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Add Niklas Debugging Video to GDB and hard fault sections (#24845)

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Hamish Willee
2025-05-14 17:52:59 +10:00
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docs/en/debug/gdb_debugging.md
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@@ -54,6 +54,30 @@ The following topics explain how to start on-target debugging:
- [MCU Eclipse/J-Link Debugging for PX4](eclipse_jlink.md). - [MCU Eclipse/J-Link Debugging for PX4](eclipse_jlink.md).
- [Visual Studio Code IDE (VSCode)](../dev_setup/vscode.md). - [Visual Studio Code IDE (VSCode)](../dev_setup/vscode.md).
## Video
The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB.
It was presented at the PX4 Developer Conference 2023.
<lite-youtube videoid="1c4TqEn3MZ0" title="Debugging PX4 - Niklas Hauser, Auterion AG"/>
**Overview:** The inspection tools built into PX4 via Mavlink Shell (NSH) as well as interpretation of the PX4 uLog after a flight require PX4 to still be functioning. However, the most problematic bugs often manifest themselves in a (partially) hanging or crashed system. Therefore, we present the open-source Embedded Debug Tools project, which manages and configures probe, debugging and analysis tools for PX4 and NuttX:
- Debug interfaces (SWD) and the associated debug probes (J-Link, STLink) and libraries (JLinkGDBServer, OpenOCD).
- How to install and configure `arm-none-eabi-gdb(-py3)` for debugging your ELF.
- Commonly used GDB commands and scripts.
- Advanced GDB scripting via its Python API.
- Inspection of NuttX RTOS component internals: tasks, semaphores, scheduler.
- Inspecting peripheral state with CMSIS-SVD files and custom visualizations.
- Coredumping for post-mortem debugging via CrashDebug.
- Hardfault analysis in a live system and via the hardfault log.
- Remote GDB scripting via the Machine Interface.
- Automated HiL testing of PX4 via combined GDB and NSH scripting.
- ITM profiling over SWO pin using Orbuculum.
- Thread/IRQ/Workqueue/Heap visualization and latency analysis using perfetto.
- High-bandwidth ETM tracing over TRACE pins: J-Trace and ORBtrace mini.
- We conclude with an overview of interesting related project and an outlook on the future of PX4 debugging.
## Embedded Debug Tools ## Embedded Debug Tools
The [Embedded Debug Tools](https://pypi.org/project/emdbg/) connect several software and hardware debugging tools together in a user friendly Python package to more easily enable advanced use cases for ARM Cortex-M microcontrollers and related devices. The [Embedded Debug Tools](https://pypi.org/project/emdbg/) connect several software and hardware debugging tools together in a user friendly Python package to more easily enable advanced use cases for ARM Cortex-M microcontrollers and related devices.
docs/en/debug/gdb_hardfault.md
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A hard fault is a state when a CPU executes an invalid instruction or accesses an invalid memory address. A hard fault is a state when a CPU executes an invalid instruction or accesses an invalid memory address.
This might occur when key areas in RAM have been corrupted. This might occur when key areas in RAM have been corrupted.
## Video ## Videos
The following video demonstrates hardfault debugging on PX4 using Eclipse and a JTAG debugger. The following video demonstrates hardfault debugging on PX4 using Eclipse and a JTAG debugger.
It was presented at the PX4 Developer Conference 2019. It was presented at the PX4 Developer Conference 2019.
<lite-youtube videoid="KZkAM_PVOi0" title="Hardfault debugging on PX4"/> <lite-youtube videoid="KZkAM_PVOi0" title="Hardfault debugging on PX4"/>
---
The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB (including hard fault debugging).
It was presented at the PX4 Developer Conference 2023.
<lite-youtube videoid="1c4TqEn3MZ0" title="Debugging PX4 - Niklas Hauser, Auterion AG"/>
## Debugging Hard Faults in NuttX ## Debugging Hard Faults in NuttX
A typical scenario that can cause a hard fault is when the processor overwrites the stack and then the processor returns to an invalid address from the stack. A typical scenario that can cause a hard fault is when the processor overwrites the stack and then the processor returns to an invalid address from the stack.