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* 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>
204 lines
9.1 KiB
Markdown
204 lines
9.1 KiB
Markdown
# STLink Debug Probe
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The [STLinkv3-MINIE](https://www.st.com/en/development-tools/stlink-v3minie.html) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator for a PX4 developer:
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- Just one single USB-C connection for Reset, SWD, SWO, and serial in a very small package!
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- Up to 24MHz SWD and SWO connection.
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Up to 16 MBaud serial. 1.65V to 3.6V target voltage.
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USB2 high-speed 480 Mbps connection.
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- Driven by STLink or OpenOCD software with wide device support.
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- Much cheaper (<15€) than a Pixhawk Debug Adapter (~20€) with a JLink EDU mini (~55€) or JLink BASE (~400€) while having better hardware specs.
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The STLink Debug Probe does not come with an adapter for working with Pixhawk flight controllers.
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The [Pixhawk Debug Port Adapter](#pixhawk-debug-port-adapter) section below explains how you can create your own (some soldering required).
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:::info
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The [CUAV C-ADB Pixhawk Debugging Adapter](../debug/swd_debug.md#cuav-c-adb-pixhawk-debug-adapter) (~65€) comes with an STLinkv3-MINIE!
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This has a connector for the [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) 10-pin SH port (but not the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini)).
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:::
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## Debugging Configuration
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The STLink provides the [GDB server via OpenOCD](https://openocd.org/doc-release/html/index.html):
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```sh
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# Ubuntu
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sudo apt install openocd
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# macOS
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brew install open-ocd
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```
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You can launch the GDB server in a new terminal shell:
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```sh
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openocd -f interface/stlink.cfg -f target/stm32f7x.cfg
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```
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The config file needs to be:
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- FMUv2-v4: `-f target/stm32f4x.cfg`
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- FMUv5: `-f target/stm32f7x.cfg`
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- FMUv6: `-f target/stm32h7x.cfg`
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You can then connect to port 3333 via GDB:
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```sh
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arm-none-eabi-gdb build/px4_fmu-v5x_default/px4_fmu-v5x_default.elf -ex "target extended-remote :3333"
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```
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See the [Embedded Debug Tools][emdbg] for more advanced debug options.
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## Pixhawk Debug Port Adapter
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To connect to the Pixhawk Debug Port, you need to solder an adapter (unless using the [CUAV Debug Adaptor](../debug/swd_debug.md#cuav-c-adb-pixhawk-debug-adapter)).
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For this solder guide you need:
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- 1x [STLinkv3-MINIE](https://www.st.com/en/development-tools/stlink-v3minie.html).
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- 1x cable connector for mating with [JST SM10B (Full)](https://www.digikey.com/products/en?keywords=A10SR10SR30K203A) or [JST SM06B (Mini)](https://www.digikey.com/products/en?keywords=A06SR06SR30K152A).
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We recommend buying fully assembled cables with two connectors on either side.
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- 1x soldering iron and solder.
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- Some tongs, cutting pliers, and tweezers.
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The [Pixhawk Debug Port is standardized in DS-009](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) and needs to be connected to the STLinkv3-MINIE Board-To-Board (BTB) card edge connector CN2.
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The pinout mapping is described here:
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| #Full | #Mini | Pixhawk Debug | STLinkv3 | #BTB |
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| ----: | ----: | :---------------------------------- | :-------------------------- | ---: |
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| 1 | 1 | **VREF** | VCC | 10 |
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| 2 | 2 | Console TX (out) | TX (in) | 8 |
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| 3 | 3 | Console RX (in) | RX (out) | 7 |
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| 4 | 4 | **SWDIO** | TMS | 3 |
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| 5 | 5 | **SWCLK** | CLK | 4 |
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| 6 | | SWO | TDO | 5 |
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| 7 | | GPIO1 | | |
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| 8 | | GPIO2 | | |
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| 9 | | nRST | RST | 9 |
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| 10 | 6 | **GND** | GND | 6 |
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The GPIO1/2 pins are not supported by the STLinkv3, and we recommend using digital ITM profiling over SWO which is much more flexible and supports cycle accurate timestamping.
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You can choose to solder a short or long cable to the BTB connector.
