硬件
stlink
holybro debug板
pixhawk4
安装openocd
官方文档，但是第一步安装建议从源码安装，bug少很多
github链接
编译安装，参考
./bootstrap (when building from the git repository)
./configure [options]
make
sudo make install
安装后在usr/local/bin下面有一个openocd
px4qgc@ubuntu:~$ which openocd
/usr/local/bin/openocd
另外要注意gcc-arm路径
px4qgc@ubuntu:~$ which arm-none-eabi-gdb
/opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gdb
然后进行一点测试，看看环境对不对再往下走
比如我用fmuv5的pixhawk4：
openocd -f interface/stlink.cfg -f target/stm32f7x.cfg
arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf -ex "target extended-remote :3333"
可能的报错：
arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory
安装对应的库即可
sudo apt-get update
sudo apt-get install libncurses5
usb设备权限问题
px4qgc@ubuntu:~$ openocd -f interface/stlink.cfg -f target/stm32f7x.cfg
Open On-Chip Debugger 0.11.0-dirty (2023-10-28-03:57)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 2000 kHz
Error: libusb_open() failed with LIBUSB_ERROR_ACCESS
为stlink添加usb规则
sudo gedit /etc/udev/rules.d/99-openocd.rules
# For ST-Link
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3744", MODE:="666"
# For ST-Link V2
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="666"
# For ST-Link V2-1 (STM32 Nucleo boards)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="666"
# For ST-Link V3
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3753", MODE:="666"
# For ST-Link V3 MINIE
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3754", MODE:="666"
vscode配置
从github上面clone下来代码有一个.vscode文件夹，这个非常重要，给定了vscode的很多配置
按照官方文档安装vscode插件，注意，如果用的arm-gcc版本是2020-q2，gdb版本就是8，不能用最新的cortex-bug，我试了1.4.3可以
task.json里面加上
{
"label": "Build and Download",
"type": "shell",
"command":"openocd",
"args": [
"-f",
"interface/stlink.cfg",
"-f",
"target/stm32f7x.cfg",
"-c",
"program ./build/px4_fmu-v5_default/px4_fmu-v5_default.bin 0x8008000 verify reset exit "
],
"problemMatcher": []
},
launch.json加上：
{
"name": "FMUv5 Debug ST-Link",
"type": "cortex-debug",
"request": "launch",
"cwd": "${workspaceRoot}",
"executable": "./build/px4_fmu-v5_default/px4_fmu-v5_default.elf",
//"serverpath": "${env:JLINK_SERVER}",
"servertype": "openocd",
"device": "STM32F765II",
"interface": "swd",
"configFiles": [
"interface/stlink.cfg",
"target/stm32f7x.cfg"
],
"serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
"svdFile": "STM32F7x5.svd",
"preLaunchTask":"Build and Download"
},
给px4_simple_app.c加一个断点，点击调试，openocd会负责用stlink刷入最新固件，并启动调试
效果如下图：
默认的那个st-util从来没在fmuv5上面好使过，会进入下面这个图的莫名其妙的地方，不用了，v6c倒是可以
如果遇到没有要编译的对象，比如6c，在这自己加就行
pixhawk6c
默认的就可以，但是感觉费劲死了，写一下openocd的配置
烧写命令：
openocd -f interface/stlink.cfg -f target/stm32h7x_dual_bank.cfg -c "program ./build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf verify reset exit "
openocd -f interface/stlink.cfg -f target/stm32h7x_dual_bank.cfg
arm-none-eabi-gdb build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf -ex "target extended-remote :3333"
launch.json
{
"name": "FMUv6c Debug ST-Link",
"type": "cortex-debug",
"request": "launch",
"cwd": "${workspaceRoot}",
"executable": "${command:cmake.launchTargetPath}",
//"serverpath": "${env:JLINK_SERVER}",
"servertype": "openocd",
"device": "STM32H743VI",
"interface": "swd",
"configFiles": [
"interface/stlink.cfg",
"target/stm32h7x_dual_bank.cfg"
],
"serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
"svdFile": "STM32H743.svd",
"preLaunchTask":"Build and Download"
},
launch.json 如果不想每次都重新编译，就把executable改了
{
"name": "FMUv6c Debug ST-Link",
"type": "cortex-debug",
"request": "launch",
"cwd": "${workspaceRoot}",
