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NuttX debug helper improvements

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- use NuttX gdb script for nxthreads and thread backtrace
 - update jlink_gdb_backtrace and jlink_debug_gdb helper targets to use
NuttX gdb script
 - Debug/PX4 fix "perf" divide by zero
 - Debug/PX4 add "dmesg"
This commit is contained in:
Daniel Agar 2021-11-26 13:14:29 -05:00
parent 10f2564ae8
commit f63a7642d6
6 changed files with 132 additions and 26 deletions
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36
.ci/Jenkinsfile-hardware
View File

@ -21,7 +21,7 @@ pipeline {
sh 'make cubepilot_cubeorange_bootloader'
sh 'make cubepilot_cubeorange_test'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
}
post {
always {
@ -75,7 +75,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
}
}
} // stage test
@ -96,7 +96,7 @@ pipeline {
sh 'make cuav_x7pro_bootloader'
sh 'make cuav_x7pro_test'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'cuav_x7pro_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
}
post {
always {
@ -144,7 +144,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
}
}
} // stage test
@ -165,7 +165,7 @@ pipeline {
sh 'make px4_fmu-v3_test'
sh 'make px4_fmu-v3_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v3_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
}
post {
always {
@ -213,7 +213,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
}
}
} // stage test
@ -234,7 +234,7 @@ pipeline {
sh 'make px4_fmu-v4_test'
sh 'make px4_fmu-v4_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
}
post {
always {
@ -281,7 +281,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
}
}
} // stage test
@ -302,7 +302,7 @@ pipeline {
sh 'make px4_fmu-v4pro_test'
sh 'make px4_fmu-v4pro_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
}
post {
always {
@ -350,7 +350,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
}
}
} // stage test
@ -371,7 +371,7 @@ pipeline {
sh 'make px4_fmu-v5_debug'
sh 'make px4_fmu-v5_debug bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_debug'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
}
post {
always {
@ -437,7 +437,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
}
}
} // stage test
@ -458,7 +458,7 @@ pipeline {
sh 'make px4_fmu-v5_stackcheck'
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
}
post {
always {
@ -516,7 +516,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
}
}
} // stage test
@ -537,7 +537,7 @@ pipeline {
sh 'make px4_fmu-v5_test'
sh 'make px4_fmu-v5_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
}
post {
always {
@ -585,7 +585,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
}
}
} // stage test
@ -606,7 +606,7 @@ pipeline {
sh 'make nxp_fmuk66-v3_test'
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
}
post {
always {
@ -654,7 +654,7 @@ pipeline {
}
post {
always {
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
}
}
} // stage test

25
platforms/nuttx/Debug/PX4
View File

@ -11,6 +11,9 @@ end
document px4
. Various macros for working with the PX4 firmware.
.
. dmesg
. Prints the dmesg output (if available).
.
. perf
. Prints the state of all performance counters.
.
@ -18,6 +21,22 @@ document px4
end
define dmesg
if g_console_buffer
printf "PX4 dmesg:\n"
# TODO: respect head and tail
printf "%s\n", g_console_buffer._buffer
else
printf "PX4 dmesg unavailable\n"
end
end
document dmesg
. dmesg
. Prints dmesg (if available).
end
define _perf_print
set $hdr = (struct perf_ctr_header *)$arg0
#printf "%p\n", $hdr
@ -35,7 +54,11 @@ define _perf_print
# PC_INTERVAL
if $hdr->type == 2
set $interval = (struct perf_ctr_interval *)$hdr
printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
if $interval->event_count == 0
printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, 0, $interval->time_least, $interval->time_most
else
printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
end
end
end

16
platforms/nuttx/Debug/jlink_debug_gdb.sh.in
View File

@ -1,9 +1,23 @@
#! /bin/sh
if command -v gdb-multiarch &> /dev/null
then
GDB_CMD=$(command -v gdb-multiarch)
elif command -v arm-none-eabi-gdb &> /dev/null
then
GDB_CMD=$(command -v arm-none-eabi-gdb)
else
echo "gdb arm-none-eabi or multi-arch not found"
exit 1
fi
@JLinkGDBServerExe_PATH@ -device @DEBUG_DEVICE@ -select usb -endian little -if SWD -speed auto -ir -LocalhostOnly 1 -strict -vd -singlerun &
cd @PX4_BINARY_DIR@ && @CMAKE_GDB@ -silent -nh \
cd @PX4_BINARY_DIR@ && ${GDB_CMD} -silent -nh \
-iex "set auto-load safe-path @PX4_BINARY_DIR@" \
-ix=@PX4_SOURCE_DIR@/platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit \
-ex "target remote localhost:2331" \
-ex "monitor reset 0" \
-ex "load" \

20
platforms/nuttx/Debug/jlink_gdb_backtrace.sh
View File

@ -19,23 +19,31 @@ gdb_cmd_file=$(mktemp)
cat >"${gdb_cmd_file}" <<EOL
source ${WORKSPACE}/platforms/nuttx/Debug/NuttX
source ${WORKSPACE}/platforms/nuttx/Debug/ARMv7M
source ${WORKSPACE}/platforms/nuttx/Debug/NuttX
source ${WORKSPACE}/platforms/nuttx/Debug/PX4
set mem inaccessible-by-default off
set print pretty
set pagination off
target remote localhost:2331
monitor regs
dmesg
perf
showtasks
backtrace
vecstate
info threads
info_nxthreads
backtrace
bt full
nxthread_all_bt
EOL
${GDB_CMD} -silent --nh --nx --nw -batch -x ${gdb_cmd_file} ${1}
${GDB_CMD} -silent --nh --nx --nw -batch -ix=${WORKSPACE}/platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit -x ${gdb_cmd_file} ${1}

49
platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh Executable file
View File

@ -0,0 +1,49 @@
#! /bin/sh
if command -v gdb-multiarch &> /dev/null
then
GDB_CMD=$(command -v gdb-multiarch)
elif command -v arm-none-eabi-gdb &> /dev/null
then
GDB_CMD=$(command -v arm-none-eabi-gdb)
else
echo "gdb arm-none-eabi or multi-arch not found"
exit 1
fi
file ${1}
gdb_cmd_file=$(mktemp)
cat >"${gdb_cmd_file}" <<EOL
source ${WORKSPACE}/platforms/nuttx/Debug/ARMv7M
source ${WORKSPACE}/platforms/nuttx/Debug/NuttX
source ${WORKSPACE}/platforms/nuttx/Debug/PX4
set mem inaccessible-by-default off
set print pretty
set pagination off
target remote localhost:2331
monitor regs
dmesg
perf
showtasks
backtrace
vecstate
info threads
bt full
EOL
${GDB_CMD} -silent --nh --nx --nw -batch -x ${gdb_cmd_file} ${1}

12
platforms/nuttx/cmake/jlink.cmake
View File

@ -60,6 +60,18 @@ if(JLinkGDBServerCLExe_PATH)
USES_TERMINAL
)
# jlink_gdb_backtrace_simple (attach, print current tasks, back trace, exit)
add_custom_target(jlink_gdb_backtrace_simple
COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
COMMAND ${CMAKE_COMMAND} -E env WORKSPACE=${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace_simple.sh $<TARGET_FILE:px4>
DEPENDS
px4
${PX4_BINARY_DIR}/jlink_gdb_start.sh
${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace_simple.sh
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
# jlink_upload_bootloader
# board directory supplied bootloader.bin