Debugging with Eclipse and J-Link

This topic explains how to setup and use MCU Eclipse with a Segger Jlink adapter to debug PX4 running on NuttX (e.g. Pixhawk series boards).

필요한 하드웨어

• J-Link EDU Mini
• Adapter to connect Segger JLink to Flight Controller SWD Debug Port (debug port).
• Micro USB 케이블

설치

PX4

일반 지침에 따라 PX4를 설정합니다.

• Setup the PX4 Developer Environment/Toolchain for your platform (e.g. for Linux see: Development Environment on Ubuntu LTS / Debian Linux).
• Download PX4 and optionally build it on the command line.

Eclipse

To install Eclipse:

1. Download Eclipse CDT for C/C++ Developers (MCU GitHub).
2. Eclipse 폴더의 압축을 풀고 적당한 폴더에 복사합니다(설치 스크립트를 실행할 필요가 없음).
3. Run Eclipse and choose a location for your initial workbench.

Segger Jlink 도구

To install the Segger Jlink tools:

1. Download and run the J-Link Software and Documentation Pack for your OS (Windows and Linux packages available).
   • On Linux the tools are installed in /usr/bin.

For more information, see: https://gnu-mcu-eclipse.github.io/debug/jlink/install/.

첫 사용

1. Connect the Segger JLink to the host computer and the flight controller debug port (via an adapter).

2. 비행 콘트롤러에 전원을 공급합니다.

3. Run Eclipse.

4. Add a source by choosing File > Import > C/C++ > Existing Code as Makefile Project and click Next.

5. Point it to the PX4-Autopilot folder and give it a name, then select ARM Cross GCC in the Toolchain for Indexer Settings and click Finish. 가져오기는 시간이 걸리며, 완료될 때까지 기다립니다.

6. Set the MCU settings: right-click on the top-level project in the Project Explorer, select Properties then under MCU choose SEGGER J-Link Path. 아래 스크린샷과 같이 설정합니다.

7. 패키지를 업데이트합니다.

   • Click the small icon on the top right called Open Perspective and open the Packs perspective.

   • Click the update all button.

     TIP

     This takes a VERY LONG TIME (10 minutes). 누락된 패키지에 대한 오류를 무시하십시오.

:::

 ![Eclipse: Workspace Packs Perspective](../../assets/debug/eclipse_packs_perspective.jpg)

• The STM32Fxx devices are found in the Keil folder, install by right-clicking and then selecting install on the according device for F4 and F7.

8. 대상에 대한 디버깅 설정을 진행하십시오:

   • Right click project and open the Settings (menu: C/C++ Build > Settings)
   • Choose the Devices Tab, Devices section (Not Boards).
   • 디버그하려는 FMU 칩을 찾으십시오.

   

9. Select debug configurations with the small drop-down next to the bug symbol:

10. Then select GDB SEGGER J-Link Debugging and then the New config button on the top left.

11. 빌드 구성을 설정합니다.

    • Give it a name and set the C/C++ Application to the corresponding .elf file.

    • Choose Disable Auto build

      INFO

      Remember that you must build the target from the command line before starting a debug session.

:::

![Eclipse: GDB Segger Debug config](../../assets/debug/eclipse_settings_debug_config_gdb_segger_build_config.png)

12. The Debugger and Startup tabs shouldn’t need any modifications (just verify your settings with the screenshots below)

    

SEGGER Task-aware debugging

Task-aware debugging (also known as thread-aware debugging) allows you to show the context of all running threads/tasks instead of just the stack current task. This is quite useful since PX4 tends to run many different tasks.

To enable this feature for use in Eclipse:

1. You first need to enable CONFIG_DEBUG_TCBINFO in the NuttX configuration for your build (to expose the TCB offsets).

   • Open a terminal in the root of your PX4-Autopilot source code

   • In the terminal, open menuconfig using the appropriate make target for the build. This will be something like:

     make px4_fmu-v5_default boardguiconfig

     (See PX4 Menuconfig Setup for more information) on using the config tools).

   • Ensure that the Enable TCBinfo struct for debug is selected as shown:

2. Compile the jlink-nuttx.so library in the terminal by running the following command in the terminal: make jlink-nuttx

3. Modify Eclipse to use this libary. In the J-Link GDB Server Setup configuration, update Other options to include -rtos /home/<PX4 path>/Tools/jlink-nuttx.so, as shown in the image below.

   

4. When running the debugger you should see now multiple threads instead of just one:

   

문제 해결

패키지 관리자에 없는 대상 CPU

대상 CPU가 패키지 관리자에 표시되지 않으면, 레지스터 보기가 작동하도록 하려면 다음 단계가 필요할 수 있습니다.

TIP

This should not generally happen (but anecdotally has been reported when connecting to an STM F7 controller).

Adding missing SVD files for the Peripheral View:

1. Find out where MCU Eclipse stores its packages (Preferences > C/C++ > MCU Packages):

   

2. http://www.keil.com/dd2/Pack/ 에서 누락된 패키지를 다운로드하십시오

3. Open downloaded pack with a decompression tool, and extract the .SVD files from: /CMSIS/SVD.

4. Select desired .SVD file in: Debug Options > GDB SEGGER JLink Debugging > SVD Path