Alan,
Thanks for sending this! Gustavo's suggestion of adding the '-rtos
nuttx' flag to my config did the trick, so maybe this process isn't
needed anymore?
- John
On 8/27/20 5:29 PM, Alan Carvalho de Assis wrote:
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
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