Add Cortex-Debug config, improve cppdbg

Co-authored-by: Jörg Ebeling <[email protected]>

.devcontainer/Dockerfile

@@ -16,6 +16,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     libasio-dev iproute2 \
     python3 python3-venv python3-pip \
     cmake make \
-    gdb-multiarch
+    gdb-multiarch && \
+    ln -s /usr/bin/nm /usr/bin/nm-multiarch && \
+    ln -s /usr/bin/objdump /usr/bin/objdump-multiarch
 
 USER $USERNAME

.devcontainer/devcontainer.json

@@ -5,7 +5,8 @@
 	"customizations": {
 		"vscode": {
 			"extensions": [
-				"ms-vscode.cpptools-extension-pack"
+				"ms-vscode.cpptools-extension-pack",
+				"marus25.cortex-debug",
 			]
 		}
 	}

.vscode/launch.json

@@ -1,27 +1,57 @@
+// For remote debugging, you need to prepare your CM4 host with a recent OpenOCD version.
+// Simply follow steps 1 and 2 of this description:
+//   https://core.x-tech.online/docs/tutorials/flashing-stm32-from-cm4/
+// Once done, start OpenOCD on your CM4 host via:
+//   openocd -f interface/xcore.cfg -f target/stm32h7x.cfg -c "bindto 0.0.0.0"
+// Also make sure you have the Dev Mode enabled in the bootloader.
 {
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "Debug on STM32",
+            "name": "cppdbg (remote)",
             "type": "cppdbg",
             "request": "launch",
+            "preLaunchTask": "CMake: build",
             "cwd": "${workspaceFolder}",
-            "program": "${workspaceFolder}/build/Debug/openmower.elf",
+            "program": "${command:cmake.launchTargetPath}",
             "postRemoteConnectCommands": [
-                {"text": "load"},
+                {
+                    "text": "-target-download",
+                }
             ],
+            "svdPath": "${workspaceFolder}/cfg/STM32H723.svd",
             "linux": {
                 "MIMode": "gdb",
-                "miDebuggerPath": "/usr/bin/gdb-multiarch",
-                "miDebuggerServerAddress": "${input:hostname}:3333"
+                "miDebuggerPath": "gdb-multiarch",
+                "miDebuggerServerAddress": "${input:target}:3333",
             },
-        }
+        },
+        {
+            "name": "Cortex-Debug (remote)",
+            "type": "cortex-debug",
+            "cwd": "${workspaceFolder}",
+            "request": "launch",
+            "servertype": "external",
+            "gdbPath": "gdb-multiarch",
+            "gdbTarget": "${input:target}:3333",
+            "executable": "${command:cmake.launchTargetPath}",
+            "svdFile": "${workspaceFolder}/cfg/STM32H723.svd",
+            // Rebuild and flash on "Restart", but not on "Reset device".
+            "preLaunchTask": "CMake: build",
+            "preRestartCommands": [
+                "-target-download",
+            ],
+            "preResetCommands": [],
+            "breakAfterReset": false,
+            // Uncomment to break in main before debugging
+            // "runToEntryPoint": "main",
+        },
     ],
     "inputs": [
         {
-            "id": "hostname",
-            "description": "Select OpenMower hostname",
+            "id": "target",
+            "description": "Select hostname where OpenOCD is running",
             "type": "promptString",
         }
-    ]
+    ],
 }