+ invoke, pfd, - dlcpro-fw-file

vimfiles.stefan/plugin/toptica.vim

@@ -1,4 +1,5 @@
 command -nargs=1 -complete=dir DlcPro call s:ProjectSet('dlcpro', '<args>')
+command -nargs=1 -complete=dir DlcProOld call s:ProjectSet('dlcpro-old', '<args>')
 command -nargs=1 -complete=dir DlcProShg call s:ProjectSet('shg', '<args>')
 command -nargs=1 -complete=dir DlcProGui call s:ProjectSet('dlcpro-gui', '<args>')
 command -nargs=1 -complete=dir DlcProTui call s:ProjectSet('dlcpro-tui', '<args>')
@@ -6,10 +7,13 @@ command -nargs=1 -complete=dir DlcProTuiSimulator call s:ProjectSet('dlcpro-tui-
 command -nargs=1 -complete=dir DlcProCan call s:ProjectSet('dlcpro-can', '<args>')
 command -nargs=1 -complete=dir DlcProSpecalyser call s:ProjectSet('dlcpro-specalyser', '<args>')
 command -nargs=1 -complete=dir Topmode call s:ProjectSet('topmode', '<args>')
+command -nargs=1 -complete=dir TopmodeOld call s:ProjectSet('topmode-old', '<args>')
 command -nargs=1 -complete=dir TopmodeGui call s:ProjectSet('topmode-gui', '<args>')
+command -nargs=1 -complete=dir TopmodeGuiOld call s:ProjectSet('topmode-gui-old', '<args>')
 command -nargs=1 -complete=dir DigiFalc call s:ProjectSet('digifalc', '<args>')
 command -nargs=1 -complete=dir ServoBoard call s:ProjectSet('servoboard', '<args>')
 command -nargs=1 -complete=dir DlMotor call s:ProjectSet('dl-motor', '<args>')
+command -nargs=1 -complete=dir Pfd call s:ProjectSet('pfd', '<args>')
 command -nargs=1 -complete=dir OperationPanelF1 call s:ProjectSet('operation-panel-f1', '<args>')
 command -nargs=1 -complete=dir OperationPanelF4 call s:ProjectSet('operation-panel-f4', '<args>')
 command -nargs=1 -complete=dir DeCoF call s:ProjectSet('decof', '<args>')
@@ -37,6 +41,8 @@ function! s:ProjectSet(project_type, project_base_dir)
         " defaults
         if (g:project_type == 'dlcpro')
             let s:ProjectBaseDir = '/home/stefan/dlcpro/firmware'
+        elseif (g:project_type == 'dlcpro-old')
+            let s:ProjectBaseDir = '/home/stefan/dlcpro/firmware'
         elseif (g:project_type == 'dlcpro-tui')
             let s:ProjectBaseDir = '/home/stefan/dlcpro/firmware'
         elseif (g:project_type == 'dlcpro-tui-simulator')
@@ -51,14 +57,20 @@ function! s:ProjectSet(project_type, project_base_dir)
             let s:ProjectBaseDir = '/home/stefan/dlcpro/pc-gui'
         elseif (g:project_type == 'topmode')
             let s:ProjectBaseDir = '/home/stefan/topmode/firmware'
+        elseif (g:project_type == 'topmode-old')
+            let s:ProjectBaseDir = '/home/stefan/topmode/firmware'
         elseif (g:project_type == 'topmode-gui')
             let s:ProjectBaseDir = '/home/stefan/topmode/pc-gui'
+        elseif (g:project_type == 'topmode-gui-old')
+            let s:ProjectBaseDir = '/home/stefan/topmode/pc-gui'
         elseif (g:project_type == 'digifalc')
             let s:ProjectBaseDir = '/home/stefan/dlcpro/falc/firmware'
         elseif (g:project_type == 'servoboard')
             let s:ProjectBaseDir = '/home/stefan/dlcpro/mta/firmware'
         elseif (g:project_type == 'dl-motor')
             let s:ProjectBaseDir = '/home/stefan/dlcpro/dl-motor'
+        elseif (g:project_type == 'pfd')
+            let s:ProjectBaseDir = '/home/stefan/dlcpro/pfd/firmware'
         else
             echo "no project"
         endif
@@ -76,26 +88,34 @@ function! s:ProjectSet(project_type, project_base_dir)
                 \'gcc-12.3.1-glibc-2.33-binutils-2.39-kernel-5.4-sanitized/'
 
