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Re: [Paparazzi-devel] Using GDB server for flashing and debugging.
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From: |
Jake Stewart |
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Subject: |
Re: [Paparazzi-devel] Using GDB server for flashing and debugging. |
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Date: |
Mon, 19 Mar 2012 15:24:07 -0400 |
After a little more looking around it seems that perhaps this is the right line
in the airframe file...
<configure name="FLASH_MODE" value="JTAG"/>
Then I should be able to change Makefile.stm32... ???
/opt/paparazzi/stm32/bin/arm-none-eabi-gdbtui --eval-command="target remote
localhost:3333"
to
/opt/paparazzi/stm32/bin/arm-none-eabi-gdbtui --eval-command="target remote
192.168.56.1:61234"
I also see there's a "BMP_PORT" setting in the makefile. If I define that I
take it that it will use OOCD? So would I just add "<define name="BMP_PORT"/>"
or <define name="BMP_PORT" value="1"/> to my airframe file? Do I need to do
this for each target or can I define it outside the target and have it work for
all target configs?
Do I then need to change OOCD configuration settings?
--------------------
I've just run into another problem...
/opt/paparazzi/arm-multilib/lib/gcc/arm-none-eabi/4.6.2/../../../../arm-none-eabi/bin/ld:
/home/jake/paparazzi/var/VLD/ap/ap.elf section `._usrstack' will not fit in
region `RAM'
/opt/paparazzi/arm-multilib/lib/gcc/arm-none-eabi/4.6.2/../../../../arm-none-eabi/bin/ld:
region `RAM' overflowed by 2012 bytes
I'm using the F103RB linker script, stm32f103rb_flash.ld. Hopefully set in my
airframe config by...
<define name="LDSCRIPT" value="$(SRC_ARCH)/stm32f103rb_flash.ld"/>
Any help appreciated.
-Jake
> ----- Original Message -----
> From: Jake Stewart
> Sent: 03/19/12 11:29 AM
> To: address@hidden
> Subject: [Paparazzi-devel] Using GDB server for flashing and debugging.
>
> I'm currently running Lubuntu in a VirtualBox and after a few attempts to get
> a linux gdb server using a stlink, I've given up on that route. Not sure if
> it's a USB issue, ST's broken implementation of SCSI commands in the ST-Link,
> or just that I don't understand the modprobe configuration well enough.
>
> So what I'd like to do is run the GDB server using the stlink in windows.
> I've already got this working, but I'm having trouble figuring out how to
> configure paparazzi to use the GDB server for flashing.
>
> I found this line in one of the airframe files...
> <configure name="FLASH_MODE" values="IAP|JTAG|ISP"/>
>
> Typing that into my airframe with "GDB" as the value just throws an error.
>
> Is anyone else using a GDB server? Anyone have any ideas to help me out?
>
> -Jake
>
> P.S. Sorry about the "deal" message to the list, somebody hacked my email and
> sent out stupid one line messages to everyone in my contact list.
>
> I've also attached my airframe config if it's any help.
>
> --------------------------------------------
> <!DOCTYPE airframe SYSTEM "airframe.dtd">
> <!-- Test info here...-->
>
> <airframe name="VLD">
>
> <firmware name="fixedwing">
> <target name="sim" board="pc" />
> <target name="jsbsim" board="pc"/>
> <target name="ap" board="VL_Discovery_1.0">
> <define name="LDSCRIPT" value="$(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=""Malolo1""/>
> <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>
>
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