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DEBUGGING_FREERTOS.md

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Debugging FreeRTOS Stacks

PlatformIOs built in tools for debugging the FreeRTOS stack are limited. NXP have a free FreeRTOS debug plugin for Eclipse which will give more detailed debug information regarding stack usage.

Requirements

  • MCUXpresso IDE - This requires a free NXP account to access the download link. Any Eclipse install will work but if using another install, the FreeRTOS plugin will need to be installed separately.
  • JTAG Debugger - Any debugger compatible with OpenOCD should work. This below steps were tested with a Segger J-Link
  • PlatformIO
  • OpenOCD - Changing the PlatformIO project environment to an environment set to use upload_protocol = jlink will automatically download the tool-openocd-esp32 package.

Setup the MCUXpresso debugger

  1. Open MCUXpresso - any workspace can be used
  2. Select Run > Debug Configurations
  3. Double click on GDB Hardware Debugging to create a new configuration
  4. On the Main tab - a. Project - Can be left blank, or point to project code. b. C/C++ Application - Point to the firmware.elf file. If built from PlatformIO will be in the ESPresense/.pio/build/<env name> directory. c. Build - Disable auto build
  5. On the Debugger tab - a. GDB Command - Path to xtensa-esp32-elf-gdb.exe, if using defaults in PlatformIO will be ~/.platformio/packages/toolchain-xtensa32/bin/xtensa-esp32-elf-gdb.exe b. Remote Target - Check Use remote target, JTAG Device - OpenOCD (via socket), GDB Connection String localhost:3333
  6. On the Startup tab - a. Initialisation commands: - set mem inaccessible-by-default off - mon reset halt - flushregs - set remote hardware-watchpoint-limit 2 b. Load Symbols - Use project binary c. Uncheck all boxes except Load Symbols and Resume
  7. Apply Changes

Running the debug tool

  1. Program the ESP32 with the target build and connect the ESP32 to the debug probe.
  2. Start the OpenOCD Server:
cd ~\.platformio\packages\tool-openocd-esp32
.\bin\openocd.exe -f .\share\openocd\scripts\interface\J-Link.cfg -f .\share\openocd\scripts\board\esp-wroom-32.cfg -c "adapter_khz 4000"
  1. Start the debug tool in MCDExpresso with the debug symbol on the taskbar. Note: I have found the first connection to the debug session often fails with a warning failed to execute MI Command --exec-continue. Canceling this and selecting the debug symbol again correctly starts the debugger.
  2. FreeRTOS information can be viewed from the RTOS > Task List from the top menu. This will refresh after pausing the debugger or reaching a breakpoint.

References

https://mcuoneclipse.com/2019/09/22/eclipse-jtag-debugging-the-esp32-with-a-segger-j-link/