Tools: added files useful for hardware debugging

Tools/debug/99-blackmagic.rules

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+SUBSYSTEM=="tty", ATTRS{interface}=="Black Magic GDB Server", SYMLINK+="ttyBmpGdb"
+SUBSYSTEM=="tty", ATTRS{interface}=="Black Magic UART Port",  SYMLINK+="ttyBmpTarg"

Tools/debug/README.md

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+This directory contains files that are useful for setting up to debug
+ArduPilot using either a black magic probe or a stlink-v2 with openocd
+

Tools/debug/gdb-black-magic.init

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+# copy the file to .gdbinit in your Firmware tree, and adjust the path
+# below to match your system
+
+# using ttyBmpGdb is appropriate if you have setup udev to
+# automatically create a link when a black magic probe is
+# inserted. See 99-blackmagic.rules in this directory
+target extended /dev/ttyBmpGdb
+monitor swdp_scan
+attach 1
+
+#monitor vector_catch disable hard
+set mem inaccessible-by-default off
+set print pretty
+
+b AP_HAL::panic
+b HardFault_Handler
+b chSysHalt
+set confirm off

Tools/debug/gdb-openocd.init

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+# copy this file to .gdbinit in your Firmware tree
+
+# this sets up gdb to use openocd. You must start openocd first
+target extended-remote :3333
+
+set mem inaccessible-by-default off
+set print pretty
+
+b AP_HAL::panic
+b HardFault_Handler
+b chSysHalt
+set confirm off

Tools/debug/openocd.cfg

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+# sample openocd config file for use with ArduPilot
+# ChibiOS boards
+source [find interface/stlink.cfg]
+# replace the stm32f4x with the right value for
+# your microcontroller
+source [find target/stm32f4x.cfg]
+init
+$_TARGETNAME configure -rtos ChibiOS