mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 23:03:33 +08:00
Fresh import of the PX4 firmware sources.
This commit is contained in:
px4dev
+211
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#
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# Generic GDB macros for working with NuttX
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#
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echo Loading NuttX GDB macros. Use 'help nuttx' for more information.\n
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define nuttx
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echo Use 'help nuttx' for more information.\n
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end
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document nuttx
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. Various macros for working with NuttX.
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.
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. showheap
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. Prints the contents of the malloc heap(s).
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. showtasks
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. Prints a list of all tasks.
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. showtask <address>
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. Prints information about the task at <address>
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.
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. Use 'help <macro>' for more specific help.
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end
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################################################################################
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# Heap display
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################################################################################
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define _showheap
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set $index = $arg0
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if (sizeof(struct mm_allocnode_s) == 4)
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set $MM_ALLOC_BIT = 0x8000
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else
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set $MM_ALLOC_BIT = 0x80000000
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end
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printf "HEAP %d %p - %p\n", $index, g_heapstart[$index], g_heapend[$index]
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printf "ptr size\n"
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set $node = (char *)g_heapstart[$index] + sizeof(struct mm_allocnode_s)
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while $node < g_heapend[$index]
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printf " %p", $node
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set $nodestruct = (struct mm_allocnode_s *)$node
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printf " %u", $nodestruct->size
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if !($nodestruct->preceding & $MM_ALLOC_BIT)
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printf " FREE"
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end
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if ($nodestruct->size > g_heapsize) || (($node + $nodestruct->size) > g_heapend[$index])
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printf " (BAD SIZE)"
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end
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printf "\n"
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set $node = $node + $nodestruct->size
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end
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end
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define showheap
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set $nheaps = sizeof(g_heapstart) / sizeof(g_heapstart[0])
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printf "Printing %d heaps\n", $nheaps
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set $heapindex = (int)0
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while $heapindex < $nheaps
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showheap $heapindex
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set $heapindex = $heapindex + 1
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end
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end
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document showheap
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. showheap
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. Prints the contents of the malloc heap(s).
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end
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################################################################################
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# Task display
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################################################################################
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define _showtask_oneline
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set $task = (struct _TCB *)$arg0
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printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
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end
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define _showtasklist
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set $queue = (dq_queue_t *)$arg0
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set $cursor = (dq_entry_t *)$queue->head
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if $cursor != 0
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printf " TCB PID PRI\n"
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else
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printf " <none>\n"
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end
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while $cursor != 0
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_showtask_oneline $cursor
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if $cursor == $queue->tail
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set $cursor = 0
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else
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set $next = $cursor->flink
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if $next->blink != $cursor
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printf "task linkage corrupt\n"
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set $cursor = 0
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else
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set $cursor = $next
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end
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end
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end
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end
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#
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# Print task registers for a NuttX v7em target with FPU enabled.
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#
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define _showtaskregs_v7em
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set $task = (struct _TCB *)$arg0
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set $regs = (uint32_t *)&($task->xcp.regs[0])
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printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
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printf " r8: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[6], $regs[7], $regs[8], $regs[9], $regs[31], $regs[0], $regs[32], $regs[33]
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printf " XPSR 0x%08x EXC_RETURN 0x%08x PRIMASK 0x%08x\n", $regs[34], $regs[10], $regs[1]
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end
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#
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# Print current registers for a NuttX v7em target with FPU enabled.
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#
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define _showcurrentregs_v7em
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printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $r0, $r1, $r2, $r3, $r4, $r5, $r6, $r7
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printf " r8: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $r8, $r9, $r10, $r11, $r12, $r13, $r14, $r15
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printf " XPSR 0x%08x\n", $xpsr
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end
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#
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# Print details of a semaphore
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#
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define _showsemaphore
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printf "count %d ", $arg0->semcount
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if $arg0->hlist.holder != 0
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set $_task = (struct _TCB *)$arg0->hlist.holder
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printf "held by %s", $_task->name
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end
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printf "\n"
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end
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define showtask
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set $task = (struct _TCB *)$arg0
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printf "%p %.2d ", $task, $task->pid
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_showtaskstate $task
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printf " %s\n", $task->name
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set $stack_free = 0
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while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free)
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set $stack_free = $stack_free + 1
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end
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printf" stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free
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if $task->task_state == TSTATE_WAIT_SEM
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printf " waiting on %p ", $task->waitsem
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_showsemaphore $task->waitsem
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end
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if $task->task_state != TSTATE_TASK_RUNNING
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_showtaskregs_v7em $task
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else
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_showcurrentregs_v7em
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end
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# XXX print registers here
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end
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document showtask
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. showtask <TCB pointer>
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. Print details of a task.
