2019-02-15 22:41:18 -04:00
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# Hardware Debugging with ArduPilot
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2019-02-15 22:18:57 -04:00
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This directory contains files that are useful for setting up to debug
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2019-02-15 22:41:18 -04:00
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ArduPilot using either a black magic probe or a stlink-v2 with
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openocd.
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This assumes you are debugging a ChibiOS based firmware on a STM32 board.
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## Debugging with a Black Magic Probe
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If you have a black magic probe (see
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https://1bitsquared.com/products/black-magic-probe) then first make
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sure it has the latest firmware. See the wiki here for details:
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https://github.com/blacksphere/blackmagic/wiki
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Next, copy the file gdb-black-magic.init to the ArduPilot source
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directory, in the same directory where you will be starting the
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debugger. Rename the file to ".gdbinit"
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2019-02-15 22:43:23 -04:00
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Now either edit the .gdbinit to give the path to the serial port for
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your black magic probe, or install the provided udev rules file so
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that the probe will be loaded as /dev/ttyBmpGdb
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2019-02-15 22:41:18 -04:00
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Now make sure you have the right version of arm-none-eabi-gdb
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2021-07-25 19:06:40 -03:00
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installed. We recommend version 10-2020-q4-major, which is available
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2019-12-07 16:44:14 -04:00
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here: https://firmware.ardupilot.org/Tools/STM32-tools/
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2019-02-15 22:41:18 -04:00
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Now build ArduPilot with the --debug configure option. You may also
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like to include the --enable-asserts. Enabling asserts will slow down
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the firmware quite a lot, but will help catch ChibiOS API usage bugs.
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For example:
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./waf configure --board Pixhawk1 --debug --enable-asserts
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Now build and install your firmware:
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./waf copter --upload
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After it is loaded you can attach with gdb like this:
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arm-none-eabi-gdb build/Pixhawk4/bin/arducopter
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then you can use normal gdb commands. If you are not familiar with gdb
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then do a google search.
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Note that for a source view the command "layout src" or "layout spit"
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is useful.
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## Debugging with a STLink-v2
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If you have a STLink-V2 adapter (or one of the very cheap clones) then
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you can debug with openocd. Using openocd has the advantage that you
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can debug threads properly, unlike the black magic probe which can't
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see ChibiOS threads.
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Start by installing the latest version of openocd, then copy the
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openocd.cfg file from this directory to the directory where you will
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be debugging.
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You may need to edit the openocd.cfg file to set the MCU type. The one
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in this directory is setup for a STM32F4 board. If you have a STM32F7
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or STM32H7 then edit the file in the obvious way.
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Now start openocd in a terminal. You should get output like this:
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```
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Open On-Chip Debugger 0.10.0+dev-00272-gedb6796 (2018-01-19-17:26)
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Licensed under GNU GPL v2
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For bug reports, read
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http://openocd.org/doc/doxygen/bugs.html
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Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
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Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
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adapter speed: 1800 kHz
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adapter_nsrst_delay: 100
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srst_only separate srst_nogate srst_open_drain connect_deassert_srst
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Info : clock speed 1800 kHz
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Info : STLINK v2 JTAG v29 API v2 SWIM v18 VID 0x0483 PID 0x374B
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Info : using stlink api v2
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Info : Target voltage: 3.253404
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Info : stm32h7x.cpu: hardware has 8 breakpoints, 4 watchpoints
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Info : Listening on port 3333 for gdb connections
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Info : Listening on port 6666 for tcl connections
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Info : Listening on port 4444 for telnet connections
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```
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the above output is for a STM32H743 Nucleo board, but others are
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similar
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In another terminal, copy the gdb-openocd.init file to the directory
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where you will be debugging, calling it .gdbinit.
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Now build and load the debug enabled firmware for ArduPilot in the
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same manner as given above for the Black Magic probe, and start
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arm-none-eabi-gdb in the same manner.
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2019-02-15 22:18:57 -04:00
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2019-02-15 22:41:18 -04:00
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To see ChibiOS threads use the "info threads" command. See the gdb
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documentation for more information.
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