(#33) Linux Support and System Info Debug

Linux support

.vscode/launch.json

@@ -2,7 +2,7 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "cmsis-dap-debug (Windows)",
+            "name": "dap (Win)",
             "cwd": "${workspaceRoot}",
             "executable": "${workspaceRoot}\\build\\control-base.elf",
             "request": "launch",
@@ -21,7 +21,7 @@
             "preLaunchTask": "build (Windows)" // build before debug
         },
         {
-            "name": "stlink-debug (Windows)",
+            "name": "stlink (Win)",
             "cwd": "${workspaceRoot}",
             "executable": "${workspaceRoot}\\build\\control-base.elf",
             "request": "launch",
@@ -40,7 +40,7 @@
             "preLaunchTask": "build (Windows)" // build before debug
         },
         {
-            "name": "cmsis-dap-debug (Darwin)",
+            "name": "dap",
             "cwd": "${workspaceRoot}",
             "executable": "${workspaceRoot}/build/control-base.elf",
             "request": "launch",
@@ -56,7 +56,26 @@
                 "enabled": true,
                 "samplesPerSecond": 4
             },
-            "preLaunchTask": "build (Darwin)" // build before debug
+            "preLaunchTask": "build" // build before debug
+        },
+        {
+            "name": "stlink",
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}\\build\\control-base.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "svdFile": "STM32F407.svd",
+            "servertype": "openocd", //GDB server
+            "configFiles": [
+                "${workspaceRoot}/config/openocd_stlink.cfg" // config
+            ],
+            //"runToEntryPoint": "main", // stop at main
+            //"rtos": "FreeRTOS",
+            "liveWatch": { 
+                "enabled": true,
+                "samplesPerSecond": 4
+            },
+            "preLaunchTask": "build" // build before debug
         }
     ]
 }

.vscode/tasks.json

@@ -1,8 +1,9 @@
 {
     "version": "2.0.0",
     "tasks": [
+        /* For Unix-Like (Linux and MacOS) */
         {
-            "label": "build (Darwin)",
+            "label": "build",
             "type": "shell",
             "command": "make -j24 V=1",
             "args": [],
@@ -24,14 +25,25 @@
             }
         },
         {
-            "label": "flash (Darwin)",
+            "label": "flash",
             "type": "shell",
-            "command": "mingw32-make -j24 V=1; mingw32-make download",
+            "command": "make -j24 V=1; make download",
             "group": {
                 "kind": "build",
                 "isDefault": false
             }
         },
+        {
+            "label": "rebuild",
+            "type": "shell",
+            "command": "git submodule update; make clean_unix; make -j24 V=1",
+            "group": {
+                "kind": "build",
+                "isDefault": false
+            },
+            "problemMatcher": [],
+        },
+        /* For Windows */
         {
             "label": "build (Windows)",
             "type": "shell",

Makefile

@@ -122,8 +122,8 @@ src/bsp/src/bsp_spi.c \
 src/bsp/src/bsp_serial.c \
 src/bsp/src/bsp_crc.c \
 src/bsp/src/bsp_uart.c \
-src/devices/src/BMI088driver.c \
-src/devices/src/BMI088Middleware.c \
+src/devices/src/bmi088driver.c \
+src/devices/src/bmi088middleware.c \
 src/devices/src/buzzer.c \
 src/devices/src/dji_motor.c \
 src/devices/src/dm_motor.c \
@@ -208,8 +208,8 @@ C_INCLUDES =  \
 -Ilib/CMSIS-DSP/PrivateInclude \
 -Isrc/algo/inc \
 -Isrc/devices/inc \
--Isrc/bsp/Inc \
--Isrc/app/Inc
+-Isrc/bsp/inc \
+-Isrc/app/inc
 
 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -fdata-sections -ffunction-sections
@@ -234,7 +234,7 @@ LDSCRIPT = $(BOARD_BASE)/$(LINK_SCRIPT_PREFIX)_FLASH.ld
 # libraries
 LIBS = -lc -lm -lnosys 
 LIBDIR = 
-LDFLAGS = $(MCU) -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -flto -Wl,--no-warn-rwx-segments -Wl,--print-memory-usage -u _printf_float
+LDFLAGS = $(MCU) -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -flto -Wl,--print-memory-usage -u _printf_float
 
 # default action: build all
 all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
@@ -273,8 +273,10 @@ $(BUILD_DIR):
 # clean up
 #######################################
 clean:
-	rd $(BUILD_DIR) /s/q
-
+	rm -rf $(BUILD_DIR) /s/q
+
+clean_unix:
+	rm -rf $(BUILD_DIR)
 #######################################
 # dependencies
 #######################################
@@ -299,8 +301,8 @@ download_powershell:
 
 
 # Unix-Like (Linux, MacOS)
-ECHO_WARNING=@echo -e "\033[33m[Warning]\033[0m"
-ECHO_SUCCESS=@echo -e "\033[32m[Success]\033[0m"
+ECHO_WARNING=echo "\033[33m[Warning]\033[0m"
+ECHO_SUCCESS=echo "\033[32m[Success]\033[0m"
 
 download:
 	@echo "Attempting to use CMSIS-DAP..."
@@ -311,4 +313,7 @@ download:
 	($(ECHO_SUCCESS) "Successfully programmed the device using STLink.") || \
 	($(ECHO_WARNING) "Failed to connect using both CMSIS-DAP and STLink. Please check your connections and try again."))
 
