Embedded Developer

 This is the next tutorial that brings a bit more expertise into PX4 Autopilot debugging from an embedded software developer perspective. It will explain how to use J-Link debugger to debug PX4 Autopilot code in Eclipse IDE. If you didn't already see the previous tutorial, please go there, first phase of PREPARING is mandatory to be done so we can continue here. Link to previous tutorial: https://igor-misic.blogspot.com/2022/06/px4-development-building-flashing-and.html Everything in this tutorial is tested and reproduced at Kubuntu 22.04 LTS (It works the same for Ubuntu as well).

The score is 275.34 at 168 MHz clock speed. CoreMark Size    : 666 Total ticks      : 21786 Total time (secs): 21.786989 Iterations/Sec   : 275.393585 Iterations       : 536999700 Compiler version : GCC7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] Compiler flags   :  Memory location  : STACK seedcrc          : 0xe9f5 [536999700]crclist       : 0xe714 [536999700]crcmatrix     : 0x1fd7 [536999700]crcstate      : 0x8e3a [536999700]crcfinal      : 0xa14c CoreMark 1.0 :  275.393585  / GCC7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] / STACK STM32F427            = 275.393585/168[MHz] = 1.63 TM4C123GH6PM   = 101.1378/80[MHz] = 1.26 It looks like it is not pure MHz what matter in MCU speed.

In the last couple of days, I was trying to install Embsysregview for my Pixracer (STM32F427VI) to do debugging with Black Magic Probe, but it wasn't possible to install it because there is a problem inside download links when you trying to do it over Eclipse marketplace. Image 1 - Error when you try to install Embsysregview from Eclipse market

I have created my new repo pixracer-examples in the hope I'll find a time to create as much as possible examples for Pixracer. For now, I've created miniblink. Link to repo: https://github.com/Igor-Misic/Pixracer-examples Editor: Visual Studio Code (include building and debugging config) Debugger: Black Magic Probe

Maybe you like VSC but you don't know how to config. I have tried many different configs and find out this work best for me. I have tested it with miniblink from libopencm3 . Configuration: { "version" :  "0.2.0" , "configurations" : [ { "name" :  "(gdb) Launch" , "type" :  "cppdbg" , "request" :  "launch" , "miDebuggerPath" :  "arm-none-eabi-gdb" , "targetArchitecture" :  "arm" , "program" :  "${workspaceFolder}/miniblink.elf" , "args" : [], "stopAtEntry" :  false , "cwd" :  "${workspaceRoot}" , "environment" : [], "externalConsole" :  true , "MIMode" :  "gdb" , "setupCommands" : [ {  "text"  :  "target extended-remote /dev/ttyACM0" }, {  "text"  :  "monitor tpwr ...

Here is how to connect your Pixracer with Black Magic Probe. You can see images with proper wiring.

This took me some time to fix it so I decided to write a short blog post about it. The story goes in this way. Because I found out it could also work for Pixracer I bought the power supply for APM2 on eBay.  After I received it, I connected it to the battery and after to Pixracer. At first, everything seemed fine for the first 3 sec. Soon, I start smelling smoke. I unplugged the battery and find out that one small piece is burned out. You can see this part in the image below. I had trouble to find out what is the name of the part because it was burned out. Then I opened the schema and used some debugging technics on board and I found out it is the AP7365-33WG-7 linear regulator. From schema, I realized it supply power for ESP. Even with a burned regulator,  the Pixracer was still working but without ESP. The easiest way to figure out if this regulator is not working is to check ESP power led. If it is not turned on it means that the regulator is dead. With some hot...