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63 lines
2.4 KiB
Markdown
63 lines
2.4 KiB
Markdown
# Black Magic Probe (and Zubax BugFace BF1)
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The [Black Magic Probe](https://black-magic.org) is an easy to use, mostly plug-and-play, JTAG/SWD debugger for embedded microcontrollers.
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Оскільки Black Magic Probe є загальним зондом для налагодження, вам знадобиться адаптер для підключення до керуючих пристроїв польоту Pixhawk, який можна придбати тут:
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- [Drone Code Debug Adapter](https://1bitsquared.com/products/drone-code-debug-adapter) (1 BIT SQUARED).
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## Zubax BugFace BF1 {#dronecode-probe}
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The [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) (formerly known as "Dronecode Probe") is a specialization of the Black Magic Probe for debugging PX4 autopilots.
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The probe's USB interface exposes two separate virtual serial port interfaces: one for connecting to the [System Console](system_console.md) (UART) and the other for an embedded GDB server (SWD interface).
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The probe provides a DCD-M connector cable for attaching to the [Pixhawk Debug Mini](swd_debug.md#pixhawk-debug-mini).
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:::info
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The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debugging (it is for using the System Console).
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:::
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## Використання зонда
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:::info
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To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update.
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You can find how to update the [blackmagic probe here](https://github.com/blacksphere/blackmagic/wiki/Upgrading-Firmware).
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:::
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To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
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```sh
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arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf
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```
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Then, you have to select the Zubax BugFace BF1 interface, on Linux this is e.g.:
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```sh
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target ext /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_f9414d5_7DB85DAC-if00
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```
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Потім проскануйте ціль:
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```sh
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monitor swdp_scan
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```
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І ви маєте побачити щось на зразок:
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```sh
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Target voltage: 3.3V
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Available Targets:
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No. Att Driver
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1 STM32F76x M7
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```
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Зверніть увагу, що для деяких автопілотів він показує 0.0V, але наступні кроки все одно працюють.
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Тепер ви можете підключитися до цієї цілі:
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```sh
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attach 1
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```
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Тепер ви повинні бути підключені.
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