Hardware
stlink
holybro debug board
pixhawk4
Install openocd
Official documentation, but the first step of installation is recommended to install from the source code, which has fewer bugs.
github link
Compile and install, refer to
./bootstrap (when building from the git repository) ./configure [options] make sudo make install
After installation, there is an openocd under usr/local/bin
px4qgc@ubuntu:~$ which openocd /usr/local/bin/openocd
Also pay attention to the gcc-arm path
px4qgc@ubuntu:~$ which arm-none-eabi-gdb /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gdb
Then do some testing to see if the environment is right before proceeding.
For example, I use pixhawk4 of fmuv5:
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"
Possible errors:
arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory
Just install the corresponding library
sudo apt-get update sudo apt-get install libncurses5
usb device permissions issue
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
Add usb rules for stlink
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 configuration
The code cloned from github has a .vscode folder. This is very important because it provides many configurations of vscode.
Install the vscode plug-in according to the official documentation. Note that if the arm-gcc version used is 2020-q2, the gdb version is 8. The latest cortex-bug cannot be used. I tried 1.4.3 and it works.
Add to task.json
{<!-- -->
"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 plus:
{<!-- -->
"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"
},
Add a breakpoint to px4_simple_app.c and click debug. Openocd will be responsible for flashing the latest firmware using stlink and starting debugging.
The effect is as follows:
The default st-util has never been used on fmuv5. It will enter the inexplicable place in the picture below. No need, v6c will work.
If you encounter an object that does not need to be compiled, such as 6c, just add it yourself here.
pixhawk6c
The default one is fine, but it feels very laborious. Write the configuration of openocd.
Burning command:
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": "${env:JLINK_SERVER}",
"servertype": "openocd",
"device": "STM32H743VI",
"interface": "swd",
"configFiles": [
"interface/stlink.cfg",
"target/stm32h7x_dual_bank.cfg"
],
"serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
"svdFile": "STM32H743.svd",
"preLaunchTask":"Build and Download"
},
launch.json If you don’t want to recompile every time, change the executable
{<!-- -->
"name": "FMUv6c Debug ST-Link",
"type": "cortex-debug",
"request": "launch",
"cwd": "${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 ${env:USERNAME}"
},
{<!-- -->
// "dependsOn":"Build",
"label": "Build and Download",
"type": "shell",
"command": "openocd",
"args": [
"-f",
"interface/stlink.cfg",
"-f",
"target/stm32h7x_dual_bank.cfg",
"-c",
"program ./build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf verify reset exit "
],
"problemMatcher": []
},
Original st-util configuration file:
{<!-- -->
"name": "stlink (px4_fmu-v6c)",
"gdbPath": "/opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gdb",
"device": "STM32H743VI",
"svdFile": "STM32H743.svd",
"executable": "./build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf",
"request": "launch",
"type": "cortex-debug",
"servertype": "stutil",
"cwd": "${workspaceFolder}",
"internalConsoleOptions": "openOnSessionStart",
"preLaunchCommands": [
"source ${workspaceFolder}/platforms/nuttx/Debug/PX4",
"source ${workspaceFolder}/platforms/nuttx/Debug/NuttX",
"source ${workspaceFolder}/platforms/nuttx/Debug/ARMv7M",
"set mem inaccessible-by-default off",
"set print pretty",
]
},
Add some debugging of pixhawk4
Suddenly I discovered that pixhawk4 was about to be discontinued, and openocd could not access the flash.
px4qgc@ubuntu:~/1.14.0/PX4-Autopilot$ 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
Therefore, modify 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: can be flashed normally with st-flash
{<!-- -->
"label": "flash",
"type": "shell",
"command": "st-flash --hot-plug write ./build/px4_fmu-v5_default/px4_fmu-v5_default.bin 0x08008000",
},
If you think flashing is time-consuming, you can comment out this line in launch.json
"preLaunchTask":"flash"