Getting Started with Tracealyzer on PX5 RTOS

Add TraceRecorder

1. Clone the PX5-RTOS_TraceRecorder library from GitHub
2. Include all C source files from the following folders into your PX5 RTOS project:

   PX5-RTOS_TraceRecorderSource
PX5-RTOS_TraceRecorderSource/streamports/RingBuffer

3. Add the following directories to your compiler’s include path:

   PX5-RTOS_TraceRecorderSource/config
PX5-RTOS_TraceRecorderSource/include
PX5-RTOS_TraceRecorderSource/streamports/RingBuffer/config
PX5-RTOS_TraceRecorderSource/streamports/RingBuffer/include

4. In PX5-RTOS_TraceRecorderSource/config/trcConfig.h set TRC_CFG_HARDWARE_PORT to the architecture used:
   • For Cortex-M3/M4/M7 devices, use TRC_HARDWARE_PORT_ARM_Cortex_M
   • For other devices, all available hardware ports can be found at the bottom of RTOS_TraceRecorderSource/include/trcDefines.h

Configure TraceRecorder

1. In PX5-RTOS_TraceRecorderSource/config/trcConfig.h the line #error "Trace Recorder: Please include your processor's header file here and remove this line." might need to be replaced. If compilation works by only removing the line everything is fine, else it needs to be replaced with an include of the processor header file.
2. In PX5-RTOS_TraceRecorderSource/config/trcKernelPortConfig.h set the TRC_CFG_CPU_CLOCK_HZ to the frequency used by the timer for time stamping in the hardware port.
3. In px5_user_config.h, add #include "trcRecorder.h"
4. Define PX5_THREAD_ENTER_EXIT_NOTIFY_ENABLE in your assembler’s preprocessor settings.

Start TraceRecorder

1. In main after platform_setup is called (or any time after the timestamp source is setup) and before px5_pthread_start is called, add a call to xTraceEnable with TRC_START as the argument.

For complete TraceRecorder Integration details and advanced configuration, see the detailed TraceRecorder for PX5 RTOS reference guide.

The capture procedure depends on your development environment. Select the method you use below.

Snapshot

• VS Code
• STM32CubeIDE
• GDB or Eclipse
• Renesas e2 studiot
• IAR Embedded Workbench for Arm
• Lauterbach TRACE32
• Other Application Notes

• Task scheduling — See when tasks execute, block and resume.

• CPU usage — Identify tasks consuming significant CPU time.

• Timing — Find long execution times and unexpected delays.

• Interrupts — Understand how interrupts affect task execution.

• User events — Correlate trace data with application-specific behavior and custom events/logs. All synchronized into one execution timeline.

To learn more about using Tracealyzer, see Tracealyzer Features and Capabilities.