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version: sunnypilot v2025.003.000 (dev) date: 2025-12-18T05:48:43 master commit: 16c052af0835f049a67b80251d8cc1114fc08bb4
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.
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.