     function! s:set_oselas_gcc4()
-        let g:GccRoot = s:oselas_gcc4_root
+        if s:use_invoke
-        " let g:termdebugger = s:oselas_gcc4_root . 'bin/'.s:oselas_gcc4_lastname.'-gdb'
+            let g:new_compiler = v:false
-        let g:termdebugger = s:oselas_gcc_root . 'bin/'.s:oselas_gcc_lastname.'-gdb'
+        else
-        let g:oselas_gcc_solib_paths = s:oselas_gcc4_root.'/'.s:oselas_gcc4_lastname.'/lib/'.':'.
+            let g:GccRoot = s:oselas_gcc4_root
-                    \ s:oselas_gcc4_root.'/sysroot-'.s:oselas_gcc4_lastname.'/lib/'.':'.
+            " let g:termdebugger = s:oselas_gcc4_root . 'bin/'.s:oselas_gcc4_lastname.'-gdb'
-                    \ s:oselas_gcc4_root.'/sysroot-'.s:oselas_gcc4_lastname.'/usr/lib/'
+            let g:termdebugger = s:oselas_gcc_root . 'bin/'.s:oselas_gcc_lastname.'-gdb'
-        " let $PATH = s:oselas_gcc4_root.'/sysroot-'.s:oselas_gcc4_lastname.'/usr/include'.':'.s:path_orig
+            let g:oselas_gcc_solib_paths = s:oselas_gcc4_root.'/'.s:oselas_gcc4_lastname.'/lib/'.':'.
-        let g:analyser = s:oselas_gcc_root . 'bin/'.s:oselas_gcc_lastname.'-gcc'
+                        \ s:oselas_gcc4_root.'/sysroot-'.s:oselas_gcc4_lastname.'/lib/'.':'.
-        let g:new_compiler = ' -DNEW_COMPILER=OFF'
+                        \ s:oselas_gcc4_root.'/sysroot-'.s:oselas_gcc4_lastname.'/usr/lib/'
+            " let $PATH = s:oselas_gcc4_root.'/sysroot-'.s:oselas_gcc4_lastname.'/usr/include'.':'.s:path_orig
+            let g:analyser = s:oselas_gcc_root . 'bin/'.s:oselas_gcc_lastname.'-gcc'
+            let g:dnew_compiler = ' -DNEW_COMPILER=OFF'
+        endif
     endfunction
 
     function! s:set_oselas_gcc()
-        let g:GccRoot = s:oselas_gcc_root
+        if s:use_invoke
-        let g:termdebugger = s:oselas_gcc_root . 'bin/'.s:oselas_gcc_lastname.'-gdb'
+            let g:new_compiler = v:true
-        let g:oselas_gcc_solib_paths =  s:oselas_gcc_root.'/'.s:oselas_gcc_lastname.'/lib/'.':'.
+        else
-                    \ s:oselas_gcc_root.'/sysroot-'.s:oselas_gcc_lastname.'/lib/'.':'.
+            let g:GccRoot = s:oselas_gcc_root
-                    \ s:oselas_gcc_root.'/sysroot-'.s:oselas_gcc_lastname.'/usr/lib/'
+            let g:termdebugger = s:oselas_gcc_root . 'bin/'.s:oselas_gcc_lastname.'-gdb'
-        " let $PATH = s:oselas_gcc_root.'/sysroot-'.s:oselas_gcc_lastname.'/usr/include'.':'.s:path_orig
+            let g:oselas_gcc_solib_paths =  s:oselas_gcc_root.'/'.s:oselas_gcc_lastname.'/lib/'.':'.
-        let g:analyser = s:oselas_gcc4_root . 'bin/'.s:oselas_gcc4_lastname.'-gcc'
+                        \ s:oselas_gcc_root.'/sysroot-'.s:oselas_gcc_lastname.'/lib/'.':'.
-        let g:new_compiler = ' -DNEW_COMPILER=ON'
+                        \ s:oselas_gcc_root.'/sysroot-'.s:oselas_gcc_lastname.'/usr/lib/'
+            " let $PATH = s:oselas_gcc_root.'/sysroot-'.s:oselas_gcc_lastname.'/usr/include'.':'.s:path_orig
+            let g:analyser = s:oselas_gcc4_root . 'bin/'.s:oselas_gcc4_lastname.'-gcc'
+            let g:dnew_compiler = ' -DNEW_COMPILER=ON'
+        endif
     endfunction
 
     function! g:Compiler_version()
@@ -115,9 +135,23 @@ function! s:ProjectSet(project_type, project_base_dir)
     execute 'set path-=./**'
     execute 'set path+=' .  s:ProjectSrcDir.'/**'
     execute 'set path+=' .  g:ProjectBuildDir.'/**'
-    let s:jlink_path = '/home/stefan/opt/SEGGER/JLink_Linux_V654a_x86_64'
+    let s:jlink_path = '/home/stefan/opt/SEGGER/JLink_Linux_V796k_x86_64'
+
+    let s:use_invoke = v:false
 
