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Scavanger b8dcf95a75 Bugfix

2024-02-07 08:55:12 -03:00

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Environment prerequistes

Windows 10/11
WSL2 (Ubuntu 20.04), how to install WSL2
- ATTENTION: Works ONLY on WSL2 Kernel version 5.10.60.1 or later, check it with command uname -a and if it is lower - update WSL2
  - Using Windows Update: Start > Settings > Windows Update > Advanced Options > Receive updates for other Microsoft products SHOULD be Turned ON
    - Start > Settings > Windows Update > Check for updates
  - Using Elevated Command Prompt: wsl --update
  - NOTE: If your WSL is V1 -> Switch it to V2 or install new WSL (Ubuntu 20.04) instance (switching are done with command wsl --set-default-version 2)
ST-Link V2 Debugger
INAV Project are Cloned from GitHub to WSL2 storage space, look at:

Installation

WSL2 Setup

Install prerequistes

sudo apt install linux-tools-5.4.0-77-generic hwdata
sudo update-alternatives --install /usr/local/bin/usbip usbip /usr/lib/linux-tools/5.4.0-77-generic/usbip 20
sudo apt install libncurses5

Adjust rules to allow connecting with non-root

The following script creates access rules for ST-LINK V2, V2.1 and V3 and for some USB-to-serial converters, download it to new file under you home folder, save, change attributes and run

nano createrules.sh
Copy and Paste script below
Ctrl-X
Y
Enter
sudo chmod +x createrules.sh
./createrules.sh

#!/bin/bash

sudo tee /etc/udev/rules.d/70-st-link.rules > /dev/null <<'EOF'
# ST-LINK V2
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE="600", TAG+="uaccess", SYMLINK+="stlinkv2_%n"

# ST-LINK V2.1
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE="600", TAG+="uaccess", SYMLINK+="stlinkv2-1_%n"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3752", MODE="600", TAG+="uaccess", SYMLINK+="stlinkv2-1_%n"

# ST-LINK V3
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374d", MODE="600", TAG+="uaccess", SYMLINK+="stlinkv3loader_%n"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374e", MODE="600", TAG+="uaccess", SYMLINK+="stlinkv3_%n"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374f", MODE="600", TAG+="uaccess", SYMLINK+="stlinkv3_%n"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3753", MODE="600", TAG+="uaccess", SYMLINK+="stlinkv3_%n"
EOF

sudo tee /etc/udev/rules.d/70-usb-to-serial.rules > /dev/null <<'EOF'
# CP2101 - CP 2104
SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="600", TAG+="uaccess", SYMLINK+="usb2ser_%n"

# ATEN UC-232A
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0557", ATTRS{idProduct}=="2008", MODE="600", TAG+="uaccess", SYMLINK+="usb2ser_aten_%n"
EOF

sudo udevadm control --reload-rules

In case you want reload services manually later

sudo service udev restart
udevadm control --reload

Windows Setup

Download last usbipd from here
Install it

VS Code Setup

INAV project is on WSL drive
Folder opened using WSL Remote extension
Cortex Debug extension installed
CMake will install all dependencies after first build automatically
Use configuration files provided below, place them to .vscode subfolder (create it if required)

Debugging

Preparing for debugging (before each new debug session)

Open WSL2 prompt

Go to project folder
lsusb
sudo /lib/systemd/systemd-udevd --daemon
sudo udevadm control --reload-rules && udevadm trigger
REPLUG USB

Open Elevated Command Prompt (Run as Administrator)

usbipd wsl list - shows you plugged and accessible USB devices
usbipd wsl attach --busid ID_OF_DEVICE_FROM_FIRST_COMMAND - will attach USB device to WSL
Just for info: usbipd detach --busid ID_OF_DEVICE_FROM_FIRST_COMMAND - will deattach USB device from WSL

Back to WSL2 prompt

lsusb - should show you just attached USB device
st-info --probe - should "see" ST-Link and MCU

Leave Command Prompt and WSL Prompt minimized (for later usage)

NOTE: Due to some USB reconnect issues, sometimes, is need to execute `usbipd wsl list` and `usbipd wsl attach...` commands again, to reconnect ST-Link to WSL

Debugging

Connect SWD from ST-Link to FC board (at least GND, SWDIO and SWCLK should be connected, but connecting Vref to +3.3V pad and RESET accordingly will improve debugging stability a lot!)
Power FC (can be powered from USB)
Select (Debug) CMake configuration
Build required target from VSCode
Use VS Code Run -> Start Debugging (F5) menu (make sure debugging target is "Cortex Debug")

NOTE: sometimes "autobuild" script is not performed well, it is recommended to repeat last two steps every time you change code and need "reflash-debug"

NOTE: after long and/or intensive debugging OpenOCD can crash, in this case just reopen VSCode, replug ST-Link USB, reattach USB to WSL and start debug session again

