --probe
), which can have the following values:
-
auto
(default): Automatically determine how to attach to the microcontroller. -
ocd
: Attach via OpenOCD, which is presumed to have the TCL interface available on localhost on port 6666 (its default). -
jlink
: Attach via Segger JLink, which is presumed to have the GDB interface available on localhost on port 2331 (its default). Note that when semihosting is being used by Hubris, the Segger JLink GDB server will become confused when Humility attaches to it -- and subsequent calls to semihosting will cause a halt. A subsequent Humility invocation will resume the target (directing semihosting output correctly to the running GDB instance), but subsequent semihosting output will again cause a halt. To recover from this condition, send an explicit ^C to the running GDB and continue from the resulting stop. -
usb
: Attach directly via USB to a debug probe. When multiple probes are plugged in via USB, a probe index must be specified as a suffix (e.g.,usb-0
,usb-1
, etc.) To determine which probe is which, examine the serial number in the output ofhumility probe
.
Many Humility commands require the complete Hubris archive. This is a ZIP
archive created by the build process, and includes all binaries as well as the
app.toml
file used to configure the Hubris archive. The Hubris archive is
specified via the -a
option or the HUMILITY_ARCHIVE
environment variable.
Many Humility commands are able to operate postmortem on a Hubris dump,
an ELF core file generated by the humility dump
command.
Dumps are offered in lieu of a probe and an archive and specified via
the -d
option (long form --dump
) or the HUMILITY_DUMP
environment
variable.
- humility apptable: print Hubris apptable
- humility dump: generate Hubris dump
- humility i2c: scan for and read I2C devices
- humility jefe: control tasks exernally via jefe
- humility manifest: print archive manifest
- humility map: print memory map, with association of regions to tasks
- humility probe: probe attached devices
- humility readmem: read and display memory region
- humility readvar: read and display a specified Hubris variable
- humility ringbuf: read and display any ring buffers
- humility stackmargin: calculate and print stack margins by task
- humility tasks: list Hubris tasks
- humility test: run Hubris test suite and parse results
humility manifest
displays information about the Hubris archive. It
does not connect at all to a Hubris target to operate. In addition to
archive-wide attributes, humility manifest
displays the features enabled
for each task, e.g.:
% humility -a ~/hubris/target/demo-stm32h7b3/dist/build-demo-stm32h7b3.zip manifest
humility: version => hubris build archive v1.0.0
humility: git rev => 049db2ef2a24eabf3fef3f8a6634b36e9d371ad6-dirty
humility: board => stm32h7b3i-dk
humility: target => thumbv7em-none-eabihf
humility: features => itm, h7b3
humility: total size => 65K
humility: kernel size => 19K
humility: tasks => 8
humility: ID TASK SIZE FEATURES
humility: 0 jefe 8.2K itm
humility: 1 rcc_driver 6.0K
humility: 2 gpio_driver 6.3K
humility: 3 usart_driver 6.5K h7b3
humility: 4 user_leds 6.1K stm32h7
humility: 5 pong 6.1K
humility: 6 ping 6.1K uart
humility: 7 idle 0.1K
humility manifest
can operate on either an archive or on a dump.
humility probe
attempts to infer as much about the hardware state as it
can, e.g.:
% humility probe
humility: attached via ST-Link
humility: probe => STLink V3, VID 0483, PID 374e
humility: probe serial => 003700303137511139383538
humility: core => Cortex-M7
humility: manufacturer => STMicroelectronics
humility: chip => STM32H7, revision 0x2003
humility: status => executing