     if (g:project_type == 'dlcpro')
+        let s:use_invoke = v:true
+        set wildignore-=**/firmware/src/device-control/**
+        set wildignore+=**/shg-firmware/**
+        " set titlestring=%<%t\ (%{expand('%:p:h')})%=compiler:\ %{Compiler_version()}
+        let g:DeviceIP = 'dlc_pro__040083'
+        call s:set_oselas_gcc()
+        let g:termdebugger = '/opt/OSELAS.Toolchain-2022.10.2/arm-v7a-linux-gnueabihf/gcc-12.3.1-glibc-2.33-binutils-2.39-kernel-5.4-sanitized/bin/arm-v7a-linux-gnueabihf-gdb'
+        let g:DebugRemote = v:true
+        command DlcproEmissionOn call s:DlcproEmission('1')
+        command DlcproEmissionOff call s:DlcproEmission('0')
+        command DlcproShutup call s:DlcproShutup()
+    elseif (g:project_type == 'dlcpro-old')
         let s:Program = '/device-control/device-control'
         let s:Elffile = s:Program
         let g:ProgramRemote = '/opt/app/bin/device-control'
@@ -200,6 +234,12 @@ function! s:ProjectSet(project_type, project_base_dir)
         let g:termdebugger = 'gdb'
         let g:DebugRemote = v:false
     elseif (g:project_type == 'topmode')
+        let s:use_invoke = v:true
+        let g:DeviceIP = 'topmode_stefan'
+        call s:set_oselas_gcc4()
+        let g:termdebugger = '/opt/OSELAS.Toolchain-2022.10.2/arm-v7a-linux-gnueabihf/gcc-12.3.1-glibc-2.33-binutils-2.39-kernel-5.4-sanitized/bin/arm-v7a-linux-gnueabihf-gdb'
+        let g:DebugRemote = v:true
+    elseif (g:project_type == 'topmode-old')
         let s:Program = '/topmode'
         let s:Elffile = s:Program
         let g:ProgramRemote = '/usr/toptica/topmode'
@@ -213,6 +253,10 @@ function! s:ProjectSet(project_type, project_base_dir)
         let g:SshOpts2 = ""
         call s:set_oselas_gcc4()
     elseif (g:project_type == 'topmode-gui')
+        let s:use_invoke = v:true
+        let g:new_compiler = v:false
+        let g:DebugRemote = v:false
+    elseif (g:project_type == 'topmode-gui-old')
         let s:Program = '/TOPAS_Topmode'
         let s:Elffile = s:Program
         let s:makegoals = []
@@ -249,6 +293,18 @@ function! s:ProjectSet(project_type, project_base_dir)
         let g:GccRoot = '/home/stefan/opt/gcc/gcc-arm-none-eabi-9-2020-q2-update'
         let g:termdebugger = g:GccRoot.'/bin/arm-none-eabi-gdb'
         let $PATH = g:GccRoot.'/bin'.':'.s:path_orig
+    elseif (g:project_type == 'pfd')
+        let s:use_invoke = v:true
+        let g:ProjectBuildDir = s:ProjectSrcDir.'/.build/target/firmware/Debug'
+        let s:Program = '/pfd-firmware.bin'
+        let s:Elffile = '/pfd-firmware.elf'
+        let s:makegoals = ['cmake', 'build', 'unit_tests', 'cdd', 'cubemx', 'jlink', 'gdb']
+        let s:makeprg = 'invoke -e build'
+        let g:DebugRemote = v:true
+        let g:GdbPort = '2331'
+        let g:GccRoot = '/home/stefan/opt/gcc/gcc-arm-none-eabi-10.3-2021.10'
+        let g:termdebugger = g:GccRoot.'/bin/arm-none-eabi-gdb'
+        let $PATH = g:GccRoot.'/bin'.':'.s:jlink_path.':'.s:path_orig
     elseif (g:project_type == 'operation-panel-f1')
         let g:stm32_target = 'STM32F10X'
         let s:Program = '/firmware/operation_panel_'.g:stm32_target.'.bin'
@@ -325,9 +381,11 @@ function! s:ProjectSet(project_type, project_base_dir)
     augroup END
 