"executable": "./build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf",
//"serverpath": "${env:JLINK_SERVER}",
"servertype": "openocd",
"device": "STM32H743VI",
"interface": "swd",
"configFiles": [
"interface/stlink.cfg",
"target/stm32h7x_dual_bank.cfg"
],
"serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
"svdFile": "STM32H743.svd",
"preLaunchTask":"Build and Download"
},
tasks.json
{
"label": "echo",
"type": "shell",
"command": "echo ${env:USERNAME}"
},
{
// "dependsOn":"Build",
"label": "Build and Download",
"type": "shell",
"command": "openocd",
"args": [
"-f",
"interface/stlink.cfg",
"-f",
"target/stm32h7x_dual_bank.cfg",
"-c",
"program ./build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf verify reset exit "
],
"problemMatcher": []
},
原版st-util配置文件：
{
"name": "stlink (px4_fmu-v6c)",
"gdbPath": "/opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gdb",
"device": "STM32H743VI",
"svdFile": "STM32H743.svd",
"executable": "./build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf",
"request": "launch",
"type": "cortex-debug",
"servertype": "stutil",
"cwd": "${workspaceFolder}",
"internalConsoleOptions": "openOnSessionStart",
"preLaunchCommands": [
"source ${workspaceFolder}/platforms/nuttx/Debug/PX4",
"source ${workspaceFolder}/platforms/nuttx/Debug/NuttX",
"source ${workspaceFolder}/platforms/nuttx/Debug/ARMv7M",
"set mem inaccessible-by-default off",
"set print pretty",
]
},
补充一点pixhawk4的debug
突然发现后面临近停产的pixhawk4，openocd刷不进去flash
px4qgc@ubuntu:~/1.14.0/PX4-Autopilot$ openocd -f interface/stlink.cfg -f target/stm32f7x.cfg -c "program ./build/px4_fmu-v5_default/px4_fmu-v5_default.elf 0x8000 verify reset exit "
Open On-Chip Debugger 0.12.0-01004-g9ea7f3d64 (2023-11-30-21:36)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
Info : clock speed 2000 kHz
Info : STLINK V3J8M3 (API v3) VID:PID 0483:3754
Info : Target voltage: 3.276368
Info : [stm32f7x.cpu] Cortex-M7 r1p0 processor detected
Info : [stm32f7x.cpu] target has 8 breakpoints, 4 watchpoints
Info : starting gdb server for stm32f7x.cpu on 3333
Info : Listening on port 3333 for gdb connections
Info : Unable to match requested speed 2000 kHz, using 1000 kHz
Info : Unable to match requested speed 2000 kHz, using 1000 kHz
[stm32f7x.cpu] halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x08001468 msp: 0x20020000
** Programming Started **
Info : device id = 0x10016451
Info : flash size = 2048 KiB
Info : Single Bank 2048 kiB STM32F76x/77x found
Info : flash size = 1024 bytes
Warn : no flash bank found for address 0x08200000
** Programming Finished **
** Verify Started **
Error: timed out while waiting for target halted
Error: error executing cortex_m crc algorithm
** Verify Failed **
shutdown command invoked
故修改launch.json，
{
"name": "FMUv5 Debug ST-Link",
"type": "cortex-debug",
"request": "launch",
"cwd": "${workspaceRoot}",
"executable": "/home/px4qgc/1.14.0/PX4-Autopilot/build/px4_fmu-v5_default/px4_fmu-v5_default.elf",
"servertype": "openocd",
"device": "STM32F765II",
"interface": "swd",
"configFiles": [
"interface/stlink.cfg",
"target/stm32f7x.cfg"
],
"serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
"svdFile": "STM32F7x5.svd",
"preLaunchTask":"flash"
},
task.json：用st-flash可以正常刷写文章来源：https://www.toymoban.com/news/detail-736433.html
{
"label": "flash",
"type": "shell",
"command": "st-flash --hot-plug write ./build/px4_fmu-v5_default/px4_fmu-v5_default.bin 0x08008000",
},
如果觉得刷写费时间，可以把launch.json里面这行注释掉文章来源地址https://www.toymoban.com/news/detail-736433.html
"preLaunchTask":"flash"
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