humility: debug units => CSTF(x2) CTI(x2) DWT ETM FPB ITM SCS SWO TMC TPIU
humility: CSTF => 0x5c004000, 0x5c013000
humility: CTI => 0x5c011000, 0xe0043000
humility: DWT => 0xe0001000
humility: ETM => 0xe0041000
humility: FPB => 0xe0002000
humility: ITM => 0xe0000000
humility: SCS => 0xe000e000
humility: SWO => 0x5c003000
humility: TMC => 0x5c014000
humility: TPIU => 0x5c015000
humility: ITM status => TRCENA enabled, TCR disabled, TER=0x0
humility: R0 => 0x20006000
humility: R1 => 0x20006000
humility: R2 => 0x0
humility: R3 => 0x0
humility: R4 => 0x0
humility: R5 => 0x0
humility: R6 => 0x0
humility: R7 => 0x0
humility: R8 => 0x0
humility: R9 => 0x0
humility: R10 => 0x0
humility: R11 => 0x0
humility: R12 => 0x0
humility: SP => 0x20006100
humility: LR => 0x802404f
humility: PC => 0x8024052
humility: xPSR => 0x61000000
humility: MSP => 0x20000f48
humility: PSP => 0x20006100
humility: SPR => 0x7000000
If provided a Hubris archive, humility probe
will display any register
contents symbolically, e.g.:
% humility -a ~/hubris/target/demo/dist/build-demo.zip probe
humility: attached via ST-Link
humility: probe => STLink V2-1, VID 0483, PID 374b
humility: probe serial => 066DFF383032534E43132614
humility: core => Cortex-M4
humility: manufacturer => STMicroelectronics
humility: chip => STM32F40x/STM32F41x, revision 0x1007
humility: debug units => DWT ETM FPB ITM SCS TPIU
humility: status => executing
humility: ITM => TRCENA enabled, TCR enabled, TER=0x3
humility: R0 => 0x0
humility: R1 => 0x0
humility: R2 => 0x1
humility: R3 => 0x20001bd4
humility: R4 => 0x20001bd4
humility: R5 => 0x801d988
humility: R6 => 0xb004
humility: R7 => 0x20001bf0
humility: R8 => 0x40004400
humility: R9 => 0x1
humility: R10 => 0x0
humility: R11 => 0xffff
humility: R12 => 0x0
humility: SP => 0x20001ba8
humility: LR => 0x801c12b <- main+0xef
humility: PC => 0x801d290 <- sys_recv_stub+0x1e
humility: xPSR => 0x61000000
humility: MSP => 0x20000f48
humility: PSP => 0x20001ba8
humility: SPR => 0x7000000
humility tasks
offers a ps-like view of a system, e.g.:
% humility -a ~/hubris/target/gemini-bu/dist/build-gemini-bu.zip tasks
humility: attached via STLink
system time = 83329
ID TASK GEN PRI STATE
0 jefe 0 0 FAULT: stack overflow; sp=0x20000fa0 (was: ready)
1 rcc_driver 0 1 recv
2 gpio_driver 0 2 recv
3 usart_driver 0 2 recv, notif: bit0(irq39)
4 i2c_driver 0 2 recv
5 spd 0 2 notif: bit0(irq33/irq34)
6 spi_driver 0 2 RUNNING
7 spi 0 3 wait: reply from 0x0006
8 user_leds 0 2 recv
9 pong 0 3 FAULT: killed by task 0x0000 (was: recv, notif: bit0)
10 i2c_debug 0 3 notif: bit0(T+671)
11 thermal 0 3 notif: bit0(T+552)
12 idle 0 5 ready
To see every field in each task, you can use the -v
flag:
% humility -d hubris.core.4 tasks -v
...
9 pong 0 3 FAULT: killed by task 0x0000 (was: recv, notif: bit0)
|
+----> {
save: SavedState {
r4: 0x20002bbc,
r5: 0x10,
r6: 0x1,
r7: 0x0,
r8: 0xa007,
r9: 0x20002bcc,
r10: 0x1951d,
r11: 0x1,
psp: 0x20002b28,
exc_return: 0xffffffed
},
priority: Priority(0x3),
...
...
To see a task's registers, use the -r
flag:
% humility tasks -r user_leds
...
ID TASK GEN PRI STATE
8 user_leds 0 2 recv
|
+---> R0 = 0x200023d8 R1 = 0x00000004 R2 = 0x00000000 R3 = 0x200023dc
R4 = 0x200023d8 R5 = 0x00000004 R6 = 0x00000000 R7 = 0x00000000
R8 = 0x080215c8 R9 = 0x40020c00 R10 = 0x00000000 R11 = 0x00000001
R12 = 0x00000000 SP = 0x200023b0 LR = 0x080200ab PC = 0x08021052
To see a task's stack backtrace, use the -s
flag:
% humility tasks -s user_leds
...
ID TASK GEN PRI STATE
8 user_leds 0 2 recv
|
+---> 0x200023d0 0x08021052 sys_recv_stub()
0x20002400 0x0802009c sys_recv()
0x20002400 0x080200aa main()
To additionally see line number information on a stack backtrace, also provide
-l
flag:
% humility tasks -sl user_leds
...
