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docs/uk/debug/swd_debug.md
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@@ -1,6 +1,6 @@
# Порт для налагодження SWD
PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Ouput (SWO)_][itm] and [_TRACE_ pins][etm].
PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Output (SWO)_][itm] and [_TRACE_ pins][etm].
Інтерфейс відладки SWD дозволяє прямий, низькорівневий, апаратний доступ до процесора мікроконтролера та периферійних пристроїв, тому він не залежить від будь-якого програмного забезпечення на пристрої.
Отже, його можна використовувати для налагодження завантажувальних програм та операційних систем, таких як NuttX.
@@ -27,9 +27,7 @@ SWO-пін може випромінювати дані профілювання
Піни TRACE потребують спеціалізованих засобів відлагодження для роботи з високою пропускною здатністю та наступним декодуванням потоку даних.
Зазвичай вони недоступні і зазвичай використовуються лише для відлагодження дуже конкретних питань з часом.
<a id="debug-ports"></a>
## Порти налагодження автопілота
## Autopilot Debug Ports {#debug-ports}
Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
@@ -40,23 +38,35 @@ However there are still many boards that use different pinouts or connectors, so
<a id="port-information"></a>
| Автопілот | Відладочний порт |
| :----------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Holybro Pixhawk 6X-RT (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| Holybro Pixhawk 6X (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| Holybro Pixhawk 5X (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Kakute F7](../flight_controller/kakutef7.md#debug-port) | Паяльні майданчики |
| [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md#debug-port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Drotek Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md#debug-port) (FMU-v4pro) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | 6-pin JST GH<br>Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) |
| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH<br>Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) |
| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). |
| Автопілот | Відладочний порт |
| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- |
| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console |
| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console |
| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console |
| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable |
| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable |
| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] |
| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] |
| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. |
| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] |
| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) |
| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | |
<a id="pixhawk-standard-debug-ports"></a>
## Стандарт роз'ємів Pixhawk Debug Портів
## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports}
Проект Pixhawk визначив стандартну схему виводів та тип роз'єму для різних випусків Pixhawk FMU:
@@ -64,16 +74,16 @@ However there are still many boards that use different pinouts or connectors, so
Check your [specific board](#port-information) to confirm the port used.
:::
| Версія FMU | Версія Pixhawk | Відладочний порт |
| :--------- | :-------------------------------------------------------------- | :---------------------------------------- |
| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug |
| FMUv3 | Pixhawk 2 | 6 pin SUR Debug |
| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) |
| Версія FMU | Версія Pixhawk | Відладочний порт |
| :--------- | :------------------ | :---------------------------------------- |
| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug |
| FMUv3 | Pixhawk 2 | 6 pin SUR Debug |
| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) |
:::info
There FMU and Pixhawk versions are (only) consistent after FMUv5X.
@@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi
![10-pin JST SH Cable](../../assets/debug/cable_10pin_jst_sh.jpg)
<a id="debug-probes"></a>
## Зонди налагодження для апаратного забезпечення PX4
## Debug Probes for PX4 Hardware {#debug-probes}
Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
@@ -217,5 +225,3 @@ Where possible, we highly recommend that you create or obtain an adapter board r
[swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP-
[itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en
[etm]: https://developer.arm.com/documentation/ihi0064/latest/
[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804
[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790