- Start openocd in a new shell since this process needs to remain running.
- To program the Lisa/L board run the command
openocd -f interface/lisa-l.cfg -f board/lisa-l.cfg
- or if you are still using the old paparazzi-stm32 package and your path is not set properly
cd /opt/paparazzi/stm32/share/openocd/scripts/; /opt/paparazzi/stm32/bin/openocd -f interface/lisa-l.cfg -f board/lisa-l.cfg
- To program the Lisa/M board via JTAG change dir to "<paparazzi root>/arm-multilib/share/openocd/scripts", and run the command:
openocd -f interface/flossjtag.cfg -f board/lisa-l.cfg
NOTICE: For lisa/m boards file lisa-m.cfg should look like:
# the Lost Illusions Serendipitous Autopilot # http://paparazzi.enac.fr/wiki/Lisa # Work-area size (RAM size) = 64kB for STM32F103RB device set WORKAREASIZE 0xFA00 source [find target/stm32f1x.cfg]
- Start GDB with an argument of the elf file created and uploaded to the board.
- If you programmed with the ap target then the command would be along the lines of
- or (if you are using the old paparazzi-stm32 package)
- Replace <airframe> with the name of the airframe that has been built.
- Now connect GDB to the board
target remote localhost:3333
- Now we need to set some break points in the code.
- In this example the ap target was part of the rotorcraft and main.c contains the main program. Open rotorcraft sw/airborne/firmwares/rotorcraft/main.c and find a line at which you'd like to set a break point.
- Stop the currently running code
monitor reset halt
- Reset the code back to the start
monitor reset init
- We probably want to ignore the interrupt calls for the moment so we can step through the code as it's being called. Note that we don't always want to do this.
monitor cortex_m3 maskisr on
- Now we can run the program which will stop at the break point we set.
- A stack trace can be printed with the command
- show the variable of a variable
- Show (eXamine) the value of the 9 bytes hardware register at address 0x40005800 and show them in hex format: