From ea49af9c537a53d31752ae34e4cda479d821f7c4 Mon Sep 17 00:00:00 2001
From: neo <germano.girardi@neosystems.it>
Date: Thu, 2 May 2024 21:41:04 +0200
Subject: [PATCH] dev flash

---
 .gitignore                                      | 2 ++
 boards/ark/fmu-v6x/nuttx-config/include/board.h | 3 ++-
 build.sh                                        | 4 +++-
 cmake/px4_add_common_flags.cmake                | 1 +
 gdb_upload.sh                                   | 9 +++++++++
 ocd.sh                                          | 2 ++
 6 files changed, 19 insertions(+), 2 deletions(-)
 create mode 100755 gdb_upload.sh
 create mode 100755 ocd.sh

diff --git a/.gitignore b/.gitignore
index 165a8e3..fb7f86d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
 
 # colcon
 log/
+
+venv/
diff --git a/boards/ark/fmu-v6x/nuttx-config/include/board.h b/boards/ark/fmu-v6x/nuttx-config/include/board.h
index b29b8fc..70dcd64 100644
--- a/boards/ark/fmu-v6x/nuttx-config/include/board.h
+++ b/boards/ark/fmu-v6x/nuttx-config/include/board.h
@@ -93,7 +93,8 @@
  *   CPUCLK <= 480 MHz
  */
 
-#define STM32_BOARD_USEHSE
+//#define STM32_BOARD_USEHSE
+#define STM32_BOARD_USEHSI
 
 #define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
 
diff --git a/build.sh b/build.sh
index c8c23dd..88cba5a 100755
--- a/build.sh
+++ b/build.sh
@@ -2,4 +2,6 @@
 
 rm -rf build/
 git submodule update --recursive
-make px4_fmu-v6x_default
\ No newline at end of file
+make px4_fmu-v6x_default
+#make px4_fmu-v6c_default
+#make px4_fmu-v6c_bootloader
\ No newline at end of file
diff --git a/cmake/px4_add_common_flags.cmake b/cmake/px4_add_common_flags.cmake
index 7f0b746..fc6107a 100644
--- a/cmake/px4_add_common_flags.cmake
+++ b/cmake/px4_add_common_flags.cmake
@@ -91,6 +91,7 @@ function(px4_add_common_flags)
 		-Wno-unused-parameter
 		-Wno-uninitialized
 		-Wno-dangling-pointer
+		#-Wno-address
 		)
 
 	# compiler specific flags
diff --git a/gdb_upload.sh b/gdb_upload.sh
new file mode 100755
index 0000000..7d17690
--- /dev/null
+++ b/gdb_upload.sh
@@ -0,0 +1,9 @@
+#!/bin/bash -xe
+
+#gdb-multiarch --exec build/px4_fmu-v6c_bootloader/px4_fmu-v6c_bootloader.elf \
+gdb-multiarch --exec build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf \
+-ex "set architecture armv7" -ex "target extended-remote :3333" \
+-ex "monitor reset halt" \
+-ex "set mem inaccessible-by-default off" \
+-ex "load" \
+-ex "run"
diff --git a/ocd.sh b/ocd.sh
new file mode 100755
index 0000000..7fd4c95
--- /dev/null
+++ b/ocd.sh
@@ -0,0 +1,2 @@
+#!/bin/bash -xe
+openocd -f interface/stlink.cfg -f target/stm32h7x.cfg