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85 lines
3.0 KiB
Markdown
85 lines
3.0 KiB
Markdown
# MCU-Link Debug Probe
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The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator whn working with Pixhawk boards.
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Key features:
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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 9.6MBit/s SWO connection.
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Up to 5 MBaud serial. 1.2V to 5V target voltage.
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USB2 high-speed 480 Mbps connection.
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- Driven by NXP LinkServer or pyOCD 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 [Pixhawk Debug Adapter](https://holybro.com/products/pixhawk-debug-adapter) provides an easy way to connect a Pixhawk to an MCU-Link (the probe does not come with an adapter for working with Pixhawk flight controllers).
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::: info
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These instructions have been tested on: FMUv6X-RT, FMUv6X, FMUv6c, FMUv5X.
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:::
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## Debugging Configuration using NXP LinkServer
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The MCU-Link provides for NXP (FMUv6X-RT) chips the [LinkServer](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER) GDB server:
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[Download](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER#downloads) the Linkserver for your operating system and follow the installation instructions.
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On Windows LinkServer gets installed to `C:\NXP\LinkServer_x.x.x`
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On Linux LinkServer gets installed `/usr/local/LinkServer/LinkServer`
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To flash you can use the `LinkServer flash` command with target `MIMXRT1176xxxxx:MIMXRT1170-EVK-CM7-ONLY` for the FMUv6X-RT
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```sh
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/usr/local/LinkServer/LinkServer flash MIMXRT1176xxxxx:MIMXRT1170-EVK-CM7-ONLY load build/px4_fmu-v6xrt_default/px4_fmu-v6xrt_default.elf
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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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/usr/local/LinkServer/LinkServer gdbserver MIMXRT1176xxxxx:MIMXRT1170-EVK-CM7-ONLY
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```
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Then connect to port 3333 via GDB:
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```sh
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arm-none-eabi-gdb build/px4_fmu-v6xrt_default/px4_fmu-v6xrt_default.elf -ex "target extended-remote :3333"
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```
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Use GDB to load the binary into the Pixhawk:
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```sh
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(gdb) load
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```
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## Debugging Configuration using pyOCD
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The MCU-Link provides the [GDB server via pyOCD](https://pyocd.io/):
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```sh
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python3 -m pip install -U pyocd
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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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pyocd gdb -t mimxrt1170_cm7
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```
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The target needs to be one of:
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- FMUv6X-RT: `mimxrt1170_cm7`
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- FMUv6X: `stm32h743xx`
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- FMUv6C: `stm32h743xx`
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- FMUv5X: `stm32f767zi`
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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-v6xrt_default/px4_fmu-v6xrt_default.elf -ex "target extended-remote :3333"
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```
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Use GDB to load the binary into the Pixhawk:
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```sh
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(gdb) load
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```
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