+test_download:
+	openocd -d4 -f config/openocd_cmsis_dap.cfg -c init -c halt -c "program $(BUILD_DIR)/$(TARGET).bin 0x08000000 verify reset" -c "reset run" -c shutdown
+
 # *** EOF ***

README.md

@@ -12,6 +12,27 @@ git submodule update --init
 ### Install tools
 Download VSCode from [here](https://code.visualstudio.com/download)
 
+**Linux**
+- Install tools
+```bash
+sudo apt update
+sudo apt upgrade
+sudo apt install openocd
+sudo apt install gcc-arm-none-eabi gdb-arm-none-eabi
+```
+- Check tool path with `which`
+```
+which arm-none-eabi-gcc
+which arm-none-eabi-gdb //will be used when debug, so remember this path
+which openocd
+```
+- Install extensions
+   - Install Cortex Debug vscode extension
+   - Edit the extension setting .json file
+```json
+"cortex-debug.gdbPath": "/usr/bin/gdb-multiarch" // this is the output from last step
+```
+
 **Windows**
 - Download MSYS2 from [here](https://www.msys2.org/)
 - The default installation path is `C:\msys64`, run `C:\msys64\msys2.exe`.

src/app/inc/debug_task.h

@@ -1,7 +1,7 @@
 #ifndef DEBUG_TASK_H
 #define DEBUG_TASK_H
 
-#define DEBUG_PERIOD (1)
+#define DEBUG_PERIOD (10)
 
 void Debug_Task_Init(void);
 void Debug_Task_Loop(void);

src/app/src/debug_task.c

@@ -19,14 +19,37 @@ extern Remote_t g_remote;
 extern Launch_Target_t g_launch_target;
 extern uint64_t t;
 extern Daemon_Instance_t *g_daemon_instances[3];
+extern Daemon_Instance_t *g_remote_daemon;
+#define PRINT_RUNTIME_STATS
+#ifdef PRINT_RUNTIME_STATS
+char g_debug_buffer[1024*2] = {0};
+#endif
+
+const char* top_border = "\r\n\r\n\r\n/***** System Info *****/\r\n";
+const char* bottom_border = "/***** End of Info *****/\r\n";
+
+#define DEBUG_ENABLED
 
 void Debug_Task_Loop(void)
 {
+#ifdef DEBUG_ENABLED
     static uint32_t counter = 0;
-    DEBUG_PRINTF(&huart6, "time=%.1f,a=%d,b=%d,c=%f,d=%d\r\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
-                2, 12, g_imu.deg.roll, counter);
+    #ifdef PRINT_RUNTIME_STATS
+    if (counter % 100 == 0) // Print every 100 cycles
+    {
+        vTaskGetRunTimeStats(g_debug_buffer);
+        DEBUG_PRINTF(&huart6, "%s", top_border);
+        DEBUG_PRINTF(&huart6, "%s", g_debug_buffer);
+        DEBUG_PRINTF(&huart6, "%s", bottom_border);
+    }
+    #endif
+
+    DEBUG_PRINTF(&huart6, ">time:%.1f\n>yaw:%f\n>pitch:%f\n>roll:%f\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
+                g_imu.deg.yaw, g_imu.deg.pitch, g_imu.deg.roll);
+    DEBUG_PRINTF(&huart6, ">remote_daemon:%d\n", g_remote_daemon->counter);
     counter++;
     if (counter > 0xFFFFFFFF) {
         counter = 0;
     }
+#endif
 }

src/bsp/Inc/bsp_can.h → src/bsp/inc/bsp_can.h

@@ -3,7 +3,6 @@
 
 #include "FreeRTOS.h"
 #include "can.h"
-#include "freertos.h"
 #include "queue.h"
 #include "cmsis_os.h"
 #include <stdint.h>

src/devices/src/BMI088driver.c → src/devices/src/bmi088driver.c

@@ -1,6 +1,6 @@
-#include "BMI088driver.h"
-#include "BMI088reg.h"
-#include "BMI088Middleware.h"
+#include "bmi088driver.h"
+#include "bmi088reg.h"
+#include "bmi088middleware.h"
 
 
 float BMI088_ACCEL_SEN = BMI088_ACCEL_3G_SEN;

src/devices/src/BMI088Middleware.c → src/devices/src/bmi088middleware.c

@@ -1,4 +1,4 @@
-#include "BMI088Middleware.h"
+#include "bmi088middleware.h"
 #include "main.h"
 #include "cmsis_os.h"
 #include "bsp_delay.h"

src/devices/src/imu_task.c

@@ -140,9 +140,11 @@ void IMU_Task_Temp() {
     switch (start_complete)
     {
     case 1:
+    {
         uint16_t temp_pwm = (uint16_t) PID(&g_imu_temp_pid, 40 - g_imu.bmi088_raw.temp);
         __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, temp_pwm);
         break;
+    }
     case 0:
         __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, 4999);
         break;