Troubleshooting

OpenOCD shows Permission denied during "Flashing":
- Go to WSL, INAV Project folder and run cd src/utils and sudo chmod +x *
If running from WSL itself and get errors:
- Go to WSL and run
  - sudo apt install gdb-multiarch
  - sudo ln -s /usr/bin/gdb-multiarch /usr/bin/arm-none-eabi-gdb

References

VS Code Example configurations

launch.json

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387

    // ******* INAV ********
    // Define the following values in settings.json
    //      - BUILD_DIR: Relative path to the build directory
    //      - TARGET: Target name that you want to launch

    "version": "0.2.0",
    "configurations": [
        {
            "name": "Cortex Debug",
            "cwd": "${workspaceRoot}",
            "executable": "${config:BUILD_DIR}/bin/${config:TARGET}.elf",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "openocd",
            "device": "${config:TARGET}",
            "configFiles": [
                "${config:BUILD_DIR}/openocd/${config:TARGET}.cfg"
            ],
            "preLaunchTask": "openocd-debug-prepare",
            "svdFile": "${config:BUILD_DIR}/svd/${config:TARGET}.svd",
        }
    ]
}

settings.json

{
    "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
    "files.associations": {
        "general_settings.h": "c",
        "parameter_group.h": "c"
    },
    "BUILD_DIR": "build",
    "TARGET": "MAMBAF405"
}

tasks.json

{
    // See https://go.microsoft.com/fwlink/?LinkId=733558
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "options": {
        "env": {
            "TARGET": "${config:TARGET}",
        }
    },
    "tasks": [
        {
            "label": "target",
            "type": "shell",
            "command": "make", "args": ["-C", "${config:BUILD_DIR}", "${config:TARGET}"],
            "problemMatcher": "$gcc",
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "presentation": {
                "echo": true,
                "reveal": "always",
                "focus": false,
            }
        },
        {
            "label": "flash",
            "type": "shell",
            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "openocd_flash_${config:TARGET}"],
            "dependsOn": "elf"
        },
        {
            "label": "svd",
            "type": "shell",
            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "svd_${config:TARGET}"],
            "problemMatcher": []
        },
        {
            "label": "openocd-cfg",
            "type": "shell",
            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "openocd_cfg_${config:TARGET}"],
            "problemMatcher": []
        },
        {
            "label": "openocd-debug-prepare",
            "type": "shell",
//            "dependsOn": ["svd", "openocd-cfg", "flash"],
            "dependsOn": ["svd", "openocd-cfg"],
            "problemMatcher": []
        }
    ]
}

cpp_properties.json

{
    "configurations": [
        {
            "name": "Win32",
            "includePath": [
                "${workspaceRoot}",
                "${workspaceRoot}/src/main/**"
            ],
            "browse": {
                "limitSymbolsToIncludedHeaders": false,
                "path": [
                    "${workspaceRoot}/**"
                ]
            },
            "intelliSenseMode": "msvc-x64",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "defines": [
                "USE_OSD",
                "USE_GYRO_NOTCH_1",
                "USE_GYRO_NOTCH_2",
                "USE_DTERM_NOTCH",
                "USE_ACC_NOTCH",
                "USE_GYRO_BIQUAD_RC_FIR2",
                "USE_D_BOOST",
                "USE_SERIALSHOT",
                "USE_ANTIGRAVITY",
                "USE_ASYNC_GYRO_PROCESSING",
                "USE_RPM_FILTER",
                "USE_GLOBAL_FUNCTIONS",
                "USE_DYNAMIC_FILTERS",
                "USE_DSHOT",
                "FLASH_SIZE 480",
                "USE_I2C_IO_EXPANDER",
                "USE_PCF8574",
                "USE_ESC_SENSOR"
            ],
            "configurationProvider": "ms-vscode.cmake-tools"
        }
    ],
    "version": 4
}

10 KiB Raw Permalink Blame History

Environment prerequistes

Installation

WSL2 Setup

Install prerequistes

Adjust rules to allow connecting with non-root

In case you want reload services manually later

Windows Setup

VS Code Setup

Debugging

Preparing for debugging (before each new debug session)

Open WSL2 prompt

Open Elevated Command Prompt (Run as Administrator)

Back to WSL2 prompt

Leave Command Prompt and WSL Prompt minimized (for later usage)

NOTE: Due to some USB reconnect issues, sometimes, is need to execute usbipd wsl list and usbipd wsl attach... commands again, to reconnect ST-Link to WSL

Debugging

Troubleshooting

References

VS Code Example configurations

10 KiB

Raw Permalink Blame History

NOTE: Due to some USB reconnect issues, sometimes, is need to execute `usbipd wsl list` and `usbipd wsl attach...` commands again, to reconnect ST-Link to WSL