硬件

stlink
holybro debug板
pixhawk4

安装openocd

官方文档，但是第一步安装建议从源码安装，bug少很多
github链接

编译安装，参考

  ./bootstrap (when building from the git repository)
  ./configure [options]
  make
  sudo make install

安装后在usr/local/bin下面有一个openocd

px4qgc@ubuntu:~$ which openocd
/usr/local/bin/openocd

另外要注意gcc-arm路径

px4qgc@ubuntu:~$ which arm-none-eabi-gdb
/opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gdb

然后进行一点测试，看看环境对不对再往下走
比如我用fmuv5的pixhawk4：

openocd -f interface/stlink.cfg -f target/stm32f7x.cfg
arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf -ex "target extended-remote :3333"

可能的报错：

arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory

安装对应的库即可

sudo apt-get update
sudo apt-get install libncurses5

usb设备权限问题

px4qgc@ubuntu:~$ openocd -f interface/stlink.cfg -f target/stm32f7x.cfg
Open On-Chip Debugger 0.11.0-dirty (2023-10-28-03:57)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 2000 kHz
Error: libusb_open() failed with LIBUSB_ERROR_ACCESS

为stlink添加usb规则

sudo gedit /etc/udev/rules.d/99-openocd.rules

# For ST-Link
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3744", MODE:="666"
# For ST-Link V2
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="666"
# For ST-Link V2-1 (STM32 Nucleo boards)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="666"
# For ST-Link V3
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3753", MODE:="666"

vscode配置

从github上面clone下来代码有一个.vscode文件夹，这个非常重要，给定了vscode的很多配置
按照官方文档安装vscode插件，注意，如果用的arm-gcc版本是2020-q2，gdb版本就是8，不能用最新的cortex-bug，我试了1.4.3可以

task.json里面加上

        {
            "label": "echo",
            "type": "shell",
            "command": "echo ${env:USERNAME}"
        },
        {
            "dependsOn":"Build",
            "label": "Build and Download",
            "type": "shell",
            "command": "openocd",
            "args": [
            "-f",
            "interface/stlink.cfg",
            "-f",
            "target/stm32f7x.cfg",
            "-c",
            "program ./build/px4_fmu-v5_default/px4_fmu-v5_default.elf 0x8000  verify reset exit "
            ],
            "problemMatcher": []
        },

launch.json加上：

        {
            "name": "FMUv5 Debug ST-Link",
            "type": "cortex-debug",
            "request": "launch",
            "cwd": "${workspaceRoot}",
            "executable": "${command:cmake.launchTargetPath}",
            //"serverpath": "${env:JLINK_SERVER}",
            "servertype": "openocd",
            "device": "STM32F765II",
            "interface": "swd",
            "configFiles": [
            "interface/stlink.cfg",
            "target/stm32f7x.cfg"
             ],
            "serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
            "svdFile": "STM32F7x5.svd",
           "preLaunchTask":"Build and Download"
        },

给px4_simple_app.c加一个断点，点击调试，openocd会负责用stlink刷入最新固件，并启动调试

效果如下图：


默认的那个st-util从来没在fmuv5上面好使过，会进入下面这个图的莫名其妙的地方，不用了，v6c倒是可以

如果遇到没有要编译的对象，比如6c，在这自己加就行

pixhawk6c

openocd -f interface/stlink.cfg -f target/stm32h7x.cfg -c "program ./build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf verify reset exit "