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New Crowdin translations - zh-CN (#26553)

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docs/zh/debug/asset_tracking.md
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# Asset Tracking
<Badge type="tip" text="main (planned for: PX4 v1.18)" />
<Badge type="tip" text="PX4 v1.18" />
PX4 can track and log detailed information about external hardware devices connected to the flight controller.
This enables unique identification of vehicle parts throughout their operational lifetime using device IDs, serial numbers, and version information.
docs/zh/debug/debug_values.md
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本教程的代码可在此处找到：
- [Debug Tutorial Code](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp)
- [Enable the tutorial app](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board) by ensuring the MAVLink debug app (**CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG**) is in the config of your board and set set to 'y'.
- [Enable the tutorial app](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board) by ensuring the MAVLink debug app (**CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG**) is in the config of your board and set to 'y'.
设置调试发布所需的只是此代码段。
首先添加头文件：
docs/zh/debug/eclipse_jlink.md
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2. Compile the **jlink-nuttx.so** library in the terminal by running the following command in the terminal: `make jlink-nuttx`
3. Modify Eclipse to use this libary.
3. Modify Eclipse to use this library.
In the _J-Link GDB Server Setup_ configuration, update **Other options** to include `-rtos /home/<PX4 path>/Tools/jlink-nuttx.so`, as shown in the image below.
![Eclipse: GDB Segger Debug config RTOS aware: debugger tab](../../assets/debug/eclipse_settings_debug_config_gdb_segger_task_aware.png)
docs/zh/debug/plotting_realtime_uorb_data.md
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make px4_sitl gz_x500
```
Open another terminal and start the `MicroXRCEAgent` to connect to the the simulator:
Open another terminal and start the `MicroXRCEAgent` to connect to the simulator:
```sh
MicroXRCEAgent udp4 -p 8888; exec bash
docs/zh/debug/probe_mculink.md
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# MCU-Link Debug Probe
The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator whn working with Pixhawk boards.
The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator when working with Pixhawk boards.
主要特性：
docs/zh/debug/simulation_debugging.md
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@@ -107,7 +107,7 @@ You can also start your simulation, and _then_ attach `gdb`:
```
As the script runs, note the **SITL COMMAND:** output text located right above the large "PX4" text.
It will list the location of your px4 bin file for later use.
It will list the location of your PX4 bin file for later use.
```sh
SITL COMMAND: "<px4 bin file>" "<build dir>"/etc
docs/zh/debug/swd_debug.md
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# SWD Debug Port
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].
The SWD debug interface allows direct, low-level, hardware access to the microcontroller's processor and peripherals, so it does not depend on any software on the device.
Therefore it can be used to debug bootloaders and operating systems such as NuttX.
@@ -27,9 +27,7 @@ The SWO pin can emit low-overhead, real-time profiling data with nanosecond time
The TRACE pins require specialized debug probes to deal with the high bandwidth and subsequent datastream decoding.
They are usually not accessible and are typically only used to debug very specific timing issues.
<a id="debug-ports"></a>
## Autopilot Debug Ports
## 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 @@ The debug port location and pinouts for a subset of autopilots are linked below:
<a id="port-information"></a>
| 飞控 | 调试接口 |
| :----------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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) | Solder pads |
| [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_). |
| 飞控 | 调试接口 |
| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- |
| [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>
## Pixhawk Connector Standard Debug Ports
## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports}
The Pixhawk project has defines a standard pinout and connector type for different Pixhawk FMU releases:
@@ -64,16 +74,16 @@ The Pixhawk project has defines a standard pinout and connector type for differe
Check your [specific board](#port-information) to confirm the port used.
:::
| FMU Version | Pixhawk Version | 调试接口 |
| :---------- | :-------------------------------------------------------------- | :---------------------------------------- |
| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug |
| FMUv3 | Pixhawk 2 | 6 pin SUR Debug |
| FMUv4 | Pixhawk 1/2 | [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) |
| FMU Version | Pixhawk Version | 调试接口 |
| :---------- | :------------------ | :---------------------------------------- |
| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug |
| FMUv3 | Pixhawk 2 | 6 pin SUR Debug |
| FMUv4 | Pixhawk 1/2 | [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>
## Debug Probes for PX4 Hardware
## 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 @@ This reduces the risk or poor wiring contributing to debugging problems, and has
[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