Initial Setup

1. This is a zephyr module that contains an application. To set up your Zephyr workspace, follow this tutorial: https://docs.zephyrproject.org/latest/develop/getting_started/index.html
2. Once your workspace is set up (i.e. zephyrproject, or whatever you named it), cd into it and clone it: cd zephyrproject, git clone https://...
3. Activate the venv if not already: macOS source .venv/bin/activate, windows depends on your shell, look it up.
   • You will active the venv every time to build from the CLI
4. Navigate into the FALCON module/folder: cd falcon
5. . Build the applicaton (blinkytest, or sensortest, etc.):
   
   • Select a board, either a custom board from this repo's '/boards' folder (check the applications CMakeLists.txt for official board compatibility), or from Zephyrs official supported boards: https://zephyr-docs.listenai.com/boards/index.html
   • Build the application: west build blinkytest -b ubcrocket_fc_2526_r1 -p
6. Connect the board to your computer and flash it: west flash
7. For a nice UI based developer experience, use VS Code with the 'Zephyr IDE Extension Pack' extension

Knowledge

• Zephyr Documentation: https://docs.zephyrproject.org/latest/index.html
• Highly recommend watching this tutorial series (Videos 9, 10, and 11 shouldnt be necessary for this project): https://www.youtube.com/playlist?list=PLEBQazB0HUyTmK2zdwhaf8bLwuEaDH-52

Debugging

Terminal debugging:

Should work out of the box provided your zephyr environment is set up correctly

• It's important that you set the CONFIG_NO_OPTIMIZATIONS=y flag to 'y' in the prj.conf file so that it does not optimize your code and move around the line numbers.
• cd into FALCON, and run west build ...
• run west debug
• This should launch a gdb session from which you can debug (painfully)

VS Code Debugging (with Zephyr IDE extension)

• Install the Cortex-Debug extension
• in the .vscode folder in your root workspace folder (i.e. zephyrproject, or whatever you named it) create a launch.json file and paste the following:

  {
      // Use IntelliSense to learn about possible attributes.
      // Hover to view descriptions of existing attributes.
      // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
      "version": "0.2.0",
      "configurations": [
          {
              "name": "Zephyr IDE: Debug",
              "cwd": "${workspaceFolder}",
              "gdbPath": "${command:zephyr-ide.get-gdb-path}",
              "executable": "${command:zephyr-ide.get-active-build-path}/zephyr/zephyr.elf",
              "request": "launch",
              "type": "cortex-debug",
              "servertype": "pyocd",
              "serverArgs": ["-t", "STM32H563vitx"],
              "interface": "swd",
              "serverpath": "${workspaceFolder}/.venv/bin/pyocd",
          }
      ]
  }
  

• In the root workspace folder create a pyocd.yaml file and paste the following:

  pack:
     - ./FALCON/packs/Keil.STM32H5xx_DFP.2.1.1.pack
  

• From Zephyr IDE create a build for your project with 'No Optimizations' (Debug option does not work for some reason)
• Select that build and press on Build and Debug. This should launch the VS Code Debugger