Williangalvani/build.md

## build.md

      
    Raw
  

              build.md
            
          
    Instructions for building and debugging ArduSub in Blueos

This uses a fixed gcc version, 10.2, as that is what ardupilot is using, and seems to play along fine with glibc and gdbserver in blueos.
10.3 WILL NOT WORK IN BLUEOS
wget --no-clobber http://new.galvanicloop.com:8000/gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf.tar.xz
tar -xxvf gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf.tar.xz
git clone --recurse-submodules --branch Sub-4.1 https://github.com/ArduPilot/ardupilot.git


pip install future


Build the firmware with debug symbols:
LIB_RT="/home/will/raspbian_libs/glibc_2.31_extracted/lib/arm-linux-gnueabihf/"
TOOLCHAIN="$PWD/gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf/bin/arm-none-linux-gnueabihf"

cd ardupilot
./waf configure \
  --board Navigator \
  --toolchain "${TOOLCHAIN}" \
  --debug

Upload the file to BlueOS. it will generate a pretty large file, with roughly 20MB, when regular firmware is 2MB.
It will look like nothing works, gdbserver will only start it once a client connects.
For debugging with GDB using VsVode:
create this debug configuration in VSCode:
launch.json:
change the path to where your gcc-arm install is located

{
    // 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": [

    // The attach profiles are used to connect to a running instance of SITL (ie the executable)
        {
            "name": "(gdb) Attach to Sub on Navigator",
            "type": "cppdbg",
            "request": "launch",
            "targetArchitecture": "arm",
            "miDebuggerPath": "/home/will/arm-gcc/gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf/bin/arm-none-linux-gnueabihf-gdb",
            "miDebuggerArgs": "--cd=${workspaceFolder} --nx",
            "MIMode": "gdb",
             "program": "${workspaceFolder}/build/navigator/bin/ardusub",
              "setupCommands": [
                {"text": "set remotetimeout 5"},
                {"text": "target remote blueos.local:5555"},
                {"text": "set sysroot target:"},
            ],
            "launchCompleteCommand": "None",
            "externalConsole": false,
            "cwd": "${workspaceFolder}"
        }
    ]
}