ID TASK GEN PRI STATE
8 user_leds 0 2 recv
|
+---> 0x200023d0 0x08021052 sys_recv_stub()
@ /home/bmc/hubris/userlib/src/lib.rs:261
0x20002400 0x0802009c sys_recv()
@ /home/bmc/hubris/userlib/src/lib.rs:208
0x20002400 0x080200aa main()
@ /home/bmc/hubris/drv/user-leds/src/main.rs:69
Humility allows for some (well-defined) manipulation of tasks via jefe
,
the Hubris supervisor. By default, jefe
will restart any faulting task;
when debugging, it can be useful to hold a task in the faulted state. This
is done via the -h
option:
% humility jefe -h ping
humility: attached via ST-Link
humility: successfully changed disposition for ping
This does not change the task, but rather jefe
's restart disposition; when
the task next faults, it will not be restarted, e.g.:
% humility tasks ping
ID ADDR TASK GEN PRI STATE
4 200003c8 ping 35 4 Faulted { fault: DivideByZero, original_state: Runnable }
This can be particularly useful to couple with either humility dump
or
humility tasks -sl
:
% humility tasks -sl ping
humility: attached via ST-Link
ID ADDR TASK GEN PRI STATE
4 200003c8 ping 35 4 Faulted { fault: DivideByZero, original_state: Runnable }
|
+---> 0x200025b0 0x0802405e divzero()
@ /home/bmc/hubris/task-ping/src/main.rs:28
0x20002600 0x080240f2 sys_panic()
@ /home/bmc/hubris/userlib/src/lib.rs:642
0x20002600 0x080240f2 main()
@ /home/bmc/hubris/task-ping/src/main.rs:39
To change the disposition of a task (back) to be restarted, use the -r
flag:
% humility jefe -r ping
humility: attached via ST-Link
humility: successfully changed disposition for ping
To inject a fault into a task, use the -f
flag, which will change the
disposition to injecting a fault. The injected fault has a dedicated type to
make clear that the fault originated outside of the task:
% humility jefe -f ping
humility: attached via ST-Link
humility: successfully changed disposition for ping
% humility tasks ping
ID ADDR TASK GEN PRI STATE
4 200003c8 ping 7 4 Faulted { fault: Injected(0x0), original_state: InReply(TaskId(0x5)) }
To restart a task that has had a fault injected, again use the -r
flag to
change its disposition back to restart.
Finally, to start a task that is not started by default, use the -s
flag.
One common pathology in Hubris tasks is a fault induced when a task attempts
to access a memory address outside of its designated regions. (This can
happen, for example, because the task attempted to access device memory that
was not allocated to it in the build description, because it exceeded the
device memory allocated to it, or because it allocated the memory allocated to
it, e.g., because of a stack overflow.) humility tasks
can be useful to see
this happening; a non-zero generation count will indicate that a task has been
restarted -- and the log message from jefe
will indicate the specific
address, e.g.:
% humility itm -ea
humility: attached via OpenOCD
humility: core halted
humility: core resumed
humility: TPIU sync packet found at offset 1
humility: ITM synchronization packet found at offset 12
Task #7 Memory fault at address 0x200028fc
Task #7 Memory fault at address 0x200028fc
^C
To better understand the memory that a task is trying to access, one can
run the humility map
command, which shows the memory regions that
have been mapped into tasks, in address order:
% humility -a ~/hubris/target/demo/dist/build-demo.zip map
humility: attached via OpenOCD
DESC LOW HIGH SIZE ATTR ID TASK
0x08004864 0x08010000 - 0x08017fff 32KiB r-x-- 0 jefe
0x08004884 0x08018000 - 0x08019fff 8KiB r-x-- 1 rcc_driver
0x080048a4 0x0801c000 - 0x0801ffff 16KiB r-x-- 2 usart_driver
0x080048c4 0x08020000 - 0x08023fff 16KiB r-x-- 3 user_leds
0x080048e4 0x08024000 - 0x08025fff 8KiB r-x-- 4 ping
0x08004904 0x08026000 - 0x08027fff 8KiB r-x-- 5 pong
0x08004924 0x08028000 - 0x080280ff 256 r-x-- 6 idle
0x08004944 0x0802a000 - 0x0802bfff 8KiB r-x-- 7 oh_no
0x08004964 0x0802c000 - 0x0802dfff 8KiB r-x-- 8 oh_no2
0x08004874 0x20001000 - 0x200013ff 1KiB rwx-- 0 jefe
0x08004894 0x20001400 - 0x200017ff 1KiB rwx-- 1 rcc_driver
0x080048b4 0x20001800 - 0x20001bff 1KiB rwx-- 2 usart_driver
0x080048d4 0x20001c00 - 0x20001fff 1KiB rwx-- 3 user_leds
0x080048f4 0x20002000 - 0x200021ff 512 rwx-- 4 ping
0x08004914 0x20002400 - 0x200027ff 1KiB rwx-- 5 pong
0x08004934 0x20002800 - 0x200028ff 256 rwx-- 6 idle
0x08004954 0x20002900 - 0x200029ff 256 rwx-- 7 oh_no
0x08004974 0x20002a00 - 0x20002aff 256 rwx-- 8 oh_no2
0x08004824 0x40004400 - 0x400047ff 1KiB rw-d- 2 usart_driver
0x08004844 0x40020000 - 0x400203ff 1KiB rw-d- 2 usart_driver
0x08004854 0x40020c00 - 0x40020fff 1KiB rw-d- 3 user_leds
0x08004834 0x40023800 - 0x40023bff 1KiB rw-d- 1 rcc_driver
(In this case, task 7, oh_no
, has overflowed its stack -- which
we can see from the map
output has been sized to only 256 bytes.)
humility readmem
allows one to read a specified range of memory:
% humility readmem 0x00011b00
humility: attached via DAPLink
humility: reading at 0x11b00 for 256 bytes
\/ 1 2 3 4 5 6 7 8 9 a b c d e f
0x00011b00 | 00 0f 1a bf 81 54 bc f1 01 0f d0 bd 02 44 bc f1 | .....T.......D..
