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version: sunnypilot v2026.002.000 (staging) date: 2026-05-27T04:05:25 master commit: dfc3c98b226da57a653daf57131a8a3d66166fcb
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671 B
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25 lines
671 B
Markdown
# In-circuit debugging using openocd and gdb
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## Hardware
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Connect an ST-Link V2 programmer to the SWD pins on the board. The pins that need to be connected are:
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- GND
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- VTref
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- SWDIO
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- SWCLK
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- NRST
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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.
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## Openocd
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Install openocd. For Ubuntu 24.04, the one in the package manager works fine: `sudo apt install openocd`.
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## GDB
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You need `gdb-multiarch`.
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Once openocd is running, you can connect from gdb as follows:
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```
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$ gdb-multiarch
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(gdb) target ext :3333
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```
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To reset and break, use `monitor reset halt`.
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