Can't get Debugging to work

[karlscholz]

Hi,
I already did a bit of developing on the crazyflie and switched to WSL for comfort but now I have the need to debug my code on chip. I already gave up on the idea of debugging via WSL and switched over to the official VM, hoping that everything would work out of the box. I followed the guide on the wiki again, but I get this error:

in terminal and this in the debug console:

I have no idea what I am still doing wrong. Tried everything i found by googling which resulted in me bricking the VM and starting all over again. I was able to successfully connect to the STM via the ST-Link Utility application on windows.
I'm happy for every hint. Thanks!

[karlscholz]

afterburner: forgot to show my launch.json file, it looks like this:

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "STM32 Debug",
            "cwd": "${workspaceRoot}",
            "executable": "${workspaceRoot}/build/cf2.elf",
            "request": "launch",
            "type": "cortex-debug",
            "device": "STM32F405",
            "svdFile": "STM32F405.svd",
            "servertype": "openocd",
            "configFiles": ["interface/stlink-v2.cfg", "target/stm32f4x.cfg"],
            "runToEntryPoint": "main",
            "showDevDebugOutput": "raw",
            //legacy: "runToMain": true,
            "preLaunchCommands": [
                "set mem inaccessible-by-default off",
                "enable breakpoint",
                "monitor reset"
            ]
        },
        // {
        //     "name": "STM32 App Debug"
        // }
    ]
}

[knmcguire]

Debugging from the stm is perhaps not really advised... especially if you have performance issues. The USB readout is probably not fast enough.

You could perhaps try the USBipd project to connect it to WSL on windows? Or if you perhaps have a native ubuntu machine somewhere?

[karlscholz]

Tried some legacy versions of Cortex-Debug and it works up to version 1.2.2. 1.4.0 and above currently don't work. With that information the instructions https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/openocd_gdb_debugging/ work. Now i just have to figure out my USB wsl problem... :) Thanks a lot for the hint, I spent way to much time on that.

[karlscholz]

And there you go, Debugging out of WSL at full USB Speed on Windows 11.
Solution was just a simple chmod:

Would be nice if you could include that Cortex 1.2.2 Version as well as (for WSL) the sudo chmod +666 /dev/bus/usb/<busid, see lsusb>/<deviceid, see lsusb> in the getting started with debugging wiki page. Usbipd was straight forward, but here you go:

Windows Powershell(Admin):

• winget install --interactive --exact dorssel.usbipd-win

WSL:

• sudo apt install linux-tools-5.4.0-77-generic hwdata sudo update-alternatives --install /usr/local/bin/usbip usbip /usr/lib/linux-tools/5.4.0-77-generic/usbip 20

Windows Powershell(Admin):

• usbipd wsl list
• usbipd wsl attach -b <busid of ST-Link>

[knmcguire]

Sorry for the late reply! We were in Japan for some conferences.

and thanks for sharing this! This will be useful for the debugging guide for sure! https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/openocd_gdb_debugging/

Would you be interested in making a PR for the documentation for this? you can use the in browser edit for this directly for github https://github.com/bitcraze/crazyflie-firmware/blob/master/docs/development/openocd_gdb_debugging.md

[knmcguire]

Also if you would, perhaps make a brief summary of what worked for you underneath at 'suggest an answer' and then mark it as an answer :)

[karlscholz]

Sure, will do the PR later! :)

[karlscholz]

TL:DR: Downgrade your Cortex-Debug Extension to Version 1.2.2

Debugging in WSL requires a bit more:

Install usbipd

Windows Powershell(Admin):

• winget install --interactive --exact dorssel.usbipd-win

WSL:

• sudo apt install linux-tools-5.4.0-77-generic hwdata sudo update-alternatives --install /usr/local/bin/usbip usbip /usr/lib/linux-tools/5.4.0-77-generic/usbip 20

Windows Powershell(Admin):

• usbipd wsl list
• usbipd wsl attach -b <busid of ST-Link>

chmod the usb device, so cortex debug can access it without sudo rights

sudo chmod +666 /dev/bus/usb/<busid, see lsusb>/<deviceid, see lsusb>