     function! s:DeviceFirmwareUpdate()
-        if (g:project_type == 'dlcpro-can')
+        if s:use_invoke
+            execute "!invoke -e flash-and-run --target-ip ".g:DeviceIP
+        elseif (g:project_type == 'dlcpro-can')
             call s:DeviceUpdateProgramLinux()
-        elseif ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
+        elseif ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor') || (g:project_type == 'pfd'))
             call s:JLinkFlashProgram()
         else
             call s:DeviceFirmwareUpdateStartLinux()
@@ -362,14 +420,29 @@ endfunction
 " Make
 " ====
 function! GetAllMakeCompletions(ArgLead, CmdLine, CursorPos)
-    return join(s:makegoals + s:makeopts + glob(a:ArgLead.'*', 1, 1), "\n")
+    if s:use_invoke
+        let l:makegoals = split(system('invoke targets'))
+        let l:invoke_targets = ['--target']
+        return join(l:makegoals + l:invoke_targets + glob(a:ArgLead.'*', 1, 1), "\n")
+    else
+        return join(s:makegoals + s:makeopts + glob(a:ArgLead.'*', 1, 1), "\n")
+    endif
 endfunction
 
 function! s:Make(args, async_mode)
-    let &makeprg = s:makeprg
     call asyncrun#quickfix_toggle(10, 1)
-"    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -program=make @ --directory='.g:ProjectBuildDir.' '.a:args
+    if s:use_invoke
-    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -program=make -cwd='.g:ProjectBuildDir. ' @ '.a:args
+        " let l:makeprg = 'invoke -e build --project '.g:project_type
+        let l:makeprg = 'invoke -e build'
+        if g:new_compiler
+            let l:makeprg .= ' --new-compiler'
+        endif
+        let &makeprg = l:makeprg
+        execute 'AsyncRun -mode='.a:async_mode.' -save=2 -program=make @ '.a:args
+    else
+        let &makeprg = s:makeprg
+        execute 'AsyncRun -mode='.a:async_mode.' -save=2 -program=make -cwd='.g:ProjectBuildDir. ' @ '.a:args
+    endif
 endfunction
 
 function! s:MakeTestBuild()
@@ -396,41 +469,52 @@ function! s:MakeCheck(filename, async_mode)
 endfunction
 
 function! s:Cmake(options, async_mode)
-    if !isdirectory(g:ProjectBuildDir)
+    if s:use_invoke
-        call mkdir(g:ProjectBuildDir)
+        let l:options = a:options.' --project '.g:project_type
+        if g:new_compiler
+            let l:options .= ' --new-compiler'
+        else
+            let l:options .= ' --no-new-compiler'
+        endif
+        execute '!echo "invoke cmake '.l:options.'"'
+        execute 'AsyncRun -mode='.a:async_mode.' -save=2 @ invoke -e cmake '.l:options
+    else
+        if !isdirectory(g:ProjectBuildDir)
+            call mkdir(g:ProjectBuildDir)
+        endif
+        execute "!rm -f ".g:ProjectBuildDir."/cmake-cmd*"
+        call asyncrun#quickfix_toggle(10, 1)
+        let args = ""
+        let args .= " ../".g:ProjectSrcDirRel."/"
+        if (g:project_type == 'decof')
+            let args .= "/targets/simulator"
+        endif
+        let args .= " --graphviz=dependencies.dot"
+        let args .= " ".a:options
+        let args .= " -DCMAKE_EXPORT_COMPILE_COMMANDS=1"
+        if ((g:project_type == 'dlcpro-old') || (g:project_type == 'dlcpro-tui'))
+            let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/Toolchain-target.cmake"
+            let args .= " -DBUILD_TARGET=target"
+            let args .= g:dnew_compiler
+        elseif (g:project_type == 'dlcpro-tui-simulator')
+            let args .= " -DBUILD_TARGET=simulation"
+            let args .= " -DQT5_INSTALL_PATH=/usr/lib/x86_64-linux-gnu/qt5"
+        elseif (g:project_type == 'topmode')
+            let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/Toolchain-target.cmake"
+            let args .= " -DSYSROOT=~/topmode/topmode-sdk/sysroot-target"
+        elseif (g:project_type == 'topmode-gui')
+        elseif ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
+            let args .= " -G Ninja"
+            let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/GNU\\ Arm\\ Embedded.toolchain.cmake"
+        elseif ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
+            let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/gnu-arm-none-eabi.toolchain.cmake"
+            let args .= " -DOPC_TARGET=".g:stm32_target
+        elseif (g:project_type == 'decof')
+            let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/ci/Toolchain-dlcpro-target.cmake"
+        endif
+        execute '!echo "cmake '.args.'" > ' g:ProjectBuildDir."/cmake_cmd"
+        execute 'AsyncRun -mode='.a:async_mode.' -save=2 -cwd='.g:ProjectBuildDir.' @ cmake '.args
     endif
-    execute "!rm -f ".g:ProjectBuildDir."/cmake-cmd*"
-    call asyncrun#quickfix_toggle(10, 1)
-    let args = ""
-    let args .= " ../".g:ProjectSrcDirRel."/"
-    if (g:project_type == 'decof')
-        let args .= "/targets/simulator"
-    endif
-    let args .= " --graphviz=dependencies.dot"
-    let args .= " ".a:options
-    let args .= " -DCMAKE_EXPORT_COMPILE_COMMANDS=1"
-    if ((g:project_type == 'dlcpro') || (g:project_type == 'dlcpro-tui'))
-        let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/Toolchain-target.cmake"
-        let args .= " -DBUILD_TARGET=target"
-        let args .= g:new_compiler
-    elseif (g:project_type == 'dlcpro-tui-simulator')
-        let args .= " -DBUILD_TARGET=simulation"
-        let args .= " -DQT5_INSTALL_PATH=/usr/lib/x86_64-linux-gnu/qt5"
-    elseif (g:project_type == 'topmode')
-        let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/Toolchain-target.cmake"
-        let args .= " -DSYSROOT=~/topmode/topmode-sdk/sysroot-target"
-    elseif (g:project_type == 'topmode-gui')
-    elseif ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
-        let args .= " -G Ninja"
-        let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/GNU\\ Arm\\ Embedded.toolchain.cmake"
-    elseif ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
-        let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/gnu-arm-none-eabi.toolchain.cmake"
-        let args .= " -DOPC_TARGET=".g:stm32_target
-    elseif (g:project_type == 'decof')
-        let args .= " -DCMAKE_TOOLCHAIN_FILE=../".g:ProjectSrcDirRel."/ci/Toolchain-dlcpro-target.cmake"
-    endif
-    execute '!echo "cmake '.args.'" > ' g:ProjectBuildDir."/cmake_cmd"
-    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -cwd='.g:ProjectBuildDir.' @ cmake '.args
 endfunction
 