0x00011b10 | 02 0f 51 70 00 d1 d0 bd 91 70 d0 bd 69 00 01 00 | ..Qp.....p..i...
0x00011b20 | 04 00 00 00 04 00 00 00 17 01 01 00 6b 00 01 00 | ............k...
0x00011b30 | f1 00 01 00 65 78 70 6c 69 63 69 74 20 70 61 6e | ....explicit pan
0x00011b40 | 69 63 00 00 3c 1f 01 00 49 00 00 00 0a 00 00 00 | ic..<...I.......
0x00011b50 | 09 00 00 00 76 69 76 61 20 65 6c 20 6a 65 66 65 | ....viva el jefe
0x00011b60 | 0a 54 61 73 6b 20 23 20 50 61 6e 69 63 21 0a 00 | .Task # Panic!..
0x00011b70 | 61 1b 01 00 06 00 00 00 67 1b 01 00 08 00 00 00 | a.......g.......
0x00011b80 | 20 42 61 64 20 53 79 73 63 61 6c 6c 20 55 73 61 | Bad Syscall Usa
0x00011b90 | 67 65 20 0a 61 1b 01 00 06 00 00 00 80 1b 01 00 | ge .a...........
0x00011ba0 | 13 00 00 00 93 1b 01 00 01 00 00 00 20 53 74 61 | ............ Sta
0x00011bb0 | 63 6b 20 6f 76 65 72 66 6c 6f 77 20 61 74 20 61 | ck overflow at a
0x00011bc0 | 64 64 72 65 73 73 20 30 78 00 00 00 61 1b 01 00 | ddress 0x...a...
0x00011bd0 | 06 00 00 00 ac 1b 01 00 1d 00 00 00 93 1b 01 00 | ................
0x00011be0 | 01 00 00 00 20 4d 65 6d 6f 72 79 20 66 61 75 6c | .... Memory faul
0x00011bf0 | 74 20 61 74 20 61 64 64 72 65 73 73 20 30 78 00 | t at address 0x.
If an argument is present, it is the number of bytes to read:
$ humility readmem 0x00011d00 100
humility: attached via DAPLink
humility: reading at 0x11d00 for 100 bytes
\/ 1 2 3 4 5 6 7 8 9 a b c d e f
0x00011d00 | 20 62 6f 75 6e 64 73 3a 20 74 68 65 20 6c 65 6e | bounds: the len
0x00011d10 | 20 69 73 20 20 62 75 74 20 74 68 65 20 69 6e 64 | is but the ind
0x00011d20 | 65 78 20 69 73 20 30 30 30 31 30 32 30 33 30 34 | ex is 0001020304
0x00011d30 | 30 35 30 36 30 37 30 38 30 39 31 30 31 31 31 32 | 0506070809101112
0x00011d40 | 31 33 31 34 31 35 31 36 31 37 31 38 31 39 32 30 | 1314151617181920
0x00011d50 | 32 31 32 32 32 33 32 34 32 35 32 36 32 37 32 38 | 2122232425262728
0x00011d60 | 32 39 33 30 | 2930
Both arguments can be in either hex, decimal, octal or binary (addresses and contents will always be prented in hex):
humility readmem 0o216401 0b110
humility: attached via DAPLink
humility: reading at 0x11d01 for 6 bytes
0 \/ 2 3 4 5 6 7 8 9 a b c d e f
0x00011d00 | 62 6f 75 6e 64 73 | bounds
To display as half-words (16-bits) use -h
; to display as words (32-bits)
use -w
. (The addresses must be 2-byte and 4-byte aligned, respectively.)
$ humility readmem -w 0x20000000 0x40
humility: attached via DAPLink
humility: reading at 0x20000000 for 64 bytes
\/ 4 8 c
0x20000000 | 00000001 20000180 0000000b 00005020 | ....... .... P..
0x20000010 | 00000002 200001f0 00838042 00000000 | ....... B.......
0x20000020 | 00004db8 00004dc8 00004d28 00004d28 | .M...M..(M..(M..
0x20000030 | 00004d28 00004d28 00004d28 00004d28 | (M..(M..(M..(M..
