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Aug 31, 2022 •542 likes •1.17k views

Bifrst Visualizing and Checking Behavior of Embedded Systems across Hardware and Software Will McGrath wmcgrath@stanford.edu Jeremy Warner jeremy.warner@berkeley.edu e M bedded G ateway C loud [MGC] embedded gateway cloud 2 e M

  1. Bifröst Visualizing and Checking Behavior of Embedded Systems across Hardware and Software Will McGrath – wmcgrath@stanford.edu Jeremy Warner – jeremy.warner@berkeley.edu

  2. e M bedded G ateway C loud [MGC] embedded gateway cloud 2

  3. e M bedded G ateway C loud [MGC] embedded gateway cloud 3

  4. 4

  5. Program logic bug? 5

  6. Program logic bug? Protocol error? 6

  7. Program logic bug? Protocol error? Wiring issue? 7

  8. Program logic bug? Protocol error? Peripheral not configured? Wiring issue? 8

  9. Sensor data out of range? Program logic bug? Protocol error? Peripheral not configured? Wiring issue? 9

  10. Sensor data out of range? Defective part? Program logic bug? Protocol error? Peripheral not configured? Wiring issue? 10

  11. 11

  12. Toast Board Measures analog voltages at all breadboard rows Compares measured results to intended circuit to identify errors No embedded software support 12

  13. 13

  14. 14

  15. 15

  16. Existing Embedded Debugging Techniques • Multimeter • Point to point • Obscures rapid changes • Oscilloscope/Logic Analyzer • Fast, but expensive • Nontrivial configuration • Print Debugging • Easy, but weak time information • GDB • Powerful, but not always available • Complex configuration 16

  17. In contrast with prior work which has focused on providing tools only for debugging software or circuits, we directly address the interconnected nature of embedded systems projects. 17

  18. We believe that giving developers insight into how hardware and software interact in a richly-linked environment will enable more efficient debugging of embedded systems. 18

  19. Hardware Software Sensors Actuators 19

  20. Bifröst 20

  21. Bifröst: IDE Overview Trace Digital Signals Analog Signals Variable Values User Program Time-linked console Code line at current time 21

  22. Instrumentation Capture Analysis 22

  23. Instrumentation Capture Analysis Hardware Instrumentation: Digital signals Analog signals Software Instrumentation: Line numbers Variable values 23

  24. Instrumentation Capture Analysis Hardware Instrumentation: Digital signals Record with Analog signals Logic Analyzer Software Instrumentation: Line numbers Variable values 24

  25. Instrumentation Capture Analysis Hardware Linked Visualization Instrumentation: Digital signals Signals Record with Analog signals Logic Analyzer Code Console Software Instrumentation: Automatic & User Line numbers Authored Checks Variable values 25

  26. Bifröst: usage example 26

  27. Bifröst: configuration 27

  28. Bifröst: blinking LED 28

  29. Bifröst: recording data 29

  30. Bifröst: variable tracing 30

  31. Bifröst: trace ⇔ code linkage 31

  32. Bifröst: code-based navigation 32

  33. Bifröst: console-based navigation 33

  34. Data Capture 34

  35. Capture: example Backend 35

  36. Capture: setup Backend Program Code 36

  37. Capture: setup Backend Configuration Program Instrumented Code Code 37

  38. Capture: execution Backend Debugging information: code lines + function info 38

  39. Capture: execution Backend Trace (w/ debug info) + decoded protocols Debugging information: code lines + function info 39

  40. Capture: execution Backend Trace (w/ debug info) + decoded protocols Trace + Debugging Debug + information: Protocol code lines + function info 40

  41. Capture: inspection incrementally step, record, and visualize 41

  42. Code Instrumentation 42

  43. Code Instrumentation 43

  44. Core Library Instrumentation 44

  45. Checks automatically inferred user-parameterized 45

  46. Checks: automatically inferred “ Writes should generate activity on a pin” “Communication protocols adherence” 46

  47. Checks: user-parameterized "when D1 rises expect line 11 in 100 ms" 47

  48. Checks: user-parameterized "when D1 rises expect line 11 in 100 ms" pin 48

  49. Checks: user-parameterized "when D1 rises expect line 11 in 100 ms" pin event 49

  50. Checks: user-parameterized "when D1 rises expect line 11 in 100 ms" pin event source code 50

  51. Checks: user-parameterized "when D1 rises expect line 11 in 100 ms" pin event source code timing 51

  52. Checks: user-parameterized “When D1 rises, expect Line 17 in 20 ms” 52

  53. Checks: user-parameterized “When D1 rises, expect Line 17 in 20 ms” 53

  54. Checks: user-parameterized “When D1 rises, expect Line 17 in 20 ms” 54

  55. Evaluation How effectively does Bifröst aid embedded debugging? 55

  56. Evaluation: issues Users identified issues such as: pin misconfiguration thresholding issues switch bouncing timing issues 56

  57. Evaluation: strategies Users identified these issues using: variable/signal data comparison code statement execution monitoring automatic and user-inferred checks 57

  58. Limitations performance: instrumentation overhead (full speed to under 10x) scope: only instruments user code and Arduino core functions 58

  59. Future Work • Support for continuous capture • Support for multiple devices • Checking & visualizing networked behavior 59

  60. Thanks! Will McGrath – wmcgrath@stanford.edu Jeremy Warner – jeremy.warner@berkeley.edu With: Daniel Drew, Mitchell Karchemsky, Majeed Kazemitabaar, David Mellis, and Björn Hartmann

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