create jlink gdb upload script and use in Jenkins Hardware pipeline

platforms/nuttx/CMakeLists.txt

@@ -349,27 +349,24 @@ if(black_magic_probe_path)
 endif()
 
 add_custom_target(jlink_upload
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
-	COMMAND ${GDB} --nx --batch
-		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-		-ex 'target remote localhost:2331'
-		-ex 'monitor reset'
-		-ex 'load'
-		-ex 'kill'
-		$<TARGET_FILE:px4>
-	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_upload.sh $<TARGET_FILE:px4>
+	DEPENDS px4
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
 
 add_custom_target(jlink_debug
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
-	COMMAND ${GDB} --nh
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
+	COMMAND ${GDB} -nh
 		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
 		-ex 'target remote localhost:2331'
-		-ex 'monitor reset'
+		-ex 'monitor reset 0'
 		-ex 'load'
-		-ex 'monitor reset'
+		-ex 'compare-sections'
+		-ex 'monitor reset 0'
+		-ex 'monitor sleep 1000'
+		-ex 'monitor go'
 		-ex 'continue'
 		$<TARGET_FILE:px4>
 	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit

platforms/nuttx/Debug/gdbinit.in

@@ -1,6 +1,11 @@
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/PX4
+help px4
+
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/NuttX
+help nuttx
+
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/ARMv7M
+help armv7m
 
 set mem inaccessible-by-default off
 

platforms/nuttx/Debug/jlink.sh

@@ -1,3 +0,0 @@
-#! /bin/sh
-
-JLinkGDBServerCLExe -startserver -USB -device Cortex-M4 -if SWD -speed auto > jlink.log &

platforms/nuttx/Debug/jlink_gdb_start.sh

@@ -0,0 +1,7 @@
+#! /bin/sh
+
+killall JLinkGDBServerCLExe
+
+# TODO: set device from nuttx config
+# eg CONFIG_ARCH_CHIP_STM32F427V or CONFIG_STM32_STM32F427
+JLinkGDBServerCLExe -device STM32F427II -select usb -silent -endian little -if SWD -speed auto -ir -LocalhostOnly 1 -strict -vd -singlerun &

platforms/nuttx/Debug/jlink_gdb_upload.sh

@@ -0,0 +1,12 @@
+#! /bin/sh
+
+gdb-multiarch -nx -batch \
+	-ex "target remote localhost:2331" \
+	-ex "monitor reset 0" \
+	-ex "load" \
+	-ex "compare-sections" \
+	-ex "monitor reset 0" \
+	-ex "monitor sleep 1000" \
+	-ex "monitor go" \
+	-ex "kill" \
+	${1}