Connecting a debugger

There are two interfaces which can be used to program the MR-CANHUBK344

Connecting a debugger

Mobile Robotics boards typically include a DroneCode standard programming adapter to connect to your MR-CANHUBK344. The kit (depending on version) omes with a DCD-LZ breakout board. This port combines the SWD and debug console UART into a single connector.

The MCU-LINK-MR can be used in place of a JLINK and it also includes this same DCD-LZ (UART+SWD) connection integrated with a low cost debugger.

The UART is generally used as a debugging console for RTOS' like Zephyr or PX4.

The image below displays how the debugger can be connected. The first image shows the DCD-LZ breakout board which combines the programming and a console UART into one connector. The second shows an alternative way of connecting a programmer via a standard 10 pin JTAG/SWD header.

How to connect the programmer to the MR-CANHUBK3 using DCD-LZ adapter and DCD-LZ port

Alternative programming connector without DCD-LZ. Direct connection of JLINK to standard JTAG/SWD header.