A frequent use of readmem
is to read peripheral memory; as a
convenience, a peripheral name can be used in lieu of an address, provided
that an archive or dump is also specified:
$ humility -a ~/hubris/target/gemini-bu/dist/build-gemini-bu.zip readmem -w i2c4
0x30
humility: attached via ST-Link
\/ 4 8 c
0x58001c00 | 000000f7 00020490 00008000 00008000 | ................
0x58001c10 | 10c0ecff 00000000 00000021 00000000 | ........!.......
0x58001c20 | 00000000 00000080 00000000 00000000 | ................
Note that reading some peripheral memory may have side effects!
It can also be useful to interpret memory contents symbolically; to do this,
provide a dump or achive and specify the -s
option, e.g.:
$ humility -a ~/hubris/target/gemini-bu-rot/dist/build-gemini-bu-rot.zip readmem -s 0x20004b30 0x40
humility: attached via DAPLink
0x20004b30 | 0x20004bdc
0x20004b34 | 0x0000000a <- __EXCEPTIONS+0x2
0x20004b38 | 0x80000000
0x20004b3c | 0x00002e2e <- syscall_entry+0xcf6
0x20004b40 | 0x00000000
0x20004b44 | 0x0003c2e3 <- spi:main+0x5b
0x20004b48 | 0x0003ceda <- spi:sys_send_stub+0xe
0x20004b4c | 0x01000000
0x20004b50 | 0x00000000
0x20004b54 | 0x00000000
0x20004b58 | 0x00000000
0x20004b5c | 0x00000000
0x20004b60 | 0x00000000
0x20004b64 | 0x00000000
0x20004b68 | 0x00000000
0x20004b6c | 0x00000000
humility readvar
allows one to read a global static variable.
To list all such variables, use the -l
option:
% humility -a ~/hubris/target/demo-stm32h7b3/dist/build-demo-stm32h7b3.zip readvar -l
humility: MODULE VARIABLE ADDR SIZE
humility: kernel CORE_PERIPHERALS 0x20000000 1
humility: kernel CURRENT_TASK_PTR 0x20000018 4
humility: kernel DEVICE_PERIPHERALS 0x20000001 1
humility: kernel FAULT_NOTIFICATION 0x20000004 4
humility: kernel IRQ_TABLE_BASE 0x20000010 4
humility: kernel IRQ_TABLE_SIZE 0x20000014 4
humility: kernel TASK_TABLE_BASE 0x20000008 4
humility: kernel TASK_TABLE_SIZE 0x2000000c 4
humility: kernel __EXCEPTIONS 0x08000008 56
humility: kernel __INTERRUPTS 0x08000040 620
humility: kernel __RESET_VECTOR 0x08000004 4
humility: adt7420 TEMPS_BYMINUTE 0x2000b848 17288
humility: adt7420 TEMPS_BYSECOND 0x20008000 14408
To read a variable, specify it:
% humility -a ~/hubris/target/demo-stm32h7b3/dist/build-demo-stm32h7b3.zip readvar CURRENT_TASK_PTR
humility: attached via ST-Link
CURRENT_TASK_PTR (0x20000018) = Some(NonNull<kern::task::Task> {
pointer: 0x20000558 (*const kern::task::Task)
})
humility ringbuf
reads and displays any Hubris ring buffers (as created
via the ringbuf!
macro in the Hubris ringbuf
crate). e.g.:
% humility -d ./hubris.core.5 ringbuf
ADDR NDX LINE GEN COUNT PAYLOAD
0x2000a288 552 92 1 5 (21.5, 70.69999694824219)
0x2000a298 553 92 1 1 (21.4375, 70.58749389648438)
0x2000a2a8 554 92 1 1 (21.5, 70.69999694824219)
0x2000a2b8 555 92 1 1 (21.4375, 70.58749389648438)
0x2000a2c8 556 92 1 5 (21.5, 70.69999694824219)
0x2000a2d8 557 92 1 1 (21.5625, 70.8125)
0x2000a2e8 558 92 1 15 (21.5, 70.69999694824219)
0x2000a2f8 559 92 1 1 (21.4375, 70.58749389648438)
0x2000a308 560 92 1 10 (21.5, 70.69999694824219)
0x2000a318 561 92 1 2 (21.4375, 70.58749389648438)
0x2000a328 562 92 1 2 (21.5, 70.69999694824219)
0x2000a338 563 92 1 1 (21.4375, 70.58749389648438)
0x2000a348 564 92 1 9 (21.5, 70.69999694824219)
0x2000a358 565 92 1 3 (21.4375, 70.58749389648438)
0x2000a368 566 92 1 4 (21.5, 70.69999694824219)
0x2000a378 567 92 1 1 (21.4375, 70.58749389648438)
...
