From 55d0e6a90b0967ab8b4eeebac83e7add9354c729 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 1 Dec 2023 13:45:42 +0100
Subject: [PATCH] README update regarding debugging

---
 README.md      | 24 +++++++++++++++++++-----
 mission/main.c |  7 +++++++
 2 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index e894c7c..6748e3e 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,9 @@ Requirements [TBC]:
 - arm-none-eabi-gcc
 
 ```sh
-cmake -DFSFW_OSAL=freertos -DFSFW_ADD_HAL=OFF -DCMAKE_TOOLCHAIN_FILE=../bsp_z7/cmake/arm-none-eabi.toolchain ..
+mkdir build_cli
+cd build_cli
+cmake -DCMAKE_TOOLCHAIN_FILE=../bsp_z7/cmake/arm-none-eabi.toolchain ..
 ```
 
 # Debugging on zedboard
@@ -23,7 +25,7 @@ Requirements [TBC]:
 - OpenOCD
 - arm-none-eabi-gdb
 
-Connect to zedboard jtag and uart usb port.
+Set Zedboard boot mode to jtag and connect debugging PC to zedboard jtag and uart usb port.
 
 On PC connected to zedboard jtag usb port:
 ```sh
@@ -32,7 +34,7 @@ openocd -f board/digilent_zedboard.cfg
 
 To use JTAG Boot for the obsw, you first need to run the FSBL once.
 
-On build PC (adapt IP if different from debugging PC):
+On build PC (adapt IP if different from debugging PC) in the folder where you build the FSBL as above:
 ```sh
 arm-none-eabi-gdb fsbl.elf
 >target extended-remote localhost:3333
@@ -41,12 +43,24 @@ arm-none-eabi-gdb fsbl.elf
 >^C^D^D
 ```
 
-Then load the actual obsw:
+You can automate this run:
 ```sh
-arm-none-eabi-gdb fsbl.elf
+arm-none-eabi-gdb fsbl.elf -iex "target extended-remote localhost:3333" -ex "set pagination off" -ex "load" -ex "break FsblHandoffJtagExit" -ex "cont" -ex="set confirm off" -ex "exit"
+```
+
+It will exit after the Zynq is configured and ready to firmware.
+
+Then load the actual obsw, in the build (`build_cli` in the example above) folder run:
+```sh
+arm-none-eabi-gdb romeo-obws
 >target extended-remote localhost:3333
 >load
 >cont
 ```
 
+Again, cli commands can be moved to the gdb call. Also, a small function is used as marker to return from gdb if the mission code returns (should not happen in production but might be useful during testing).
+```sh
+arm-none-eabi-gdb romeo-obsw -iex "target extended-remote localhost:3333" -ex "set pagination off" -ex "load" -ex "break done" -ex "cont" -ex="set confirm off" -ex "exit"
+```
+
 Uart usb port should output something at 115200baud, (I use moserial to monitor).
diff --git a/mission/main.c b/mission/main.c
index 3f39d59..243036e 100644
--- a/mission/main.c
+++ b/mission/main.c
@@ -169,6 +169,11 @@ void testIp();
 
 void rust_main();
 
+// Marker for debugging sessions
+__attribute__ ((noinline)) void done() {
+  asm ("");
+}
+
 void mission(void *) {
 
   // printf("Starting Mission\n");
@@ -179,6 +184,8 @@ void mission(void *) {
 
   // printf("Started Tasks, deleting init task\n");
 
+  done();
+
   vTaskDelete(NULL);
 }
 /*-----------------------------------------------------------*/