mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Fabien-B
151 lines
3.7 KiB
ReStructuredText
151 lines
3.7 KiB
ReStructuredText
.. developer_guide debug
|
|
|
|
=========
|
|
Debugging
|
|
=========
|
|
|
|
Debugging can be essential when developing your own module. Here are some ways to help debug your code.
|
|
|
|
Messages
|
|
--------
|
|
|
|
There are a few messages that you can use to debug over telemetry.
|
|
You then can see the result with the **Messages** tool.
|
|
|
|
INFO_MSG
|
|
________
|
|
|
|
**INFO_MSG** allows you to send a char array. It is defined as:
|
|
|
|
.. code-block:: xml
|
|
|
|
<message name="INFO_MSG" id="215">
|
|
<field name="msg" type="char[]"/>
|
|
</message>
|
|
|
|
|
|
Example:
|
|
|
|
.. code-block:: C
|
|
|
|
#include <string.h>
|
|
#include "modules/datalink/telemetry.h"
|
|
...
|
|
void my_function() {
|
|
char msg[] = "It works!";
|
|
DOWNLINK_SEND_INFO_MSG(DefaultChannel, DefaultDevice, strlen(msg), msg);
|
|
}
|
|
|
|
PAYLOAD_FLOAT
|
|
_____________
|
|
|
|
**PAYLOAD_FLOAT** allows you to send an array of floats. It is defined as:
|
|
|
|
.. code-block:: xml
|
|
|
|
<message name="PAYLOAD_FLOAT" id="237">
|
|
<field name="values" type="float[]"/>
|
|
</message>
|
|
|
|
|
|
Example:
|
|
|
|
.. code-block:: C
|
|
|
|
#include "modules/datalink/telemetry.h"
|
|
...
|
|
void my_function() {
|
|
char buf[] = {42.2, 12.5, 8};
|
|
DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, 3, buf);
|
|
}
|
|
|
|
|
|
Shell
|
|
-----
|
|
|
|
When using **ChibiOS**, you can use the **shell** module to have a shell-like interface on the autopilot.
|
|
|
|
Setup shell
|
|
___________
|
|
|
|
In your airframe, add the *shell* module:
|
|
|
|
.. code-block:: xml
|
|
|
|
<module name="shell">
|
|
<configure name="SHELL_PORT" value="uart6"/>
|
|
<configure name="SHELL_BAUD" value="B115200"/>
|
|
<configure name="SHELL_DYNAMIC_ENTRIES_NUMBER" value="5"/>
|
|
</module>
|
|
|
|
Connect your PC to the UART through a *serial to USB convertor*, and open the serial port with e.g. minicom or GtkTerm. Hit *ENTER* to be welcomed by a nice ``pprz >`` prompt !
|
|
|
|
To test it, type ``info`` in the prompt, then hit *ENTER*. Various info about the autopilot should be printed.
|
|
|
|
|
|
Add your own commands
|
|
_____________________
|
|
|
|
You can add your own commands to the shell.
|
|
|
|
.. note::
|
|
|
|
You can define up to ``SHELL_DYNAMIC_ENTRIES_NUMBER`` commands. This number default to 5, but you can increase it with a *configure* in your airframe.
|
|
|
|
This example shows how to define your own commands in your module:
|
|
|
|
.. code-block:: C
|
|
|
|
#if USE_SHELL
|
|
#include "modules/core/shell.h" // include this file
|
|
|
|
// implement your command in a function with this prototype:
|
|
static void cmd_mycommand(shell_stream_t *sh, int argc, const char *const argv[]) {
|
|
// print to the shell with chprintf
|
|
chprintf(sh, "My amazing command got %d args!\r\n", argc);
|
|
}
|
|
#endif
|
|
|
|
...
|
|
|
|
void mymodule_init(void) {
|
|
#if USE_SHELL
|
|
// register your command
|
|
shell_add_entry("mycmd", cmd_mycommand)
|
|
#endif
|
|
}
|
|
|
|
|
|
.. note::
|
|
|
|
+ Unlike what is usually done, the ``argc`` is the number of arguments *excluding* the command invocation. When no parameters is given to the command, *argc == 0*.
|
|
+ As done in this example, you can put all your shell related code behind a ``#if USE_SHELL ... #endif`` for your module to work regardless if the shell module is loaded or not.
|
|
|
|
.. admonition:: Using the serial over USB
|
|
|
|
If you are using the serial over USB, you can use ``usb_serial`` or ``usb_serial_debug`` as the SHELL_PORT.
|
|
|
|
Debugger
|
|
--------
|
|
|
|
You can debug your code using GDB.
|
|
|
|
Build the firmware with debug symbols enabled. In the firmware section of the airframe, add:
|
|
|
|
.. code-block:: C
|
|
|
|
<configure name="RTOS_DEBUG" value="1"/>
|
|
|
|
The ELF file is located in ``var/aircrafts/<$AIRCRAFT>/ap/obj/ap.elf``.
|
|
|
|
You can then debug the firmware using any SWD or JTAG probe.
|
|
|
|
coming soon™: how to debug using VsCode !
|
|
|
|
Log
|
|
---
|
|
|
|
You can use logs to help you debug your code. See the :ref:`logging` page.
|
|
|
|
|