See the ringbuf
documentation for more details.
humility stackmargin
calculates and print stack margins by task. The
margin is determined by walking up each stack, looking for the first
word that does not contain the uninitialized pattern (0xbaddcafe
),
from which it infers maximum depth, and therefore margin:
% humility -d ./hubris.core.10 stackmargin
humility: attached to dump
ID TASK STACKBASE STACKSIZE MAXDEPTH MARGIN
0 jefe 0x20001000 1024 768 256
1 rcc_driver 0x20001400 1024 176 848
2 usart_driver 0x20001800 1024 216 808
3 user_leds 0x20001c00 1024 208 816
4 ping 0x20002000 512 224 288
5 pong 0x20002400 1024 208 816
6 idle 0x20002800 256 104 152
Note that the margin is only valid for the task's lifetime -- and in particular, will not be correct if the task has restarted due to a stack overflow!
humility dump
takes a dump of the attached system, writing out an ELF
core file:
% humility -a ~/hubris/target/demo-stm32h7b3/dist/build-demo-stm32h7b3.zip dump
humility: attached via ST-Link
humility: core halted
humility: dumping to hubris.core.0
humility: dumped 1.12MB in 24 seconds
humility: core resumed
A dump file name may also be specified:
% humility -a ~/hubris/target/demo-stm32h7b3/dist/build-demo-stm32h7b3.zip dump hubris.core.`date +%s`
humility: attached via ST-Link
humility: core halted
humility: dumping to hubris.core.1600718079
humility: dumped 1.12MB in 24 seconds
humility: core resumed
The resulting dump can be used with many commands (including manifest
,
map
, readvar
, and tasks
) -- and need not be run on the same machine
as the debugged MCU, e.g.:
% humility -d hubris.core.0 tasks
humility: attached to dump
ID ADDR TASK GEN STATE
0 20000168 jefe 0 Healthy(InRecv(None))
1 200001d8 rcc_driver 0 Healthy(InRecv(None))
2 20000248 gpio_driver 0 Healthy(InRecv(None))
3 200002b8 usart_driver 0 Healthy(InRecv(None))
4 20000328 i2c_driver 0 Healthy(InRecv(None))
5 20000398 user_leds 0 Healthy(InRecv(None))
6 20000408 pong 0 Healthy(InRecv(None))
7 20000478 ping 40 Healthy(InReply(TaskId(0x3)))
8 200004e8 adt7420 0 Healthy(InRecv(Some(TaskId(0xffff))))
9 20000558 idle 0 Healthy(Runnable) <-
Hubris encodes the applications at build time by creating a
.hubris_app_table
section in the kernel ELF binary. humility apptable
allows this table to be printed and formatted. As with other Humility
commands, humility apptable
can run on an archive (or dump):
% humility -a ~/hubris/target/tests-lpc55/dist/build-tests-lpc55.zip apptable
App = {
magic: 0x1defa7a1,
task_count: 0x4,
region_count: 0x9,
irq_count: 0x0,
fault_notification: 0x1,
zeroed_expansion_space: [
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0
]
}
RegionDesc[0x0] = {
base: 0x0,
size: 0x20,
attributes: RegionAttributes {
bits: 0x0
},
reserved_zero: 0x0
}
...
humility apptable
can also operate directly on a kernel in lieu of an
archive or dump by providing the kernel ELF file as an argument:
% humility apptable ~/hubris/target/demo/dist/kernel
App = {
magic: 0x1defa7a1,
task_count: 0x7,
region_count: 0x13,
irq_count: 0x1,
fault_notification: 0x1,
zeroed_expansion_space: [
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0,
0x0
]
}
...
When run against a test archive, humility test
kicks off the test suite
and parses its results via ITM.
humility: attached via ST-Link
humility: ITM synchronization packet found at offset 6
humility: expecting 22 cases
humility: running test_send ... ok
humility: running test_recv_reply ... ok
humility: running test_fault_badmem ... ok
humility: running test_fault_stackoverflow ... ok
humility: running test_fault_execdata ... ok
humility: running test_fault_illop ... ok
humility: running test_fault_nullexec ... ok
humility: running test_fault_textoob ... ok
humility: running test_fault_stackoob ... ok
humility: running test_fault_buserror ... ok
humility: running test_fault_illinst ... ok
humility: running test_fault_divzero ... ok
humility: running test_panic ... ok
humility: running test_restart ... ok
humility: running test_restart_taskgen ... ok
humility: running test_borrow_info ... ok
humility: running test_borrow_read ... ok
humility: running test_borrow_write ... ok
humility: running test_supervisor_fault_notification ... ok
humility: running test_timer_advance ... ok
humility: running test_timer_notify ... ok
humility: running test_timer_notify_past ... ok
humility: tests completed: pass
If a test fails, this will also create a complete report, e.g.:
humility: attached via ST-Link
humility: ITM synchronization packet found at offset 6
humility: expecting 22 cases
humility: running test_send ... ok
humility: running test_recv_reply ... fail
humility: running test_fault_badmem ... ok
...
humility: running test_timer_notify_past ... ok
humility: tests completed: fail
humility: test output dumped to hubris.testout.15
This output file will have (among other things) a section that has
complete test run information. For details on a failing test, look
for result: Fail
:
$ cat hubris.testout.15
...
