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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# Debugging with Eclipse and J-Link
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This topic explains how to setup and use [MCU Eclipse](https://gnu-mcu-eclipse.github.io/) with a _Segger Jlink adapter_ to debug PX4 running on NuttX (e.g. Pixhawk series boards).
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## 필요한 하드웨어
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- [J-Link EDU Mini](https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/)
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- Adapter to connect Segger JLink to Flight Controller [SWD Debug Port](../debug/swd_debug.md) (debug port).
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- Micro USB 케이블
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## 설치
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### PX4
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일반 지침에 따라 PX4를 설정합니다.
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- [Setup the PX4 Developer Environment/Toolchain](../dev_setup/dev_env.md) for your platform (e.g. for Linux see: [Development Environment on Ubuntu LTS / Debian Linux](../dev_setup/dev_env_linux_ubuntu.md)).
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- [Download PX4](../dev_setup/building_px4.md) and optionally build it on the command line.
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### Eclipse
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To install _Eclipse_:
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1. Download [Eclipse CDT for C/C++ Developers](https://github.com/gnu-mcu-eclipse/org.eclipse.epp.packages/releases/) (MCU GitHub).
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2. Eclipse 폴더의 압축을 풀고 적당한 폴더에 복사합니다(설치 스크립트를 실행할 필요가 없음).
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3. Run _Eclipse_ and choose a location for your initial workbench.
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### Segger Jlink 도구
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To install the _Segger Jlink_ tools:
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1. Download and run the [J-Link Software and Documentation Pack](https://www.segger.com/downloads/jlink/#J-LinkSoftwareAndDocumentationPack) for your OS (Windows and Linux packages available).
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- On Linux the tools are installed in **/usr/bin**.
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For more information, see: [https://gnu-mcu-eclipse.github.io/debug/jlink/install/](https://gnu-mcu-eclipse.github.io/debug/jlink/install/).
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## 첫 사용
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1. Connect the _Segger JLink_ to the host computer and the [flight controller debug port](../debug/swd_debug.md) (via an adapter).
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2. 비행 콘트롤러에 전원을 공급합니다.
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3. Run _Eclipse_.
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4. Add a source by choosing **File > Import > C/C++ > Existing Code as Makefile Project** and click **Next**.
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5. Point it to the **PX4-Autopilot** folder and give it a name, then select _ARM Cross GCC_ in the _Toolchain for Indexer Settings_ and click **Finish**.
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가져오기는 시간이 걸리며, 완료될 때까지 기다립니다.
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6. Set the MCU settings: right-click on the top-level project in the Project Explorer, select _Properties_ then under MCU choose _SEGGER J-Link Path_.
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아래 스크린샷과 같이 설정합니다.
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7. 패키지를 업데이트합니다.
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- Click the small icon on the top right called _Open Perspective_ and open the _Packs_ perspective.
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- Click the **update all** button.
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:::tip
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This takes a VERY LONG TIME (10 minutes).
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누락된 패키지에 대한 오류를 무시하십시오.
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:::
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- The STM32Fxx devices are found in the Keil folder, install by right-clicking and then selecting **install** on the according device for F4 and F7.
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8. 대상에 대한 디버깅 설정을 진행하십시오:
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- Right click project and open the _Settings_ (menu: **C/C++ Build > Settings**)
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- Choose the _Devices_ Tab, _Devices_ section (Not _Boards_).
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- 디버그하려는 FMU 칩을 찾으십시오.
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9. Select debug configurations with the small drop-down next to the bug symbol:
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10. Then select _GDB SEGGER J-Link Debugging_ and then the **New config** button on the top left.
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11. 빌드 구성을 설정합니다.
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- Give it a name and set the _C/C++ Application_ to the corresponding **.elf** file.
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- Choose _Disable Auto build_
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::: info
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Remember that you must build the target from the command line before starting a debug session.
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:::
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12. The _Debugger_ and _Startup_ tabs shouldn’t need any modifications (just verify your settings with the screenshots below)
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## SEGGER Task-aware debugging
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Task-aware debugging (also known as [thread-aware debugging](https://www.segger.com/products/debug-probes/j-link/tools/j-link-gdb-server/thread-aware-debugging/)) allows you to show the context of all running threads/tasks instead of just the stack current task.
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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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This will be something like:
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```sh
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make px4_fmu-v5_default boardguiconfig
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```
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(See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information) on using the config tools).
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- Ensure that the _Enable TCBinfo struct for debug_ is selected as shown:
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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`
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3. Modify Eclipse to use this libary.
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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.
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4. When running the debugger you should see now multiple threads instead of just one:
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## 문제 해결
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### 패키지 관리자에 없는 대상 CPU
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대상 CPU가 패키지 관리자에 표시되지 않으면, 레지스터 보기가 작동하도록 하려면 다음 단계가 필요할 수 있습니다.
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:::tip
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This should not generally happen (but anecdotally has been reported when connecting to an STM F7 controller).
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:::
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Adding missing SVD files for the _Peripheral View_:
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1. Find out where MCU Eclipse stores its packages (**Preferences > C/C++ > MCU Packages**):
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2. http://www.keil.com/dd2/Pack/ 에서 누락된 패키지를 다운로드하십시오
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3. Open downloaded pack with a decompression tool, and extract the **.SVD** files from: **/CMSIS/SVD**.
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4. Select desired **.SVD** file in: **Debug Options > GDB SEGGER JLink Debugging > SVD Path**
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