atbetaflight/docs/development/Hardware Debugging in Eclipse.md

Hardware

Various debugging hardware solutions exist, the Segger J-Link clones are cheap and are known to work on Windows with both the Naze and Olimexino platforms.

USB-MiniJTAG J-Link JTAG/SWD Debugger/Emulator

http://www.hotmcu.com/usbminijtag-jlink-jtagswd-debuggeremula%E2%80%8Btor-p-29.html?cPath=3_25&zenid=fdefvpnod186umrhsek225dc10


ARM-JTAG-20-10 adapter

https://www.olimex.com/Products/ARM/JTAG/ARM-JTAG-20-10/ http://uk.farnell.com/jsp/search/productdetail.jsp?sku=2144328


The Segger J-Link server can be obtained from here

http://www.segger.com/jlink-software.html

Build with DEBUG=GDB

Naze target (default)

via Command line

make clean TARGET=NAZE
make TARGET=NAZE DEBUG=GDB

via Eclipse make target


via configuration

use this method if you want to build automatically when launching the debug configuration

Olimexino target

via command line

make clean TARGET=OLIMEXINO
make TARGET=OLIMEXINO DEBUG=GDB

via Eclipse make target


GDB and OpenOCD

start openocd:

  openocd -f /usr/share/openocd/scripts/board/stm32vldiscovery.cfg

Create a new debug configuration in eclipse :

you can control openocd with a telnet connection:

 telnet localhost 4444

stop the board, flash the firmware, restart:

 reset halt
 wait_halt 
 sleep 100
 poll
 flash probe 0
 flash write_image erase /home/user/git/cleanflight/obj/cleanflight_NAZE.hex 0x08000000
 sleep 200
 soft_reset_halt
 wait_halt
 poll
 reset halt

A this point you can launch the debug in Eclispe.

GDB and J Link

Here are some screenshots showing Hydra's configuration of Eclipse (Kepler)

If you use cygwin to build the binaries then be sure to have configured your common Source Lookup Path, Path Mappings first, like this:


Create a new GDB Hardware Debugging launch configuration from the Run menu

It's important to have build the executable compiled with GDB debugging information first. Select the appropriate .elf file (not hex file) - In these examples the target platform is an OLIMEXINO, not a naze32.

DISABLE auto-build


Choose the appropriate gdb executable - ideally from the same toolchain that you use to build the executable.


Configure Startup as follows

Initialization commands

target remote localhost:2331
monitor interface SWD
monitor speed 2000
monitor flash device = STM32F103RB
monitor flash download = 1
monitor flash breakpoints = 1
monitor endian little
monitor reset



It may be useful to specify run commands too:

monitor reg r13 = (0x00000000)
monitor reg pc = (0x00000004)
continue


If you use cygwin an additional entry should be shown on the Source tab (not present in this screenshot)


Nothing to change from the defaults on the Common tab


Start up the J-Link server in USB mode


If it connects to your target device it should look like this


From Eclipse launch the application using the Run/Debug Configurations..., Eclipse should upload the compiled file to the target device which looks like this


When it's running the J-Link server should look like this.


Then finally you can use Eclipse debug features to inspect variables, memory, stacktrace, set breakpoints, step over code, etc.

If Eclipse can't find your breakpoints and they are ignored then check your path mappings (if using cygwin) or use the other debugging launcher as follows. Note the 'Select other...' at the bottom of the configuration window.