==== Test results
[
...
TestCompletion {
case: "test_recv_reply",
result: Fail,
log: [
(
UserLog,
"assistant starting",
),
(
KernelLog,
"task @1 panicked: panicked at \'assertion failed: false\', test/test-suite/src/main.rs:124:5",
),
(
UserLog,
"Task #1 Panic!",
),
(
UserLog,
"assistant starting",
),
],
},
...
This shows the sequential ordering of all log messages while running the
test. The test report can also be useful even when tests pass; to always
dump a test report, use the -d
option to humility test
.
Note that humility test
relies on the ability to keep up with ITM data,
which can be lossy. In the event ITM data is lost, the failure mode is
unlikely to be a failing test, but rather a fatal error due to a misframed
packet:
humility: running test_fault_nullexec ... ok
humility: running test_fault_textoob ... ok
humility: running test_fault_stackoob ... humility: test output dumped to hubris.testout.21
humility: test failed: malformed datum: 0x74
Error: test failed
All received packet data will be dumped to the resulting output file, allowing these transient failures to be differentiated from deeper issues.
On platforms that have I2C support, humility i2c
can be used to
scan a bus, scan a device, read a register, or write a register. Its usage
will be specific to the board being examined; to specify a controller use the
-c
, to specify a port (if necessary), use -p
; to specify a mux and
segment (if necessary), use -m
.
For example, on a Gimlet-let, here is a scan of controller I2C3, revealing
one device at address 0x48
:
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -s -c 3
humility: attached via ST-Link
Device scan on controller I2C3:
R = Reserved - = No device \o/ = Device found X = Timed out
ADDR 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xa 0xb 0xc 0xd 0xe 0xf
0x00 R R R R R R R R - - - - - - - -
0x10 - - - - - - - - - - - - - - - -
0x20 - - - - - - - - - - - - - - - -
0x30 - - - - - - - - - - - - - - - -
0x40 - - - - - - - - \o/ - - - - - - -
0x50 - - - - - - - - - - - - - - - -
0x60 - - - - - - - - - - - - - - - -
0x70 - - - - - - - - - - - - R R R R
To scan that device, specify its address via -d
:
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -s -c 3 -d 0x48
humility: attached via ST-Link
Register scan for device 0x48 on I2C3:
- = No register ! = No device X = Timed out
ADDR 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xa 0xb 0xc 0xd 0xe 0xf
0x00 0b c8 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0x10 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
0x20 0b c8 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0x30 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
0x40 00 00 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0x50 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
0x60 00 00 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0x70 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
0x80 00 00 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0x90 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
0xa0 00 00 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0xb0 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
0xc0 00 00 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0xd0 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
0xe0 00 00 80 00 20 00 05 00 49 80 05 cb 00 00 00 00
0xf0 00 00 00 00 00 00 00 00 6c 00 06 00 00 00 00 00
(This device is an ADT7420 temp sensor.) To look at a particular register,
elide -s
and specify the register of interest via -r
:
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -c 3 -d 0x48 -r 0xb
humility: attached via ST-Link
Controller I2C3, device 0x48, register 0xb = 0xcb
To write a value to a register, specify the -w
flag, along with the value to
write, e.g. (for the ADT7420), the MSB of the THIGH register:
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -c 3 -d 0x48 -r 0x4 -w 0x1f
humility: attached via ST-Link
Controller I2C3, device 0x48, register 0x4 = 0x1f
Note that if registers are not writable, the write will (generally) be silently discarded by the device; it can be useful to read the register after writing it to confirm that the value is as expected:
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -c 3 -d 0x48 -r 0x4
humility: attached via ST-Link
Controller I2C3, device 0x48, register 0x4 = 0x1f
If there are errors in executing the requested i2c
operation(s), these will
appear in the output, e.g.:
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -c 5 -s
humility: attached via ST-Link
Device scan on controller I2C5:
R = Reserved - = No device \o/ = Device found X = Timed out
ADDR 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xa 0xb 0xc 0xd 0xe 0xf
0x00 R R R R R R R R Err Err Err Err Err Err Err Err
0x10 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x20 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x30 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x40 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x50 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x60 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x70 Err Err Err Err Err Err Err Err Err Err Err Err R R R R
More details about these errors can be found by reading the I2C_DEBUG_RESULTS
variable:
humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip readvar I2C_DEBUG_RESULTS
humility: attached via ST-Link
I2C_DEBUG_RESULTS (0x20004400) = [
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(BadController)),
Some(Err(BadController)),
Some(Err(BadController)),
Some(Err(BadController)),
Some(Err(BadController)),
Some(Err(BadController)),
...
