openocd programming used instead of st-flash, makefile/cmakelists upd…

…ated to allow debugging

.vscode/.cortex-debug.registers.state.json

@@ -0,0 +1 @@
+[]

.vscode/c_cpp_properties.json

@@ -21,9 +21,7 @@
             "intelliSenseMode": "clang-x64",
             "browse": {
                 "path": [
-                    "${workspaceRoot}/include",
-                    "${workspaceRoot}/libs/CMSIS_5/CMSIS/Core/Include",
-                    "${workspaceRoot}/libs/CMSIS_5/CMSIS/DSP/Include"
+                    "${workspaceRoot}/include"
                 ],
                 "limitSymbolsToIncludedHeaders": true,
                 "databaseFilename": ""

.vscode/launch.json

@@ -0,0 +1,22 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+      {
+        "name": "Cortex Debug",
+        "cwd": "${workspaceRoot}",
+        "executable": "./build/release/main.elf",
+        "request": "launch",
+        "type": "cortex-debug",
+        "servertype": "openocd",
+        "device": "STM32F407VG",
+        // "interface": "swd",
+        "runToEntryPoint": "main",
+        "configFiles": [
+          "interface/stlink.cfg",
+          "target/stm32f4x.cfg"
+        ],
+        "showDevDebugOutput": "raw"
+        // "showDevDebugOutput": true
+      }
+    ],
+  }

.vscode/settings.json

@@ -31,5 +31,7 @@
         "stm32f4xx_hal.h": "c",
         "stm32f4xx.h": "c",
         "stm32f4xx_hal_gpio.h": "c"
-    }
+    },
+    "cortex-debug.showRTOS": false,
+    "cmake.configureOnOpen": false
 }

.vscode/tasks.json

@@ -7,7 +7,7 @@
           "command": "",
           "args": [
               "make",
-              "BUILD_TYPE=test",
+              "TEST_MODE=TRUE",
           ],
           "group":  {
               "kind": "build",

CMakeLists.txt

@@ -29,7 +29,7 @@ set(HAL_PATH ${CMAKE_CURRENT_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver)
 add_subdirectory(src/modules)
 
 # Production build
-if(CMAKE_BUILD_TYPE STREQUAL release)
+if(NOT TEST_MODE)
     #  -------- Collate Code Sources --------
     file(GLOB_RECURSE PROJECT_SOURCES "${PROJECT_DIR}/*.c")
     #  -------- Include HAL Sources -------- 
@@ -72,7 +72,34 @@ if(CMAKE_BUILD_TYPE STREQUAL release)
         ${CMSIS_PATH}/Include)
 
     #  -------- Compilation configuration --------
-    target_compile_options(${EXECUTABLE} PRIVATE
+    if (CMAKE_BUILD_TYPE STREQUAL Debug)
+        target_compile_options(${EXECUTABLE} PRIVATE
+            ${CPU_PARAMETERS}
+                -DUSE_HAL_DRIVER 
+                -DSTM32F407xx
+                -std=gnu11
+                -Wall
+                -Wextra
+                -Wpedantic
+                -Wshadow
+                -Wdouble-promotion
+                -Wformat=2 -Wformat-truncation
+                -Wmissing-include-dirs
+                -Wsign-compare
+                -Wundef
+                # -Wcast-align
+                # -Wconversion
+                -fno-common
+                -fsingle-precision-constant
+                -fomit-frame-pointer
+                -ffunction-sections 
+                -fdata-sections
+                -Wno-unused-parameter
+                --specs=nano.specs
+                -Og -g3 -ggdb)
+
+    else()
+        target_compile_options(${EXECUTABLE} PRIVATE
         ${CPU_PARAMETERS}
             -DUSE_HAL_DRIVER 
             -DSTM32F407xx
@@ -95,8 +122,9 @@ if(CMAKE_BUILD_TYPE STREQUAL release)
             -fdata-sections
             -Wno-unused-parameter
             --specs=nano.specs
-            $<$<CONFIG:Debug>:-Og -g3 -ggdb>
-            $<$<CONFIG:Release>:-Og -g0>)
+            -Og -g0)
+
+    endif()
 
     target_link_options(${EXECUTABLE} PRIVATE
         -T${MCU_LINKER_SCRIPT}

Makefile

@@ -1,12 +1,13 @@
 .PHONY: all build cmake clean
 
 TARGET := main
-BUILD_TYPE ?= test
+TEST_MODE ?= FALSE
+BUILD_TYPE ?= Debug
 CMAKE_PATH := /opt/local/bin/cmake
 CTEST_PATH := /opt/local/bin/ctest
 STFLASH_PATH := /opt/homebrew/bin/st-flash
 
-ifeq ($(BUILD_TYPE), test)
+ifeq ($(TEST_MODE), TRUE)
 	BUILD_DIR := build/test
 	TOOLCHAIN_FILE := ""
 else
@@ -15,13 +16,14 @@ else
 endif
 
 all: build 
-	    @if [ "$(BUILD_TYPE)" = "test" ]; then \
+	    @if [ "$(TEST_MODE)" = TRUE ]; then \
 			$(CTEST_PATH) --test-dir $(BUILD_DIR);\
 		fi
 
 ${BUILD_DIR}/Makefile:
 	@${CMAKE_PATH} \
 		-B${BUILD_DIR} \
+		-DTEST_MODE=${TEST_MODE} \
 		-DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
 		-DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE} \
 		-DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
@@ -33,7 +35,7 @@ build: cmake
 	@$(MAKE) -C ${BUILD_DIR} --no-print-directory
 
 flash: build/release/Makefile 
-	@st-flash write build/release/$(TARGET).bin 0x8000000
+	openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program build/release/$(TARGET).elf verify reset exit"
 
 # test: build
 # 	ctest --test-dir ./build/test

README.md

@@ -38,13 +38,16 @@ In `CMakeLists.txt` only a subset of HAL drivers have been added to the executab
 The template uses CMake to build the code. 
 To automate the process there is a Makefile in the root directory which can be run to automate the build.
 
-This template has cross-compilation set up. There is a test build which compiles on the host machine. I use this to unit test the code. To run this simply run `make` or `make BUILD_TYPE=test` in the terminal from the root directory of the repository. The build will be saved in `/build/test`.
+This template has cross-compilation set up. There is a test build which compiles on the host machine. I use this to unit test the code. To run this simply run `make` or `make TEST_MODE=TRUE` in the terminal from the root directory of the repository. The build will be saved in `/build/test`.
 
-To build for the STM32 microcontroller run `make BUILD_TYPE=release`. The build will be saved in `/build/release`.
+To build for the STM32 microcontroller run `make` to build a version for debugging. To create a release build run `make BUILD_TYPE=Release`. These build will be saved in `/build/release`.
 
 ### Testing
 This template includes GoogleTest. The process for adding test modules is explained above. Testing runs automatically when the test target is built with `make BUILD_TYPE=test`. There is also a Visual Studio Code Task included with this template that automatically runs the test build (and associated tests) when the task is run. For me the keyboard shortcut to run this task is `CMD+SHIFT+B`. This task can be found in `/.vscode/tasks.json`.
 
+### Debugging
+The project is ready for debugging via gdb through the `Debug` build. I usually use the [cortex-debug](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug) Visual Studio Code extension. A configuration file for debugging with cortex-debug (with openocd, stlink) can be found at `.vscode/launch.json`. You will need to modify this file based on your debugging server/microcontroller setup.
+
 ### Flashing 
 Included in the Makefile is a flash command to flash the program to the STM32.