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Black Magic Probe (and Zubax BugFace BF1)
The Black Magic Probe is an easy to use, mostly plug-and-play, JTAG/SWD debugger for embedded microcontrollers. Since the Black Magic Probe is a generic debug probe, you will need an adapter to connect to Pixhawk flight controllers, which can be purchased here:
- Drone Code Debug Adapter (1 BIT SQUARED).
Zubax BugFace BF1
The Zubax BugFace BF1 (formerly known as "Dronecode Probe") is a specialization of the Black Magic Probe for debugging PX4 autopilots.
The probe's USB interface exposes two separate virtual serial port interfaces: one for connecting to the System Console (UART) and the other for an embedded GDB server (SWD interface).
The probe provides a DCD-M connector cable for attaching to the Pixhawk Debug Mini.
:::info The 6-pos DF13 connector that comes with the probe cannot be used for SWD debugging (it is for using the System Console). :::
Using the Probe
:::info To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update. You can find how to update the blackmagic probe here. :::
To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf
Then, you have to select the Zubax BugFace BF1 interface, on Linux this is e.g.:
target ext /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_f9414d5_7DB85DAC-if00
Then you scan for the target:
monitor swdp_scan
And you should see something like:
Target voltage: 3.3V
Available Targets:
No. Att Driver
1 STM32F76x M7
Note that for some autopilots it shows 0.0V but the subsequent steps work nevertheless.
You can now attach to that target:
attach 1
And now you should be connected.