Jenkins attach GDB and print back trace on failure

platforms/nuttx/Debug/jlink_gdb_backtrace.sh

@@ -0,0 +1,41 @@
+#! /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/NuttX
+source ${WORKSPACE}/platforms/nuttx/Debug/ARMv7M
+
+target remote localhost:2331
+
+monitor regs
+
+showtasks
+
+vecstate
+
+info threads
+
+backtrace
+
+bt full
+
+EOL
+
+${GDB_CMD} -silent --nh --nx --nw -batch -x ${gdb_cmd_file} ${1}

platforms/nuttx/cmake/jlink.cmake

@@ -48,6 +48,18 @@ if(JLinkGDBServerCLExe_PATH)
 		USES_TERMINAL
 	)
 
+	# jlink_gdb_backtrace (attach, print current tasks, back trace, exit)
+	add_custom_target(jlink_gdb_backtrace
+		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.sh $<TARGET_FILE:px4>
+		DEPENDS
+			px4
+			${PX4_BINARY_DIR}/jlink_gdb_start.sh
+			${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		USES_TERMINAL
+	)
+
 
 	# jlink_upload_bootloader
 	#   board directory supplied bootloader.bin