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[DOC] Document hardware debugging procedure with stlink, openocd and gdb
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Alberto García Hierro
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6 changed files with 156 additions and 81 deletions
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# Hardware debugging
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# Hardware Debugging
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The code can be compiled with debugging information, you can then upload a debug version to a board via a JLink/St-Link debug adapter and step through the code in your IDE.
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Hardware debugging allows debugging the firmware with GDB, including most of its
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features that you can find while debugging software for a computer like setting
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breakpoins or printing variables or stepping through the code.
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More information about the necessary hardware and setting up the eclipse IDE can be found [here](Hardware Debugging in Eclipse.md)
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Additionally, firmware can also be flashed directly either from the IDE or from GDB,
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significanly reducing the time required for the compile/flash/test cycle.
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A guide for visual studio can be found here:
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http://visualgdb.com/tutorials/arm/st-link/
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## Required Hardware
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This video is also helpful in understanding the proces:
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https://www.youtube.com/watch?v=kjvqySyNw20
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Although more complex and expensive solutions exists, an STLink V2 clone will let you
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use all the features of hardware debugging. They can be purchased on any of the typical
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Chinese sites.
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## Hardware
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[ST Link V2 Clone](https://inavflight.com/shop/s/bg/1177014)
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[Original ST Link V2](https://inavflight.com/shop/s/bg/1099119)
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Various debugging hardware solutions exist, the Segger J-Link clones are cheap and are known to work on Windows.
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Additionally, most nucleo boards from ST come with a brekable part that contains an
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STLink V2.1 or V3. These can also be used to debug an FC, but can be more difficult to
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source.
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### J-Link devices
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To connect it a flight controller, you need to locate the SWDIO and SWCLK pins from the
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MCU. These correspond to PA13 (SWDIO) and PA14 (SWCLK). Be aware that not all manufacturers
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break out these pins, but a lot of them put them in small pads available somewhere.
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Connect SWDIO, SWCLK and GND from the FC to pins with the FC
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Segger make excellent debuggers and debug software.
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TODO: Add pictures of several FCs with SWDIO and SWCLK highlighted.
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The Segger J-Link GDB server can be obtained from here.
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## Required software
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http://www.segger.com/jlink-software.html
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Besides an ARM toolchain, [OpenOCD](http://openocd.org) is required. Note that at the
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time of this writing, OpenOCD hasn't had a release in almost 3 years, so you might
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need to look for unofficial releases or compile from source.
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#### Segger J-Link EDU EDU version, for hobbyists and educational use.
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[stlink](https://github.com/texane/stlink), while not strictly required, can be handy
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for quickly testing the SWD connection or flashing or erasing. To avoid ambiguities
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between the hardware and the software, the former will be referred as `ST Link` while
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we'll use `stlink` for the latter.
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Please, follow the installation instructions for your operating system.
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https://www.segger.com/j-link-edu.html
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### Windows
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#### USB-MiniJTAG J-Link JTAG/SWD Debugger/Emulator
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Install the Windows Subsystem for Linux, then follow the Linux instructions.
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http://www.hotmcu.com/usbminijtag-jlink-jtagswd-debuggeremula%E2%80%8Btor-p-29.html?cPath=3_25&zenid=fdefvpnod186umrhsek225dc10
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### macOS
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Install [Homebrew](https://brew.sh) (a package manager) first.
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##### ARM-JTAG-20-10 adapter
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To install OpenOCD type `brew install open-ocd --HEAD` in a terminal. Note the `--HEAD`
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command line switch.
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https://www.olimex.com/Products/ARM/JTAG/ARM-JTAG-20-10/
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http://uk.farnell.com/jsp/search/productdetail.jsp?sku=2144328
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For stlink, use `brew install stlink`.
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### Linux
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#### CJMCU-STM32 Singlechip Development Board Jlink Downloader Jlink ARM Programmer
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Install [Homebrew for Linux](https://docs.brew.sh/Homebrew-on-Linux), since versions
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provided by your distro's package manager might be out of date. Homebrew can cohexist
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with your existing package manager without any problems.
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Then, follow the same instructions for installing OpenOCD and stlink for macOS.
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## Hardware setup
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http://www.goodluckbuy.com/cjmcu-stm32-singlechip-development-board-jlink-downloader-jlink-arm-programmer.html
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Connect SWDIO and SWCLK from the FC to pins with the same label on the ST Link. You must
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also connect one of the GND from FC to any of the GND pins to the ST Link. Note the
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following caveats:
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- There are several ST Link clone types with different pinouts. Pay attention to the pin
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labels.
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- In some ST Link clones, some GND pins are actually floating and not connected to
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- anything. Use a multimeter to check the GND pins and use any of the valid ones.
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- Even if you're powering everything from the same computer, make sure to directly connect
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the grounds from the FC to the ST Link. Some FC/stlink combinations have a 0.1-0.2V
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difference between their grounds and if you don't connect them, stlink won't work.
