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Fresh import of the PX4 firmware sources.
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,211 @@ | ||
| # | ||
| # Generic GDB macros for working with NuttX | ||
| # | ||
|
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| echo Loading NuttX GDB macros. Use 'help nuttx' for more information.\n | ||
|
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| define nuttx | ||
| echo Use 'help nuttx' for more information.\n | ||
| end | ||
|
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| document nuttx | ||
| . Various macros for working with NuttX. | ||
| . | ||
| . showheap | ||
| . Prints the contents of the malloc heap(s). | ||
| . showtasks | ||
| . Prints a list of all tasks. | ||
| . showtask <address> | ||
| . Prints information about the task at <address> | ||
| . | ||
| . Use 'help <macro>' for more specific help. | ||
| end | ||
|
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| ################################################################################ | ||
| # Heap display | ||
| ################################################################################ | ||
|
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| define _showheap | ||
| set $index = $arg0 | ||
| if (sizeof(struct mm_allocnode_s) == 4) | ||
| set $MM_ALLOC_BIT = 0x8000 | ||
| else | ||
| set $MM_ALLOC_BIT = 0x80000000 | ||
| end | ||
| printf "HEAP %d %p - %p\n", $index, g_heapstart[$index], g_heapend[$index] | ||
| printf "ptr size\n" | ||
| set $node = (char *)g_heapstart[$index] + sizeof(struct mm_allocnode_s) | ||
| while $node < g_heapend[$index] | ||
| printf " %p", $node | ||
| set $nodestruct = (struct mm_allocnode_s *)$node | ||
| printf " %u", $nodestruct->size | ||
| if !($nodestruct->preceding & $MM_ALLOC_BIT) | ||
| printf " FREE" | ||
| end | ||
| if ($nodestruct->size > g_heapsize) || (($node + $nodestruct->size) > g_heapend[$index]) | ||
| printf " (BAD SIZE)" | ||
| end | ||
| printf "\n" | ||
| set $node = $node + $nodestruct->size | ||
| end | ||
| end | ||
|
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||
| define showheap | ||
| set $nheaps = sizeof(g_heapstart) / sizeof(g_heapstart[0]) | ||
| printf "Printing %d heaps\n", $nheaps | ||
| set $heapindex = (int)0 | ||
| while $heapindex < $nheaps | ||
| showheap $heapindex | ||
| set $heapindex = $heapindex + 1 | ||
| end | ||
| end | ||
|
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| document showheap | ||
| . showheap | ||
| . Prints the contents of the malloc heap(s). | ||
| end | ||
|
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| ################################################################################ | ||
| # Task display | ||
| ################################################################################ | ||
|
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| define _showtask_oneline | ||
| set $task = (struct _TCB *)$arg0 | ||
| printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name | ||
| end | ||
|
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| define _showtasklist | ||
| set $queue = (dq_queue_t *)$arg0 | ||
| set $cursor = (dq_entry_t *)$queue->head | ||
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| if $cursor != 0 | ||
| printf " TCB PID PRI\n" | ||
| else | ||
| printf " <none>\n" | ||
| end | ||
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| while $cursor != 0 | ||
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| _showtask_oneline $cursor | ||
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| if $cursor == $queue->tail | ||
| set $cursor = 0 | ||
| else | ||
| set $next = $cursor->flink | ||
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| if $next->blink != $cursor | ||
| printf "task linkage corrupt\n" | ||
| set $cursor = 0 | ||
| else | ||
| set $cursor = $next | ||
| end | ||
| end | ||
| end | ||
| end | ||
|
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| # | ||
| # Print task registers for a NuttX v7em target with FPU enabled. | ||
| # | ||
| define _showtaskregs_v7em | ||
| set $task = (struct _TCB *)$arg0 | ||
| set $regs = (uint32_t *)&($task->xcp.regs[0]) | ||
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| printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5] | ||
| printf " r8: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[6], $regs[7], $regs[8], $regs[9], $regs[31], $regs[0], $regs[32], $regs[33] | ||
| printf " XPSR 0x%08x EXC_RETURN 0x%08x PRIMASK 0x%08x\n", $regs[34], $regs[10], $regs[1] | ||
| end | ||
|
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| # | ||
| # Print current registers for a NuttX v7em target with FPU enabled. | ||
| # | ||
| define _showcurrentregs_v7em | ||
| printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $r0, $r1, $r2, $r3, $r4, $r5, $r6, $r7 | ||
| printf " r8: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $r8, $r9, $r10, $r11, $r12, $r13, $r14, $r15 | ||
| printf " XPSR 0x%08x\n", $xpsr | ||
| end | ||
|
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| # | ||
| # Print details of a semaphore | ||
| # | ||
| define _showsemaphore | ||
| printf "count %d ", $arg0->semcount | ||
| if $arg0->hlist.holder != 0 | ||
| set $_task = (struct _TCB *)$arg0->hlist.holder | ||
| printf "held by %s", $_task->name | ||
| end | ||
| printf "\n" | ||
| end | ||
|
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| define showtask | ||
| set $task = (struct _TCB *)$arg0 | ||
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| printf "%p %.2d ", $task, $task->pid | ||
