Debugging

This document provides the users with 2 different ways to debug the firmware.

Debugging with Raspberry Pi Debug Probe (Recommended)

The logging is mainly based on probe-rs, defmt and defmt-rtt. There is also a useful blog to learn how to use them very quickly.

Notice: The installation command on the home page of probe-rs doesn't work for me due to some package conflicts. If so you could try following the instructions and install it from source.

You will need a Raspberry Pi Debug Probe(for debugging) and a USB-C Cable(for flashing).
connect the probe properly to the Pololu. If the official probe is used, the connection should be:
```
Yellow(SWDIO) -> SWDIO
Orange(SWCLK)  -> SWCLK
Black(GND)    -> GND
```

Probe-Connections

Then connect both the Pololu and the Debug Probe with the USB-C cable to your PC, and uncomment in config.toml
```
runner = "probe-rs run --chip RP2040 --protocol swd"
```
If you would like to directly observe the debug information in the terminal, run:
```
cargo run --release
```
If you would like to save the logging information into a csv file, run:
```
cargo run --release > file_name.csv
```

OR

flash in bootloader mode and without debug information in the terminal by uncommenting

runner = "elf2uf2-rs -d"

in config.toml and then press "B" and "Reset" on the robot and flash with

cargo run --release

or use the recommended build_system.

The code only prints a test value(constant). When new debug information is needed, use:

info!("New Sensor Data: {}", value);

sudo apt install tio
tio /dev/ttyACM0

(use ctrl+t q to exit)