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### STLink V2 devices
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The FC can be powered by any power source that it supports (battery, USB, etc...), just
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make sure to not connect power from the ST Link (the pins labelled as 3.3V and 5V) to the
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FC if something else is powering it.
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STLink V2 devices can be used too, via OpenOCD.
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Once you're wired everything, test the connections with a DMM before applying power. Then
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power both the FC and the stlink (the order doesn't matter) and run `st-info --probe`
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You should see something like:
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#### CEPark STLink V2
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http://www.goodluckbuy.com/cepark-stlink-st-link-v2-emulator-programmer-stm8-stm32-downloader.html
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```
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Found 1 stlink programmers
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serial: 0d0d09002a12354d314b4e00
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openocd: "\x0d\x0d\x09\x00\x2a\x12\x35\x4d\x31\x4b\x4e\x00"
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flash: 524288 (pagesize: 16384)
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sram: 131072
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chipid: 0x0431
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descr: F4 device (low power) - stm32f411re
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```
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## Compilation options
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use `DEBUG=GDB` make argument.
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INAV is compiled with debug symbols by default, since they're only stored in the locally
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generated `.elf` file and they never use flash space in the target. However, some
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optimizations like inlining and LTO might rearrange some sections of the code enough
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to interfere with debugging. All compile time optimizations can be disabled by
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using `DEBUG=GDB` when calling `make`.
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You may find that if you compile all the files with debug information on that the program is too big to fit on the target device. If this happens you have some options:
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You may find that if you compile all the files without optimizations the program might
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too big to fit on the target device. In that case, one of the possible solutions is
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compiling all files with optimization (`make clean`, `make ...`) first, then re-save
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or `touch` the files you want to be able to step though and then run `make DEBUG=GDB`.
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This will then re-compile the files you're interested in debugging with debugging symbols and you will get a smaller binary file which should then fit on the device.
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* Compile all files without debug information (`make clean`, `make ...`), then re-save or `touch` the files you want to be able to step though and then run `make DEBUG=GDB`. This will then re-compile the files you're interested in debugging with debugging symbols and you will get a smaller binary file which should then fit on the device.
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* You could use a development board such as an EUSTM32F103RB, development boards often have more flash rom.
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## Debugging
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## OSX
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To run a debug session, you will need two terminal windows. One will run OpenOCD, while
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the other one will run gdb.
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### Install OpenOCD via Brew
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Although not strictly required, it is recommended to set the target you're working on
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in `make/local.mk` (create it if it doesn't exist), by adding a line like e.g.
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`TARGET ?= SOME_VALID_TARGET`. This way you won't need to specify the target name in
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all commands.
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ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
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From one of the terminals, type `make openocd-run`. This will start OpenOCD and connect
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to the MCU. Leave OpenOCD running in this terminal.
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brew install openocd
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From another terminal, type `make gdb-openocd`. This will compile the `.elf` binary for
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the current target and start `gdb`. From there you will usually want to execute the gdb
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`load` command first, which will flash the binary to the target. Once it finishes, start
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running it by executing the `continue` command.
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### GDB debug server
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For conveniency, you can invoke `make gdb-openocd` with the environment variable `$LOAD`
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set to a non-empty string (e.g. `LOAD=1 make gdb-openocd`), which will run the `load`
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command and flash the target as soon as gdb connects to it.
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#### J-Link
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From there on, you can use any gdb commands like `b` for setting breakpoints, `p` for
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printing, etc... Check a gdb tutorial for more details if you're not already familiar
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with it.
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##### Windows
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### Rebuilding and reflashing
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Run the Launch the J-Link GDB Server program and configure using UI.
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To rebuild, flash and rerun the binary after doing any modifications, recompile it
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with `make`, then press `control+c` to interrupt gdb. Halt the target by entering the
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gdb command `monitor reset halt` and then type `load` to flash it. gdb will notice the
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binary has changed and re-read the debug symbols. Then you can restart the firmware with
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`continue`. This way, you can very quickly flash, upload and test since neither OpenOCD
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nor gdb need to be restarted.
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#### OpenOCD
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### ST Link versions
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##### Windows
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STM32F103 targets
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"C:\Program Files (x86)\UTILS\openocd-0.8.0\bin-x64\openocd-x64-0.8.0.exe" -f interface/stlink-v2.cfg -f target/stm32f1x_stlink.cfg
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STM32F30x targets
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"C:\Program Files (x86)\UTILS\openocd-0.8.0\bin-x64\openocd-x64-0.8.0.exe" -f scripts\board\stm32f3discovery.cfg
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##### OSX/Linux
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STM32F30x targets
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openocd -f /usr/share/openocd/scripts/board/stm32vldiscovery.cfg
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By default, the Makefiles will assume an ST Link v2, which is the version found in the
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popular and cheap clones. However, other versions are also supported. Just set the
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`STLINK` environment variable (either via command line or either via `local.mk`) to
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`1` or `2` or `2.1`, according to your hardware.
