vMicro version 2.2022.1128
minor version 24
Visual Studio 2022 Community
Windows 10

Hi All

I have existing Arduino code executing on the Mega2560 platform utilizing multiple layers of Serial messages.  Of the 4 available serial ports on the Mega, I am using 0 (Serial) for communicating both with my console, as well as displaying various debugging and other state messages, and 1 (Serial1) for communicating with servos attached to the board.  Serial2, and Serial3 are not in use at this time.

What is the most efficient way to set up GDB debugging to not interfere with the existing serial use while allowing debugging functionality (without having to rewrite a significant amount of code!).

I am currently experiencing the following error when enabling GDB-stub hardware debugging for this code:

Error linking for board ATmega2560 (Mega 2560) (Arduino Mega) (mega_atmega2560)
HardwareSerial0.cpp.o (symbol from plugin)*: In function Serial
(.text+0x0)*: multiple definition of __vector_25
Build failed for project 'TestHarnessServoTranslate'
avr8-stub.c.o (symbol from plugin)*: (.text+0x0): first defined here

Any insights are appreciated

my setup loop:

void setup()
{
  debug_init();
  pinMode(ledPin, OUTPUT); 
   
  // for interfacing with SERVOs 
  Serial1.begin(1000000);
  while (!Serial1) {
    ; // wait for serial port to connect. Needed for Native USB only
  }
  // for serial debug
    Serial.begin(115200); 
    while (!Serial) {
    ; // wait for serial port to connect. Needed for Native USB only
}
 
 
  SERVO.pSerial = &Serial1;  // assign Serial 1 to servos
  delay(500);

  cLog* pLog = cLog::getInstance(); // using singleton pattern  - user Serial (0) by default
   
  pServo = cServo::getInstance(); // using singleton pattern
  pServo->Start(&SERVO);      
  SERVO.EnableTorque(254, 1);

  pHexi = cHexapod::getInstance();
  pHexi->Start();
  digitalWrite(ledPin, HIGH);
}


----

// log.h

#ifndef _LOG_h
#define _LOG_h

#if defined(ARDUINO) && ARDUINO >= 100
  #include "arduino.h"
#else
  #include "WProgram.h"
#endif
//#include "configuration.h"

#define _Trace   5
#define _Debug   4
#define _Info    3
#define _Warn    2
#define _Error   1
#define _GDB     0

extern byte level_log;

class cLog { 
  public:   
    void writeLog(String msg, int code);
    void writeLog(String msg, int attribute, int code);
    void writeLog(String msg, short attribute, int code);
    void writeLog(String msg, double attribute, int code);
    static cLog* getInstance(); // public interface to constructor
    ~cLog(); // destructor
private:
    cLog(); // private constructor
    static cLog* instance; // singleton instance pointer
    int instanceCount;

    void printMsg(int code);
    void printMsg(String msg, int code);
    void printMsg(String msg, int attribute, int code);
    void printMsg(String msg, double attribute, int code);
    
    char* StringToChar(String msg);
};
#endif


---

#ifndef _cSERVO_h
#define _cSERVO_h

#if defined(ARDUINO) && ARDUINO >= 100
  #include "arduino.h"
#else
  #include "WProgram.h"
#endif

#include <SCSCL.h>
#include "log.h"


#define UPPERLIMIT 800  // MAX raw servo position (0-1023)
#define LOWERLIMIT 100  //MIN raw servo position (0-1023)

class cServo 
{
public:
    static cServo* getInstance(); // public singleton class access 
    SCSCL* diagnosticSERVOPointer(); // use RAW servo libraries
    void Start(SCSCL* pServo);
    int ReadPos(int ID);
    int RegWritePos(uint8_t address, uint16_t position, uint16_t time, uint16_t speed = 0); // asynch single servo write: address, position, time, speed = 0 & validate and convert from degrees
    void RegWriteAction(void); // commit writes
    void SyncWritePos(u8 ID[], int moveTransactionsCount, u16 Position[], int Time, u16 Speed[]);
    bool ReadMove(int ID);
    ~cServo();
private:
    static cServo* instance;  // to store singleton instance pointer
    int instanceCount;
    cServo(); // constructor - private to force use of public getInstance()
    SCSCL *pSERVO;
    cLog* pLog; // singleton
    int calcDelay(u16 currentPos, u16 newPos, u16 velocity);
}; //end of class cServo


class cSharedUtils
{
  public:
    static int calcDelay(u16 currentPos, u16 newPos, u16 velocity); // in milliseconds
    static u16 degreesToServoPosition(int degrees);
    static u16 validateUpperLower(u16 newValue);
    static int servoPositionToDegrees(u16 position);
};

#endif

Thanks Tim

Thanks for the information around this, and the workaround.

We had not experienced this issue before with the existing config, however this may be due to us always including the "breakpoint()" line of code at the top of the loop() function when using the GDBStub.

We will review our configurations and amend them to ensure this is resolved for all users.

We are looking to implement something similar using the Peripheral Viewer and SVD file functionality in Visual Studio, however this is still being worked on currently, we will update this thread when there is further information available.