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The short cable is better for high-speed communication, but is more difficult to solder.
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We recommend soldering the long cable first and testing how fast you can communicate with your target.
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:::info
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This guide is written for the full 10-pin debug port.
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If you want to solder the mini 6-pin version, just leave out the signals you don't have.
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The STLink supports any SWD/JTAG-based debug interface, so you can adapt this guide for any other connector you may have.
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The debug probes are so cheap, you can just have one per connector instead of using adapters.
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:::
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This is how the STLinkv3-MINIE is delivered.
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Unwrap the PCB and check it for any damage.
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Plug it in and see if it powers on correctly.
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### Short Cable
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The short cable requires a wire cutter and stripper and requires a little more soldering skill.
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However, it makes the entire debug probe even smaller.
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Assemble a 10-pin connector without GPIO1/2. If you already have an assembled cable, carefully remove the two GPIO1/2 cables with a tweezer by lifting the pegs that keep the cables secured.
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Cut the cables to a short ~2cm (~1in) length and strip the wires.
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Tin both the BTB connector on the STLink and the cables.
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First solder the GND and VCC signals to align the connector in parallel to the edge.
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Then solder the TX and RX pins. Solder the RST connection last.
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Turn the STLink over and solder the remaining three wires.
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Start with SWDIO->TMS, then SWCLK->CLK, and finally SWO->TDO.
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### Long Cable
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The long cable is particularly useful if you use pre-assembled cables as it removes the need to cut wires or strip them.
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Carefully remove the two GPIO1/2 cables from one connector of the cable.
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Then remove all cables from the other connector.
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You are left with a eight crimped connectors at the end of the wires.
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Tin the crimped cable connectors and BTB connector and solder the crimped connectors directly to the STLinkv3.
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Be careful to not create shorts between the cables, as the crimped connectors are quite large.
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### 시험
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You should now test your debug probe to ensure you do not have any electrical shorts.
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1. Plug the probe into your target via the Pixhawk Debug Port.
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2. Test the serial port with a program of your choice.
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3. Test the SWD and RST connection via [OpenOCD][https://openocd.org] or [STLink](https://www.st.com/en/development-tools/stsw-link004.html) software.
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4. Test the SWO connection via [Orbuculum][https://github.com/orbcode/orbuculum].
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See the [Embedded Debug Tools][emdbg] for more information about software support for the PX4 FMUv5 and FMUv6 flight controllers.
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### Make it Smaller
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This step removes the 14-pin debug interface on the back of the STLinkv3-MINIE and adds shrink tubing around the entire device to improve handling and prevent shorting the STLink against metal parts or PCBs.
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This step is strictly optional and requires:
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- 1x 20mm shrink tubing about 5cm long.
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- 1x flat tongs to hold the STLinkv3 by the USB-C port.
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- 1x fine cutting pliers or soldering iron.
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- 1x heat gun.
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Use the pliers to gently pull off the plastic part of the STDC14 connector.
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This leaves you with only the connector pins.
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Using the fine pliers, cut off the connector pins being very careful not to damage the PCB or any components on the PCB.
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Alternatively, you can solder these connector pin off the PCB, but it can take longer.
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Rotate the STLinkv3 to cut off the other row, again being very careful to not damage it.
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Cut a ~5cm (~2in) long piece of shrink tube.
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It should be flush with the USB-C connector and extend a little beyond the end.
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Hold both the PCB and the shrink tube with the flat tongs by the **bottom** metal part of the USB-C connector.
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Be careful not to accidentally squeeze the middle plastic part of the USB-C connector!
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Use the heat gun to shrink the tubing all around the debug probe.
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Make sure the tubing is equally shrunk and protects the whole PCB.
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Optionally, you may add a logo of your choice printed on paper and cut to size.
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Be aware that the heat can make the ink flow a little, so you may need to experiment with what settings work with your printer.
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[emdbg]: https://pypi.org/project/emdbg/
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## See also
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- [STLINK-V3MINIE debugger/programmer tiny probe for STM32 microcontrollers](https://www.st.com/resource/en/user_manual/um2910-stlinkv3minie-debuggerprogrammer-tiny-probe-for-stm32-microcontrollers-stmicroelectronics.pdf) (User Manual)
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