| _showtaskstate $task | ||
| printf " %s\n", $task->name | ||
| set $stack_free = 0 | ||
| while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free) | ||
| set $stack_free = $stack_free + 1 | ||
| end | ||
| printf" stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free | ||
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| if $task->task_state == TSTATE_WAIT_SEM | ||
| printf " waiting on %p ", $task->waitsem | ||
| _showsemaphore $task->waitsem | ||
| end | ||
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| if $task->task_state != TSTATE_TASK_RUNNING | ||
| _showtaskregs_v7em $task | ||
| else | ||
| _showcurrentregs_v7em | ||
| end | ||
|
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| # XXX print registers here | ||
| end | ||
|
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| document showtask | ||
| . showtask <TCB pointer> | ||
| . Print details of a task. | ||
| end | ||
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| define _showtaskstate | ||
| if $arg0->task_state == TSTATE_TASK_INVALID | ||
| printf "INVALID" | ||
| end | ||
| if $arg0->task_state == TSTATE_TASK_PENDING | ||
| printf "PENDING" | ||
| end | ||
| if $arg0->task_state == TSTATE_TASK_READYTORUN | ||
| printf "READYTORUN" | ||
| end | ||
| if $arg0->task_state == TSTATE_TASK_RUNNING | ||
| printf "RUNNING" | ||
| end | ||
| if $arg0->task_state == TSTATE_TASK_INACTIVE | ||
| printf "INACTIVE" | ||
| end | ||
| if $arg0->task_state == TSTATE_WAIT_SEM | ||
| printf "WAIT_SEM" | ||
| end | ||
| if $arg0->task_state == TSTATE_WAIT_SIG | ||
| printf "WAIT_SIG" | ||
| end | ||
| if $arg0->task_state > TSTATE_WAIT_SIG | ||
| printf "%d", $arg0->task_state | ||
| end | ||
| end | ||
|
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| define showtasks | ||
| printf "PENDING\n" | ||
| _showtasklist &g_pendingtasks | ||
| printf "RUNNABLE\n" | ||
| _showtasklist &g_readytorun | ||
| printf "WAITING\n" | ||
| _showtasklist &g_waitingforsemaphore | ||
| printf "INACTIVE\n" | ||
| _showtasklist &g_inactivetasks | ||
| end | ||
|
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| document showtasks | ||
| . showtasks | ||
| . Print a list of all tasks in the system, separated into their respective queues. | ||
| end |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| # | ||
| # Setup macros for the BlackMagic debug probe and NuttX. | ||
| # | ||
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| mon swdp_scan | ||
| attach 1 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| define f4_memdump | ||
| shell mkdir -p /tmp/dump | ||
| printf "Dumping CCSRAM to /tmp/dump/ccsram\n" | ||
| dump memory /tmp/dump/ccsram 0x10000000 0x10010000 | ||
| printf "Dumping SRAM to /tmp/dump/sram\n" | ||
| dump memory /tmp/dump/sram 0x20000000 0x20020000 | ||
| end | ||
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| document f4_memdump | ||
| Dumps the STM32F4 memory to files in /tmp/dump. | ||
| end |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,64 @@ | ||
| # script for stm32f2xxx | ||
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| if { [info exists CHIPNAME] } { | ||
| set _CHIPNAME $CHIPNAME | ||
| } else { | ||
| set _CHIPNAME stm32f4xxx | ||
| } | ||
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| if { [info exists ENDIAN] } { | ||
| set _ENDIAN $ENDIAN | ||
| } else { | ||
| set _ENDIAN little | ||
| } | ||
|
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| # Work-area is a space in RAM used for flash programming | ||
| # By default use 64kB | ||
| if { [info exists WORKAREASIZE] } { | ||
| set _WORKAREASIZE $WORKAREASIZE | ||
| } else { | ||
| set _WORKAREASIZE 0x10000 | ||
| } | ||
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| # JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz | ||
| # | ||
| # Since we may be running of an RC oscilator, we crank down the speed a | ||
| # bit more to be on the safe side. Perhaps superstition, but if are | ||
| # running off a crystal, we can run closer to the limit. Note | ||
| # that there can be a pretty wide band where things are more or less stable. | ||
| jtag_khz 1000 | ||
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| jtag_nsrst_delay 100 | ||
| jtag_ntrst_delay 100 | ||
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| #jtag scan chain | ||
| if { [info exists CPUTAPID ] } { | ||
| set _CPUTAPID $CPUTAPID | ||
| } else { | ||
| # See STM Document RM0033 | ||
| # Section 32.6.3 - corresponds to Cortex-M3 r2p0 | ||
| set _CPUTAPID 0x4ba00477 | ||
| } | ||
| jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID | ||
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| if { [info exists BSTAPID ] } { | ||
| set _BSTAPID $BSTAPID | ||
| } else { | ||
| # See STM Document RM0033 | ||
| # Section 32.6.2 | ||
| # | ||
| set _BSTAPID 0x06413041 | ||
| } | ||
| jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID | ||
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| set _TARGETNAME $_CHIPNAME.cpu | ||
| target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto | ||
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| $_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0 | ||
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| set _FLASHNAME $_CHIPNAME.flash | ||
| flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME | ||
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| # if srst is not fitted use SYSRESETREQ to | ||
| # perform a soft reset | ||
| cortex_m3 reset_config sysresetreq |
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