Note that a common source of errors will be not specifying a port when it is required, e.g. on I2C4 on the Gemini bringup board:
% humility -a ~/hubris/target/gemini-bu/dist/build-gemini-bu.zip i2c -c 4 -s
humility: attached via ST-Link
Device scan on controller I2C4:
R = Reserved - = No device \o/ = Device found X = Timed out
ADDR 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xa 0xb 0xc 0xd 0xe 0xf
0x00 R R R R R R R R Err Err Err Err Err Err Err Err
0x10 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x20 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x30 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x40 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x50 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x60 Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err Err
0x70 Err Err Err Err Err Err Err Err Err Err Err Err R R R R
In this case, reading I2C_DEBUG_RESULTS
shows that a port must be provided:
% humility -a ~/hubris/target/gemini-bu/dist/build-gemini-bu.zip readvar I2C_DEBUG_RESULTS | head -20
humility: attached via ST-Link
I2C_DEBUG_RESULTS (0x20006400) = [
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(ReservedAddress)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
Some(Err(BadDefaultPort)),
...
Correcting this, to (e.g.) scan port F:
% humility -a ~/hubris/target/gemini-bu/dist/build-gemini-bu.zip i2c -c 4 -p f -s
humility: attached via ST-Link
Device scan on controller I2C4:
R = Reserved - = No device \o/ = Device found X = Timed out
ADDR 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xa 0xb 0xc 0xd 0xe 0xf
0x00 R R R R R R R R - - - - - - - -
0x10 - - - - - - - - - - - - - - - -
0x20 - - - - - - - - - - - - - - - -
0x30 - - - - - - - - - - - - - - - -
0x40 - - - - \o/ - - - - - - - - - - -
0x50 - - - - - - - - - - - - - - - -
0x60 - - - - - - - - - - - - - - - -
0x70 - - - - - - - - - - - - R R R R
In some cases (particularly with bad input), a command may fail to execute
entirely. In these cases, use the -l
option to also enable ITM-based logging:
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -c 10 -s
humility: attached via ST-Link
humility: i2c failed: i2c command failed on target; run with -l for more detail
% humility -a ~/hubris/target/gimletlet/dist/build-gimletlet.zip i2c -c 10 -s -l
humility: attached via ST-Link
humility: ITM synchronization packet found at offset 6
i2c_debug: invalid controller value 10
humility: i2c failed: i2c command failed on target
%
The cohort in the Hubris image responsible for executing the operations
requested by the i2c
command is the i2c_debug
task; if this task is
incapacitated, the operation may time out:
% humility -a ~/hubris/target/gemini-bu/dist/build-gemini-bu.zip i2c -c 4 -p f -s
humility: attached via ST-Link
humility: operation timed out
Device scan on controller I2C4:
R = Reserved - = No device \o/ = Device found X = Timed out
ADDR 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xa 0xb 0xc 0xd 0xe 0xf
0x00 X X X X X X X X X X X X X X X X
0x10 X X X X X X X X X X X X X X X X
0x20 X X X X X X X X X X X X X X X X
0x30 X X X X X X X X X X X X X X X X
0x40 X X X X X X X X X X X X X X X X
0x50 X X X X X X X X X X X X X X X X
0x60 X X X X X X X X X X X X X X X X
0x70 X X X X X X X X X X X X X X X X
In this case, check this task:
% humility -a ~/hubris/target/gemini-bu/dist/build-gemini-bu.zip tasks -sl i2c_debug
humility: attached via ST-Link
ID ADDR TASK GEN PRI STATE
10 200008b0 i2c_debug 0 3 Healthy(InSend(TaskId(0x4)))
|
+---> 0x20006330 0x08028ea0 sys_send_stub()
@ /home/bmc/hubris/userlib/src/lib.rs:125
0x20006388 0x080280be read<u8>()
@ /home/bmc/hubris/drv/i2c-api/src/lib.rs:350
0x20006400 0x08028644 scan_controller()
@ /home/bmc/hubris/task-i2c/src/main.rs:77
0x20006400 0x08028668 main()
@ /home/bmc/hubris/task-i2c/src/main.rs:183
(In this case, the stack trace shows that it is blocked on the i2c_driver
itself; the next step in debugging this would be determining the state of
that task.)
Humility has support to manage the Root Security Services (RSS) and various flash options bits
A typical sequence to set the secure region at 0x08000000
humility stmsecure set-secure-bit
humility stmsecure set-secure-region 0x08000000 0xa000
To undo the secure region:
humility stmsecure unset-secure-region
humility stmsecure unset-secure-bit
The STM32 has support for flash bank swapping as well
humility stmsecure bank-swap