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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/panda/board/debug
Vehicle Researcher dd778596b7
openpilot v0.9.8 release 		1 month ago
..
README.md openpilot v0.9.7 release 11 months ago
debug_h7.sh openpilot v0.9.8 release 1 month ago

README.md

In-circuit debugging using openocd and gdb

Hardware

Connect an ST-Link V2 programmer to the SWD pins on the board. The pins that need to be connected are:

  • GND
  • VTref
  • SWDIO
  • SWCLK
  • NRST

Make sure you're using a genuine one for boards that do not have a 3.3V panda power rail. For example, the tres runs at 1.8V, which is not supported by the clones.

Openocd

Install openocd. For Ubuntu 24.04, the one in the package manager works fine: sudo apt install openocd.

To run, use ./debug_f4.sh (TODO) or ./debug_h7.sh depending on the panda.

GDB

You need gdb-multiarch.

Once openocd is running, you can connect from gdb as follows:

$ gdb-multiarch
(gdb) target ext :3333

To reset and break, use monitor reset halt.