Using an In-Circuit Debugger with a Naze32 (and variants)
Debugging a naze32 is easiest with an ST-Link V2. You can find these on Amazon and other websites. The following guide will get you up and running with QtCreator and the in-circuit debugger.
We have had reports of problems with cheap clones of ST-Links not connecting. Consider yourself warned.
It appears that perhaps debugging only works with Ubuntu 16.04 because of some issues with gdb-py and the "textinfo" tool in 14.04.
Add User to Dailout Group
First, make sure you are in the
sudo adduser $USER dialout
Log out and back in for changes to take effect.
Install QtCreator 4.1.0
For some reason, the QtCreator bundled with 16.04 is unstable. 4.2.0 messes up ROS workspaces, so the most recent stable build for use with ROS and debugging is 4.1.0. Download it from here.
This downloads a
.7z file, which requires
p7zip to extract. After downloading extract and install qtcreator:
sudo apt-get install p7zip-full cd ~/Downloads mkdir qtcreator mv qtcreator.7z qtcreator/. cd qtcreator p7zip -d qtcreator.7z cd .. sudo mv qtcreator /opt/. sudo ln -s /opt/qtcreator/bin/qtcreator /usr/bin/.
If you want the icon to appear in your unity menu, create the following file as /usr/share/applications/qtcreator.desktop
[Desktop Entry] Exec=bash -i -c qtcreator %F Icon=qtcreator Type=Application Terminal=false Name=Qt Creator GenericName=Integrated Development Environment MimeType=text/x-c++src;text/x-c++hdr;text/x-xsrc;application/x-designer;application/vnd.nokia.qt.qmakeprofile;application/vnd.nokia.xml.qt.resource; Categories=Qt;Development;IDE; InitialPreference=9
Open OCD (On-Chip-Debugger) is the software that will control the debugger. We are going to install the version that is configured to work as a plugin for the eclipse IDE. To get this version, go to the releases page of the OpenOCD github page and download the latest
cd ~/Downloads tar -xvf gnuarmeclipse-openocd-debian32-0.10.0-201610281609-dev.tgz (or whatever) sudo mv openocd /opt/.
Then, for convenience, I normally create a script to run openocd for me. Here is my
#!/bin/bash cd /opt/openocd/0.10.0-201701241841/bin ./openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg
which I move to the
~/.local/bin directory so I can call it from anywhere:
chmod +x start_openocd_f1 mv start_openocd_f1 ~/.local/bin
Install ARM compiler and 32-bit Dependencies
Follow the guide in Building and Flashing to install the compiler.
QtCreator also needs 32-bit python bindings to run GDB
sudo dpkg --add-architecture i386 sudo apt-get update sudo apt-get install libpython2.7:i386
Configure QtCreator for ARM Development
Open up the new QtCreator you just installed (make sure it's the new one, and not the version you get from
Turn on the "Bare Metal Plugin"
Help -> About Plugins -> Enable "Bare Metal"
Now, we're going to configure a new "Kit" for ARM development (this allows you to quickly switch back and forth between ARM and normal development)
Tell QtCreator where to find the compiler (GCC)
- Tools -> Options -> Build & Run -> Compilers -> Add -> GCC -> C++.
- Name the new compiler "G++ ARM" (or something)
- Point the compiler path to where you just installed your fresh GCC.
- The path for G++
Do the same for GCC (if you are going to be doing any C-only code)
- Tools -> Options -> Build & Run -> Compilers -> Add -> GCC -> C.
- Name the compiler (I named my compiler "GCC ARM)
- The path for GCC is
Add the Debugger (GDB)
- Tools -> Options -> Build & Run -> Debuggers -> Add -> GDB.
- Name it something
- Point it to the new debugger you just installed
- The Path for
Configure the STLink-V2 with OpenOCD
Go to the Bare Metal Plugin
- Tools -> Options -> Devices -> Bare Metal -> Add -> OpenOCD
- Leave all options at default values and click Apply
- Tools -> Options -> Devices -> Devices -> Add -> Bare Metal Device -> Start Wizard
- Name: ST-Link V2
- GDB Server Provider: OpenOCD
Build the new Development Kit
- Tools -> Options -> Build & Run -> Kits -> Add
- Name: ARM
- Device Type: Bare Metal Device
- Device: ST-Link V2
- Compiler: GCC ARM/G++ ARM
- Debugger: ARM GDB
- Qt Version: None
Test the Debugger
Turn on Debugger
Connect the Debugger to your flight controller. Here is the pinout for the Flip32 and flip32+
Plug in the debugger and start openocd (you'll need sudo privileges)
Build the Correct Example Code
- Import Existing Project
- Open the root of the firmware
- Do not add .creator files to the Git repository
Configure the Build Environment
- Go to the Projects Tab on the left hand side
- Switch to the ARM Kit we just created
- Build Settings:
- Change Build Directory to the firmware root
- Build Steps:
- Run Settings:
- Change Run Configuration to hardware debugger
- Choose the
.elffile in the
boards/naze/builddirectory (you'll need to build first)
You're done! Just select the Debug tab and debug your project!