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| <div class="section" id="debugging"> |
| <span id="id1"></span><h1>Debugging<a class="headerlink" href="#debugging" title="Permalink to this headline">¶</a></h1> |
| <p>Finding and fixing bugs is an important part of the hardware and software development process. Sometimes you also need |
| to use debugging techniques to understand how the system works. Two tools that are helpful are debug logging and |
| debugging using the GNU Debugger (gdb).</p> |
| <div class="section" id="debug-logging"> |
| <h2>Debug Logging<a class="headerlink" href="#debug-logging" title="Permalink to this headline">¶</a></h2> |
| <p>NuttX has a powerful system logging facility (syslog) with <code class="docutils literal notranslate"><span class="pre">info</span></code>, <code class="docutils literal notranslate"><span class="pre">warn</span></code>, and <code class="docutils literal notranslate"><span class="pre">error</span></code> levels. You can enable |
| debugging for your build for the subsystem or feature by using the <code class="docutils literal notranslate"><span class="pre">menuconfig</span></code> system.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> make menuconfig |
| </pre></div> |
| </div> |
| <p>The debug options are available under <code class="docutils literal notranslate"><span class="pre">Build</span> <span class="pre">Setup</span></code> > <code class="docutils literal notranslate"><span class="pre">Debug</span> <span class="pre">Options</span></code>. You will most likely have to enable the |
| following options:</p> |
| <ul class="simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">Enable</span> <span class="pre">Debug</span> <span class="pre">Features</span></code> — selecting this will turn on subsystem-level debugging options, they will become visible |
| on the page below. You can then select the ones you want.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">Enable</span> <span class="pre">Error</span> <span class="pre">Output</span></code> — this will only log errors.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">Enable</span> <span class="pre">Warnings</span> <span class="pre">Output</span></code> — this will log warnings and errors.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">Enable</span> <span class="pre">Informational</span> <span class="pre">Debug</span> <span class="pre">Output</span></code> — this will produce informational output, warnings, and errors.</p></li> |
| </ul> |
| <p>You can then select from the subsystems that are available, Network, Scheduler, USB, etc. Note that you will need to |
| separately enable the subsystem elsewhere in the <code class="docutils literal notranslate"><span class="pre">menuconfig</span></code> system. To see the <code class="docutils literal notranslate"><span class="pre">CONFIG</span></code> define that is set, |
| use the arrow keys to highlight the subsystem (for instance, <code class="docutils literal notranslate"><span class="pre">Network</span> <span class="pre">Debug</span> <span class="pre">Features</span></code>) and type ‘?’. This will show |
| you that the C macro that is set is called <code class="docutils literal notranslate"><span class="pre">CONFIG_DEBUG_NET</span></code>. <code class="docutils literal notranslate"><span class="pre">debug.h</span></code> defines the <code class="docutils literal notranslate"><span class="pre">netinfo()</span></code> logging |
| function that will log output if this macro is set. You can search the source code for <code class="docutils literal notranslate"><span class="pre">netinfo</span></code> to see how it is |
| used.</p> |
| <a class="reference internal image-reference" href="../_images/menuconfig-debug.png"><img alt="Screenshot of menuconfig system main screen" class="align-center" src="../_images/menuconfig-debug.png" style="width: 800px;" /></a> |
| <p>Note that enabling all these will produce an incredible amount of logging output. Enable the level you want and |
| the area you’re interested in, and leave the rest disabled, save the config, and then recompile. You can see the full |
| list of debug feature logging functions in the file |
| <a class="reference external" href="https://github.com/apache/incubator-nuttx/blob/master/include/debug.h">debug.h</a>.</p> |
| <p>Syslog timestamps can be enabled in the <code class="docutils literal notranslate"><span class="pre">menuconfig</span></code> system using <code class="docutils literal notranslate"><span class="pre">Device</span> <span class="pre">Drivers</span></code> > <code class="docutils literal notranslate"><span class="pre">System</span> <span class="pre">Logging</span></code> > <code class="docutils literal notranslate"><span class="pre">Prepend</span> |
| <span class="pre">timestamp</span> <span class="pre">to</span> <span class="pre">syslog</span> <span class="pre">message</span></code> (<code class="docutils literal notranslate"><span class="pre">CONFIG_SYSLOG_TIMESTAMP</span></code>).</p> |
| <p>You may need to do a little bit of experimenting to find the combination of logging settings that work for the problem |
