History

FrogAi 8b44d6978d openpilot v0.9.6 release date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5		2024-02-27 16:34:45 -07:00
..
README.md	openpilot v0.9.6 release	2024-02-27 16:34:45 -07:00
debug_h7.sh	openpilot v0.9.6 release	2024-02-27 16:34:45 -07:00

README.md

In-circuit debugging using openocd and gdb

Hardware

Connect an ST-Link V2 programmer to the SWD pins on the board. The pins that need to be connected are:

GND
VTref
SWDIO
SWCLK
NRST

Make sure you're using a genuine one for boards that do not have a 3.3V panda power rail. For example, the tres runs at 1.8V, which is not supported by the clones.

Openocd

Install openocd. For Ubuntu 20.04, the one in the package manager works fine: sudo apt install openocd.

To run, use ./debug_f4.sh (TODO) or ./debug_h7.sh depending on the panda.

GDB

You need gdb-multiarch.

Once openocd is running, you can connect from gdb as follows:

$ gdb-multiarch
(gdb) target ext :3333

To reset and break, use monitor reset halt.