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docs: Codespell check on English sources + swd fixes (#26657)

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Hamish Willee
2026-03-05 12:50:59 +11:00
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docs/en/debug/swd_debug.md
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@@ -1,6 +1,6 @@
# SWD Debug Port
PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Ouput (SWO)_][itm] and [_TRACE_ pins][etm].
PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Output (SWO)_][itm] and [_TRACE_ pins][etm].
The SWD debug interface allows direct, low-level, hardware access to the microcontroller's processor and peripherals, so it does not depend on any software on the device.
Therefore it can be used to debug bootloaders and operating systems such as NuttX.
@@ -27,9 +27,7 @@ The SWO pin can emit low-overhead, real-time profiling data with nanosecond time
The TRACE pins require specialized debug probes to deal with the high bandwidth and subsequent datastream decoding.
They are usually not accessible and are typically only used to debug very specific timing issues.
<a id="debug-ports"></a>
## Autopilot Debug Ports
## Autopilot Debug Ports {#debug-ports}
Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
@@ -40,40 +38,52 @@ The debug port location and pinouts for a subset of autopilots are linked below:
<a id="port-information"></a>
| Autopilot | Debug Port |
| :---------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Holybro Pixhawk 6X-RT (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| Holybro Pixhawk 6X (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| Holybro Pixhawk 5X (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Kakute F7](../flight_controller/kakutef7.md#debug-port) | Solder pads |
| [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md#debug-port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Drotek Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md#debug-port) (FMU-v4pro) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | 6-pin JST GH<br>Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) |
| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH<br>Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) |
| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). |
| Autopilot | Debug Port |
| :----------------------------------------------------------------------------------- | :---------------------------------------- |
| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console |
| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console |
| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console |
| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable |
| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable |
| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] |
| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] |
| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. |
| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] |
| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) |
| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | |
<a id="pixhawk-standard-debug-ports"></a>
## Pixhawk Connector Standard Debug Ports
## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports}
The Pixhawk project has defines a standard pinout and connector type for different Pixhawk FMU releases:
:::tip
::: tip
Check your [specific board](#port-information) to confirm the port used.
:::
| FMU Version | Pixhawk Version | Debug Port |
| :---------- | :-------------------------------------------------------------- | :---------------------------------------- |
| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug |
| FMUv3 | Pixhawk 2 | 6 pin SUR Debug |
| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMU Version | Pixhawk Version | Debug Port |
| :---------- | :------------------ | :---------------------------------------- |
| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug |
| FMUv3 | Pixhawk 2 | 6 pin SUR Debug |
| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) |
| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) |
::: info
There FMU and Pixhawk versions are (only) consistent after FMUv5X.
@@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi
![10-pin JST SH Cable](../../assets/debug/cable_10pin_jst_sh.jpg)
<a id="debug-probes"></a>
## Debug Probes for PX4 Hardware
## Debug Probes for PX4 Hardware {#debug-probes}
Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
@@ -217,5 +225,3 @@ This reduces the risk or poor wiring contributing to debugging problems, and has
[swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP-
[itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en
[etm]: https://developer.arm.com/documentation/ihi0064/latest/
[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804
[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790