| you’re trying to solve. See the file <a class="reference external" href="https://github.com/apache/incubator-nuttx/blob/master/include/debug.h">debug.h</a> |
| for available debug settings that are available. This can also be configured via the <code class="docutils literal notranslate"><span class="pre">menuconfig</span></code> system.</p> |
| <p>There are also subsystems that enable USB trace debugging, and you can log to memory too, if you need the logging to be |
| faster than what the console can output.</p> |
| </div> |
| <div class="section" id="changing-debug-settings-quickly"> |
| <h2>Changing Debug Settings Quickly<a class="headerlink" href="#changing-debug-settings-quickly" title="Permalink to this headline">¶</a></h2> |
| <p>You can use the <code class="docutils literal notranslate"><span class="pre">kconfig-tweak</span></code> script that comes with the <code class="docutils literal notranslate"><span class="pre">kconfig-frontends</span></code> tools to quickly change debug settings, |
| for instance turning them on or off before doing a build:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> kconfig-tweak --disable CONFIG_DEBUG_NET |
| <span class="gp">$</span> make olddefconfig <span class="c1"># needed to have the kconfig system check the config</span> |
| <span class="gp">$</span> kconfig-tweak --enable CONFIG_DEBUG_NET |
| <span class="gp">$</span> make olddefconfig |
| </pre></div> |
| </div> |
| <p>You can put a bunch of these into a simple script to configure the logging the way you want:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">#</span>!/bin/bash |
| |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_ALERT</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_FEATURES</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_ERROR</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_WARN</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_INFO</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_ASSERTIONS</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_NET</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_NET_ERROR</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_NET_WARN</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_NET_INFO</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_SYMBOLS</span> |
| <span class="go">kconfig-tweak --disable CONFIG_DEBUG_NOOPT</span> |
| <span class="go">kconfig-tweak --disable CONFIG_SYSLOG_TIMESTAMP</span> |
| <span class="go">make oldconfig</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="jtag-debugging"> |
| <h2>JTAG Debugging<a class="headerlink" href="#jtag-debugging" title="Permalink to this headline">¶</a></h2> |
| <p><a class="reference external" href="https://en.wikipedia.org/wiki/JTAG">JTAG</a> is a set of standards that specify a way to attach a hardware device to |
| your embedded board, and then remotely control the CPU. You can load code, start, stop, step through the program, and |
| examine variables and memory.</p> |
| <p>This guide assumes your board has a JTAG connector, and you have a JTAG hardware debugger like a |
| <a class="reference external" href="https://www.segger.com/products/debug-probes/j-link/">Segger J-Link</a> or <a class="reference external" href="http://openocd.org/doc-release/html/index.html">OpenOCD</a>.</p> |
| <p>The NuttX operating system uses <a class="reference external" href="https://en.wikipedia.org/wiki/Thread_(computing)">threads</a>, so you need a |
| thread-aware debugger to do more than load code, start, and stop it. A thread-aware debugger will allow you to switch |
| threads to the one that is running the code you’re interested in, for instance your application, or an operating system |
| network thread. So far, OpenOCD is the only supported NuttX thread-aware debugger.</p> |
| <p>You will need an OpenOCD-compatible hardware adapter, ideally a fast one (USB 2.0 High Speed). This guide assumes you |
| are using the <a class="reference external" href="https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/">Olimex ARM USB TINY H</a>. |
| (<a class="reference external" href="https://smile.amazon.com/Olimex-ARM-USB-TINY-H-Arm-Jtag/dp/B009UED630/">Olimex ARM USB TINY H on Amazon</a>.) Other |
| adapters may work, follow the OpenOCD instructions and the instructions that came with your adapter.</p> |
| <p>You’ll need to use the <a class="reference external" href="https://github.com/sony/openocd-nuttx">Sony fork of OpenOCD</a>. Download and install it |
| according to the OpenOCD instructions.</p> |
| <p>See this article for more info: |
| <a class="reference external" href="https://micro-ros.github.io/docs/tutorials/advanced/debugging_gdb_openocd/">Debugging a Apache NuttX target with GDB and OpenOCD</a>.</p> |
| <p>See the section <a class="reference internal" href="running.html#running"><span class="std std-ref">Running</span></a> for a brief tutorial on how to use GDB.</p> |
| <hr class="docutils" /> |
| <p>Next up is <a class="reference internal" href="organization.html#organization"><span class="std std-ref">Directory Structure</span></a>.</p> |
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