Psas
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Portland State Aerospace Society
2025 Q3
Electromechanical Recovery System
Kicad
Link to Kicad installation instructions page.
ERS board TODO
[ ] create board files for ERS board as of LV3.1-recovery
[ ] add device tree code to select and to enable MCU debug UART
[ ] add a DTS compatible type or entity to group GPIOs together in primary ERS dts file
Comparing flash invocation ChibiOS versus Zephyr
ChibiOS ERS make file gives:
ted@localhost:~/projects/psas/psas-avionics/lv3.1-recovery/controlSystem/RecoveryBoard/firmware$ make write openocd -f toolchain/oocd.cfg -c "program ./build/recovery-firmware.hex verify reset exit" Open On-Chip Debugger 0.11.0-rc2+dev-00002-g427552c07-dirty (2021-01-30-10:36) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD Info : clock speed 1000 kHz Info : STLINK V3J8M3B5S1 (API v3) VID:PID 0483:374F Info : Target voltage: 3.323200 Info : stm32f0x.cpu: hardware has 4 breakpoints, 2 watchpoints Info : starting gdb server for stm32f0x.cpu on 3333 Info : Listening on port 3333 for gdb connections target halted due to debug-request, current mode: Thread xPSR: 0xc1000000 pc: 0x08000190 msp: 0x20000200 ** Programming Started ** Info : device id = 0x10006442 Info : flash size = 256kbytes ** Programming Finished ** ** Verify Started ** ** Verified OK ** ** Resetting Target ** shutdown command invoked
To flash Zephyr based app using same openocd call gives:
ted@localhost:~/projects/zephyr-project/psas-ers-firmware/samples/hello-world$ openocd -f /home/ted/projects/psas/psas-avionics/lv3.1-recovery/controlSystem/RecoveryBoard/firmware/toolchain/oocd.cfg -c "program ./build/zephyr/zephyr.hex verify reset exit" Open On-Chip Debugger 0.11.0-rc2+dev-00002-g427552c07-dirty (2021-01-30-10:36) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD Info : clock speed 1000 kHz Info : STLINK V3J8M3B5S1 (API v3) VID:PID 0483:374F Info : Target voltage: 3.312000 Info : stm32f0x.cpu: hardware has 4 breakpoints, 2 watchpoints Info : starting gdb server for stm32f0x.cpu on 3333 Info : Listening on port 3333 for gdb connections target halted due to debug-request, current mode: Thread xPSR: 0xc1000000 pc: 0x08000190 msp: 0x20000200 ** Programming Started ** Info : device id = 0x10006442 Info : flash size = 256kbytes ** Programming Finished ** ** Verify Started ** ** Verified OK ** ** Resetting Target ** shutdown command invoked
^ Debugging With openocd
Got a debugging session working. Observe that an RCC HSE clock initialization step is hanging:
ted@localhost:~/projects/zephyr-project/psas-ers-board-bringup/samples/hello-world$ arm-none-eabi-gdb build/zephyr/zephyr.elf
GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
Copyright (C) 2022 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
. . .
Reading symbols from build/zephyr/zephyr.elf...
(gdb) target extended-remote:3333
Remote debugging using :3333
0x08000b40 in set_up_fixed_clock_sources () at /home/ted/projects/zephyr-project/zephyr/drivers/clock_control/clock_stm32_ll_common.c:645
645 while (LL_RCC_HSE_IsReady() != 1) {
(gdb) bt
#0 0x08000b40 in set_up_fixed_clock_sources () at /home/ted/projects/zephyr-project/zephyr/drivers/clock_control/clock_stm32_ll_common.c:645
#1 stm32_clock_control_init (dev=<optimized out>) at /home/ted/projects/zephyr-project/zephyr/drivers/clock_control/clock_stm32_ll_common.c:819
#2 0x08002f2e in do_device_init (dev=0x80031c8 <__init_malloc_prepare>) at /home/ted/projects/zephyr-project/zephyr/kernel/init.c:333
#3 0x080017fa in z_sys_init_run_level (level=<optimized out>) at /home/ted/projects/zephyr-project/zephyr/kernel/init.c:392
#4 0x0800196e in z_cstart () at /home/ted/projects/zephyr-project/zephyr/kernel/init.c:815
#5 0x080029bc in z_prep_c () at /home/ted/projects/zephyr-project/zephyr/arch/arm/core/cortex_m/prep_c.c:211
#6 0x08000576 in z_arm_reset () at /home/ted/projects/zephyr-project/zephyr/arch/arm/core/cortex_m/reset.S:207
Backtrace stopped: previous frame identical to this frame (corrupt stack?)
(gdb) quit
A debugging session is active.
Inferior 1 [Remote target] will be detached.
Quit anyway? (y or n) y
Detaching from program: /home/ted/projects/zephyr-project/psas-ers-board-bringup/samples/hello-world/build/zephyr/zephyr.elf, Remote target
[Inferior 1 (Remote target) detached]
Need to understand why the bit which `LL_RCC_HSE_IsReady()` checks is never being set.
Some forum posts:
(1) https://github.com/zephyrproject-rtos/zephyr/issues/36524
(2) https://lists.zephyrproject.org/g/users/topic/stm32h753_stuck_on_hse_rdy/112297269
Bindings files and Zephyr
Newer way of doing things with GPIO properties, Zephyr 4.2.0 . . .
- "./dts/bindings/pinctrl/nxp,s32k3-pinctrl.yaml" 115 lines
CAN Bus Sample App
- zephyr/samples/drivers/can/babbling/src
File `zephyr/dts/arm/st/f0/stm32f091.dtsi` defines a node named `can1`. Node is disabled in this overlay file.