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end
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define _showtaskstate
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if $arg0->task_state == TSTATE_TASK_INVALID
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printf "INVALID"
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end
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if $arg0->task_state == TSTATE_TASK_PENDING
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printf "PENDING"
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end
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if $arg0->task_state == TSTATE_TASK_READYTORUN
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printf "READYTORUN"
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end
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if $arg0->task_state == TSTATE_TASK_RUNNING
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printf "RUNNING"
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end
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if $arg0->task_state == TSTATE_TASK_INACTIVE
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printf "INACTIVE"
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end
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if $arg0->task_state == TSTATE_WAIT_SEM
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printf "WAIT_SEM"
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end
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if $arg0->task_state == TSTATE_WAIT_SIG
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printf "WAIT_SIG"
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end
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if $arg0->task_state > TSTATE_WAIT_SIG
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printf "%d", $arg0->task_state
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end
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end
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define showtasks
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printf "PENDING\n"
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_showtasklist &g_pendingtasks
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printf "RUNNABLE\n"
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_showtasklist &g_readytorun
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printf "WAITING\n"
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_showtasklist &g_waitingforsemaphore
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printf "INACTIVE\n"
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_showtasklist &g_inactivetasks
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end
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document showtasks
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. showtasks
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. Print a list of all tasks in the system, separated into their respective queues.
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end
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@@ -0,0 +1,6 @@
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#
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# Setup macros for the BlackMagic debug probe and NuttX.
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#
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mon swdp_scan
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attach 1
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@@ -0,0 +1,11 @@
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define f4_memdump
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shell mkdir -p /tmp/dump
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printf "Dumping CCSRAM to /tmp/dump/ccsram\n"
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dump memory /tmp/dump/ccsram 0x10000000 0x10010000
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printf "Dumping SRAM to /tmp/dump/sram\n"
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dump memory /tmp/dump/sram 0x20000000 0x20020000
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end
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document f4_memdump
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Dumps the STM32F4 memory to files in /tmp/dump.
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end
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@@ -0,0 +1,64 @@
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# script for stm32f2xxx
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if { [info exists CHIPNAME] } {
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set _CHIPNAME $CHIPNAME
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} else {
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set _CHIPNAME stm32f4xxx
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}
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if { [info exists ENDIAN] } {
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set _ENDIAN $ENDIAN
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} else {
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set _ENDIAN little
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}
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# Work-area is a space in RAM used for flash programming
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# By default use 64kB
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if { [info exists WORKAREASIZE] } {
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set _WORKAREASIZE $WORKAREASIZE
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} else {
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set _WORKAREASIZE 0x10000
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}
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# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
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#
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# Since we may be running of an RC oscilator, we crank down the speed a
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# bit more to be on the safe side. Perhaps superstition, but if are
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# running off a crystal, we can run closer to the limit. Note
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# that there can be a pretty wide band where things are more or less stable.
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jtag_khz 1000
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jtag_nsrst_delay 100
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jtag_ntrst_delay 100
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#jtag scan chain
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if { [info exists CPUTAPID ] } {
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set _CPUTAPID $CPUTAPID
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} else {
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# See STM Document RM0033
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# Section 32.6.3 - corresponds to Cortex-M3 r2p0
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set _CPUTAPID 0x4ba00477
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}
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jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
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if { [info exists BSTAPID ] } {
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set _BSTAPID $BSTAPID
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} else {
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# See STM Document RM0033
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# Section 32.6.2
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#
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set _BSTAPID 0x06413041
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}
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jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
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set _TARGETNAME $_CHIPNAME.cpu
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target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
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$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
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set _FLASHNAME $_CHIPNAME.flash
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flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
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# if srst is not fitted use SYSRESETREQ to
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# perform a soft reset
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cortex_m3 reset_config sysresetreq
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