[Paparazzi-devel] Using GDB server for flashing and debugging.

[Jake Stewart]

I'm currently running Lubuntu in a VirtualBox and after a few attempts to get a 
linux gdb server using a stlink, I've given up on that route.  Not sure if it's 
a USB issue, ST's broken implementation of SCSI commands in the ST-Link, or 
just that I don't understand the modprobe configuration well enough.

So what I'd like to do is run the GDB server using the stlink in windows.  I've 
already got this working, but I'm having trouble figuring out how to configure 
paparazzi to use the GDB server for flashing.

I found this line in one of the airframe files...
<configure name="FLASH_MODE" values="IAP|JTAG|ISP"/>

Typing that into my airframe with "GDB" as the value just throws an error.

Is anyone else using a GDB server?  Anyone have any ideas to help me out?

-Jake

P.S. Sorry about the "deal" message to the list, somebody hacked my email and 
sent out stupid one line messages to everyone in my contact list.

I've also attached my airframe config if it's any help.

--------------------------------------------
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- Test info here...-->

<airframe name="VLD">

<firmware name="fixedwing">
    <target name="sim" board="pc" />
    <target name="jsbsim"       board="pc"/>
    <target name="ap" board="VL_Discovery_1.0">
      <define name="LDSCRIPT" value="$(SRC_ARCH)/stm32f103rb_flash.ld"/>
      <configure name="FLASH_MODE" values="GDB"/>
    </target>

    <subsystem name="radio_control"     type="datalink">
 <configure name="RADIO_CONTROL_LED" value="none"/>
 </subsystem>

    <!-- Communication -->
    <subsystem name="telemetry" type="transparent">
     <configure name="MODEM_BAUD" value="B9600"/>
    </subsystem>

    <subsystem name="control"/>
    <!-- Sensors -->

    <subsystem name="imu"       type="aspirin_v1.5">
    </subsystem>

    <subsystem name="ahrs"      type="int_cmpl_euler"/>


 <subsystem name="gps" type="nmea"/>
    <subsystem name="navigation"/>

  </firmware>

  <firmware name="lisa_test_progs">
    <target name="test_led"            board="lisa_m_1.0"/>
    <target name="test_uart"           board="lisa_m_1.0"/>
    <target name="test_servos"         board="lisa_m_1.0"/>
    <target name="test_telemetry"      board="lisa_m_1.0">
      <configure name="MODEM_PORT" value="UART2"/>
    </target>
    <target name="test_bmp085"         board="lisa_m_1.0"/>
    <target name="test_esc_mkk_simple" board="lisa_m_1.0"/>
    <target name="test_rc_spektrum"    board="lisa_m_1.0"/>
    <target name="test_manual"         board="lisa_m_1.0"/>
    <target name="test_esc_mkk_simple" board="lisa_m_1.0"/>
    <target name="test_hmc5843"        board="lisa_m_1.0"/>
    <target name="test_itg3200"        board="lisa_m_1.0"/>
    <target name="test_adxl345"        board="lisa_m_1.0"/>
    <target name="test_adc"            board="lisa_m_1.0"/>
  </firmware>

  <servos>
 <servo name="THROTTLE"  no="7" min="1200" neutral="1200" max="2000"/>
    <servo name="AILERON" no="4" min="1000" neutral="1500" max="2000"/>
    <servo name="ELEVATOR" no="3" min="1000" neutral="1500" max="2000"/>
 <servo name="RUDDER" no="5" min="1000" neutral="1500" max="2000"/>
  </servos>

  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL"     failsafe_value="0"/>
    <axis name="PITCH"    failsafe_value="0"/>
    <axis name="YAW"     failsafe_value="0"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL"     value="@ROLL"/>
    <set command="PITCH"    value="@PITCH"/>
    <set command="YAW"     value="@YAW"/>
  </rc_commands>

  <command_laws>
    <set servo="THROTTLE" value="@THROTTLE"/>
    <set servo="AILERON"  value="@ROLL"/>
    <set servo="ELEVATOR"  value="@PITCH"/>
 <set servo="RUDDER"  value="@YAW"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.7"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>

    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="-0.03"/>

    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 
unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-1.0"/>
    <define name="COURSE_DGAIN" value="0.3"/>

    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="PITCH_PGAIN" value="-12000."/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="1250"/>

    <define name="ROLL_SLEW" value="0.1"/>

    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
    <define name="ROLL_RATE_GAIN" value="-1500"/>
  </section>

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="1.00"/><!-- Throttle for Aggressive 
Climb -->
    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent 
-->
    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive 
Decent -->
    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
    <define name="DESCENT_NAV_RATIO" value="1.0"/>
    </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
  </section>

  <section name="SIMU">
    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
  </section>

 <section name="IMU" prefix="IMU_">
    <define name="ACCEL_X_NEUTRAL" value="11"/>
    <define name="ACCEL_Y_NEUTRAL" value="11"/>
    <define name="ACCEL_Z_NEUTRAL" value="-25"/>

    <define name="MAG_X_NEUTRAL" value="-98"/>
    <define name="MAG_Y_NEUTRAL" value="-252"/>
    <define name="MAG_Z_NEUTRAL" value="-122"/>
    <define name="MAG_X_SENS" value="4.04659389111" integer="16"/>
    <define name="MAG_Y_SENS" value="4.07651737489" integer="16"/>
    <define name="MAG_Z_SENS" value="3.77693466173" integer="16"/>

    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="-45." unit="deg"/>
  </section>


  <modules>

  </modules>

</airframe>