Added io debug target.

Makefile

@@ -110,7 +110,7 @@ clean:
 	rm -rf build_*/
 
 # targets handled by cmake
-cmake_targets = test upload package package_source debug check_weak
+cmake_targets = test upload package package_source debug debug_io check_weak
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean

cmake/toolchains/Toolchain-arm-none-eabi.cmake

@@ -37,7 +37,7 @@ endif()
 cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
 
 # compiler tools
-foreach(tool objcopy nm ld gdb)
+foreach(tool objcopy nm ld gdb gdbtui)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} arm-none-eabi-${tool})
 	if(NOT ${TOOL})

src/firmware/nuttx/CMakeLists.txt

@@ -56,7 +56,14 @@ if(NOT ${BOARD} STREQUAL "sim")
 	configure_file(gdbinit.in .gdbinit)
 
 	add_custom_target(debug
-		COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		COMMAND ${GDBTUI} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
+
+	add_custom_target(debug_io
+		COMMAND ${GDBTUI}
+			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)