Hi John, On 8/27/20, John Rippetoe <jrippe...@roboticresearch.com> wrote: > Hi everyone, > > I recently jumped back into working on the FDCAN driver for the STM32H7 > and have something working which I would like to test further. In doing > so, I was hoping to easily debug with GDB through OpenOCD, but am having > some issues with the necessary setup. So far I have compiled and tested > the upstream master of OpenOCD, master of the Sony OpenOCD fork, and a > third build that merged the latest upstream OpenOCD commits into the > Sony fork. With all three, I am only ever able to see the currently > running thread (nearly always IDLE) when running the "info threads" > command. > > So my question is, does anyone have any experience getting this working? > I looked through the mailing list and saw a few messages regarding this > very thing for different architectures. I've also dug around on the > internet to help me piece together what needed to be done to get this > working. I initially got the impression that as long as OpenOCD supports > your chip, thread aware-debugging should be possible, but now I'm not so > sure. I modified nuttx_header.h within OpenOCD with the correct offset > values as noted here > > https://micro-ros.github.io/docs/tutorials/advanced/nuttx/debugging/ > > That didn't change anything, unfortunately. I also thought it was > possible this step was no longer needed based on the Sony fork's wiki page > > https://github.com/sony/openocd-nuttx/wiki > > The monitor commands listed there gave me "invalid command name" errors > when loading my nuttx binary. > > Any help on this would be greatly appreciated. >
I tested it some years ago and Masayuki gave me some important instructions: 1) You need to include "-rtos nuttx" in the target create line of the /usr/local/share/openocd/scripts/target/stm32f4x.cfg to use with stm32f4discovery board: target create $_TARGETNAME cortex_m -endian $_ENDIAN -dap $_CHIPNAME.dap -rtos nuttx 2) Add this code to your .gdbinit define print-offset print /x &((struct tcb_s *)(0))->pid print /x &((struct tcb_s *)(0))->xcp.regs print /x &((struct tcb_s *)(0))->task_state print /x &((struct tcb_s *)(0))->name print /x sizeof(((struct tcb_s *)(0))->name) end Then start gdb with nuttx to load the symbol. $ arm-none-eabi-gdb ./nuttx Before connecting to the target, obtain the symbol offsets in tcb. (gdb) print-offset $1 = 0xc $2 = 0x80 $3 = 0x1a $4 = 0xcc $5 = 0x20 (gdb) Then you need to put those value inside the header file: openocd/src/rtos/nuttx_header.h replacing the existing value: /* default offset */ #define PID 0xc #define XCPREG 0x70 #define STATE 0x19 #define NAME 0xb8 #define NAME_SIZE 32 Compile and install again openocd with the right values. I hope it help you! BR, Alan