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### Semihosting
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Semihosting is an ARM feature that allows printing messages via the SWD connection.
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The logging framework inside INAV can output its messages via semihosting. To enable
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it, make sure you've deleted all generated files (e.g. `make clean`) and set the
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environment variable `$SEMIHOSTING` to a non-empty string, either via command line
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or via `local.mk`. Once you start the target, log messages will appear on the openocd
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terminal. Note that even with semihosting enabled, logging has be explicitely enabled
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via settings.
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@ -1,7 +1,8 @@
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GDB ?= $(ARM_SDK_PREFIX)gdb
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GDB_OPENOCD_REMOTE ?= localhost:3333
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GDB_REMOTE ?= localhost:3333
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GDB_OPENOCD_INIT_CMDS ?= -ex "monitor reset halt"
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GDB_OPENOCD_INIT_CMDS ?=
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GDB_OPENOCD_INIT_CMDS += -ex "monitor reset halt"
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ifneq ($(LOAD),)
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GDB_OPENOCD_INIT_CMDS += -ex load
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endif
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@ -10,6 +11,4 @@ GDB_OPENOCD_INIT_CMDS += -ex "monitor arm semihosting enable"
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endif
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gdb-openocd: $(TARGET_ELF)
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(nc -z $(subst :, ,$(GDB_OPENOCD_REMOTE)) 2> /dev/null && \
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$(GDB) $< -ex "target remote $(GDB_OPENOCD_REMOTE)" $(GDB_OPENOCD_INIT_CMDS)) || \
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$(GDB) $< -ex "target remote | $(OPENOCD_CMDLINE) -c \"gdb_port pipe;\"" $(GDB_OPENOCD_INIT_CMDS)
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$(GDB) $< -ex "target remote $(GDB_REMOTE)" $(GDB_OPENOCD_INIT_CMDS)
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@ -1,27 +1,49 @@
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.PHONY: openocd
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.PHONY: .FORCE openocd-cfg $(OPENOCD_CFG) openocd-run openocd-flash
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OPENOCD_CMD ?= openocd
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OPENOCD_INTERFACE ?= stlink-v2
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OPENOCD_CFG ?= $(TARGET_OBJ_DIR)/openocd.cfg
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CLEAN_ARTIFACTS += $(OPENOCD_CFG)
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OPENOCD_CMD ?= openocd
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ifeq ($(TARGET_MCU),STM32F1)
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OPENOCD_TARGET ?= stm32f1x
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else ifeq ($(TARGET_MCU),STM32F3)
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OPENOCD_TARGET ?= stm32f3x
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else ifeq ($(TARGET_MCU),STM32F4)
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OPENOCD_TARGET ?= stm32f4x
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else ifeq ($(TARGET_MCU),STM32F7)
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OPENOCD_TARGET ?= stm32f7x
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STLINK ?= 2
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ifeq ($(OPENOCD_INTERFACE),)
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ifeq ($(STLINK),1)
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OPENOCD_INTERFACE := stlink-v1
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else ifeq ($(STLINK),2)
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OPENOCD_INTERFACE := stlink-v2
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else ifeq ($(STLINK),2.1)
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OPENOCD_INTERFACE := stlink-v2-1
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else
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$(error Uknown ST Link version $(STLINK))
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endif
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endif
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ifeq ($(OPENOCD_TARGET),)
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ifeq ($(TARGET_MCU_GROUP),STM32F3)
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OPENOCD_TARGET := stm32f3x
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else ifeq ($(TARGET_MCU_GROUP),STM32F4)
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OPENOCD_TARGET := stm32f4x
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else ifeq ($(TARGET_MCU_GROUP),STM32F7)
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OPENOCD_TARGET := stm32f7x
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endif
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endif
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ifeq ($(OPENOCD_TARGET),)
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$(warning Unknown OPENOCD_TARGET)
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endif
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OPENOCD_CMDLINE := $(OPENOCD_CMD) -f interface/$(OPENOCD_INTERFACE).cfg -f target/$(OPENOCD_TARGET).cfg
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OPENOCD_CMDLINE := $(OPENOCD_CMD) -f $(OPENOCD_CFG)
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openocd-run:
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openocd-cfg: $(OPENOCD_CFG)
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$(OPENOCD_CFG): .FORCE
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$(V1) mkdir -p $(dir $@)
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$(V1) echo "source [find interface/$(OPENOCD_INTERFACE).cfg]" > $@
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$(V1) echo "source [find target/$(OPENOCD_TARGET).cfg]" >> $@
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openocd-run: $(OPENOCD_CFG)
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$(OPENOCD_CMDLINE)
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openocd-flash: $(TARGET_ELF)
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openocd-flash: $(TARGET_ELF) $(OPENOCD_CFG)
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(echo "halt; program $(realpath $<) verify reset" | nc -4 localhost 4444 2>/dev/null) || \
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$(OPENOCD_CMDLINE) -c "program $< verify reset exit"
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