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New Crowdin translations - zh-CN
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Crowdin Bot
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Hamish Willee
Hamish Willee
parent
8aecc7e588
commit
588fd9d684
@@ -10,7 +10,7 @@ PX4 enables terminal access to the system through the [MAVLink Shell](../debug/m
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The PX4 _System Console_ provides low-level access to the system, debug output and analysis of the system boot process.
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There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)).
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There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1)).
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- Used for _low-level debugging/development_: bootup, NuttX, startup scripts, board bringup, development on central parts of PX4 (e.g. uORB).
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- 更具体一点，这里是包括自启动的用户应用在内的整个PX4系统下所有启动过程唯一的输出位置。
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@@ -52,7 +52,6 @@ For more information, see: [https://gnu-mcu-eclipse.github.io/debug/jlink/instal
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7. Update packs:
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- Click the small icon on the top right called _Open Perspective_ and open the _Packs_ perspective.
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@@ -107,7 +106,6 @@ This is quite useful since PX4 tends to run many different tasks.
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To enable this feature for use in Eclipse:
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1. You first need to enable `CONFIG_DEBUG_TCBINFO` in the NuttX configuration for your build (to expose the TCB offsets).
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- Open a terminal in the root of your PX4-Autopilot source code
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- In the terminal, open `menuconfig` using the appropriate make target for the build.
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@@ -149,7 +147,7 @@ Adding missing SVD files for the _Peripheral View_:
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2. Download missing packages from: http://www.keil.com/dd2/Pack/
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2. Download missing packages from: https://www.keil.arm.com/devices/
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3. Open downloaded pack with a decompression tool, and extract the **.SVD** files from: **/CMSIS/SVD**.
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@@ -1,13 +1,13 @@
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# Black Magic Probe (and Dronecode Probe)
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# Black Magic Probe (and Zubax BugFace BF1)
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The [Black Magic Probe](https://black-magic.org) is an easy to use, mostly plug-and-play, JTAG/SWD debugger for embedded microcontrollers.
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Since the Black Magic Probe is a generic debug probe, you will need an adapter to connect to Pixhawk flight controllers, which can be purchased here:
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- [Drone Code Debug Adapter](https://1bitsquared.com/products/drone-code-debug-adapter) (1 BIT SQUARED).
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## Dronecode Probe
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## Zubax BugFace BF1 {#dronecode-probe}
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The [Dronecode Probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) is a specialization of the Black Magic Probe for debugging PX4 autopilots.
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The [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) (formerly known as "Dronecode Probe") is a specialization of the Black Magic Probe for debugging PX4 autopilots.
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The probe's USB interface exposes two separate virtual serial port interfaces: one for connecting to the [System Console](system_console.md) (UART) and the other for an embedded GDB server (SWD interface).
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@@ -20,17 +20,17 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu
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## Using the Probe
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:::info
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To debug STM32F7 or later (FMUv5 and newer) the Dronecode probe / Blackmagic probe likely requires a firmware update.
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To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update.
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You can find how to update the [blackmagic probe here](https://github.com/blacksphere/blackmagic/wiki/Upgrading-Firmware).
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:::
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To use a Dronecode probe with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
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To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
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```sh
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arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf
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```
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Then, you have to select the Dronecode probe interface, on Linux this is e.g.:
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Then, you have to select the Zubax BugFace BF1 interface, on Linux this is e.g.:
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```sh
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target ext /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_f9414d5_7DB85DAC-if00
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@@ -9,7 +9,7 @@ PMSP 是一种 shell 脚本,它通过定期中断固件的执行来运行，便
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采样的堆栈跟踪将追加到文本文件中。
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Once sampling is finished (which normally takes about an hour or more), the collected stack traces are _folded_.
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The result of _folding_ is another text file that contains the same stack traces, except that all similar stack traces (i.e. those that were obtained at the same point in the program) are joined together, and the number of their occurrences is recorded.
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The folded stacks are then fed into the visualization script, for which purpose we employ [FlameGraph - an open source stack trace visualizer](http://www.brendangregg.com/flamegraphs.html).
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The folded stacks are then fed into the visualization script, for which purpose we employ [FlameGraph - an open source stack trace visualizer](https://www.brendangregg.com/flamegraphs.html).
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## 基本用法
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@@ -17,14 +17,14 @@ The folded stacks are then fed into the visualization script, for which purpose
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探查器的基本用法可通过生成系统使用。
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例如，下面的命令生成和探查出 px4_fmu-v4pro 目标的10000个样本（提取 <em x-id="3">FlameGraph</em> 并根据需要将其添加到路径中）。
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You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the DroneCode Probe), to run the GDB server and interact with the board.
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You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the Zubax BugFace BF1), to run the GDB server and interact with the board.
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### Determine the Debugger Device
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The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe).
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The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe).
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If you use a different kind of probe you may need to pass in the specific _device_ on which the debugger is located.
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You can use the bash command `ls -alh /dev/serial/by-id/` to enumerate the possible devices on Ubuntu.
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For example the following devices are enumerated with a Pixhawk 4 and DroneCode Probe connected over USB:
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For example the following devices are enumerated with a Pixhawk 4 and Zubax BugFace BF1 connected over USB:
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```sh
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user@ubuntu:~/PX4-Autopilot$ ls -alh /dev/serial/by-id/
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@@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this:
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### Running
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在火焰图上，水平水平表示堆叠帧，而每个帧的宽度与采样次数成正比。
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For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching _FlameGraph_ and adding it to the path as needed).
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For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed).
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```sh
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./poor-mans-profiler.sh --elf=build/px4_fmu-v4_default/px4_fmu-v4_default.elf --nsamples=30000 --append
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@@ -187,7 +187,7 @@ The cable used to connect the M2 and the STLinkv3-MINIE comes with the adaptor.
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Some SWD [debug probes](#debug-probes) come with adapters/cables for connecting to common Pixhawk [debug ports](#debug-ports).
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Probes that are known to come with connectors are listed below:
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- [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)
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- [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)
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### Board-specific Adapters
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@@ -72,7 +72,7 @@ screen /dev/ttyXXX BAUDRATE 8N1
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### Windows: PuTTY
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Download [PuTTY](http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html) and start it.
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Download [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) and start it.
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Then select 'serial connection' and set the port parameters to:
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