 function! s:Ctest(args, async_mode)
@@ -544,7 +628,12 @@ function! s:DeviceFirmwareUpdateStartLinux()
 endfunction
 
 function! s:DeviceStartGdbServer()
-    if ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
+    if (g:project_type == 'pfd')
+        call system('killall --quiet JLinkGDBServer')
+        call s:Call_and_log('invoke -e jlink&')
+        autocmd User TermdebugStopPost call system('killall --quiet JLinkGDBServer')
+        sleep 1
+    elseif ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
         call s:Call_and_log('pkill --full JLinkGDBServer')
         call s:Call_and_log(s:jlink_path.'/JLinkGDBServer -if SWD -device STM32H743ZI &')
     elseif ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
@@ -558,7 +647,7 @@ function! s:DeviceStartGdbServer()
 endfunction
 
 function! s:DeviceStartGdbServerAttach()
-    if ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
+    if ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor') || (g:project_type == 'pfd'))
     else
         call s:Call_and_log('pkill --full gdbserver')
         call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' -L localhost:'.g:GdbPort.':localhost:'.g:GdbPort.' "root@'.g:DeviceIP.'" '.g:SshOpts2.' "gdbserver localhost:'.g:GdbPort.' --attach \`pidof '.fnamemodify(g:ProgramRemote, ':t').'\` &"')
@@ -600,52 +689,66 @@ endfunction
 
 let g:DlcproBasePath = "/jenkins/workspace/pro--firmware_release_1.9.0-DCESJ5C5R577IG5QFEWTML22UFDDZCJDGFLMDA4DCD3V2ZAGVEJA/source/"
 function! s:DeviceDebug(attach)
-    if (a:attach == 0)
+    if s:use_invoke
-"        let r = s:DeviceFirmwareUpdate()
+        if v:DebugRemote
-        let r = 0
+            execute "!invoke -e gdb-server --target-ip=".g:DeviceIP
-        if (r != 0)
+            autocmd! User TermdebugStartPost
-            echoerr "DeviceFirmwareUpdate() failed!"
+            autocmd! User TermdebugStopPost
-        else
+            autocmd User TermdebugStartPost call term_sendkeys('',"source gdb-connect.txt\n")
-            if (g:DebugRemote == v:false)
+            autocmd User TermdebugStopPost call system('pkill --full gdbserver')
-                call s:StartDebugger(g:Elffile, a:attach)
-                call s:SendToDebugger('file '.g:Elffile)
-                call s:SendToDebugger('break main')
-                call s:SendToDebugger('run')
-            else
-                call s:DeviceStartGdbServer()
-                sleep 1
-                call s:StartDebugger(g:Elffile, a:attach)
-                sleep 1
-                call s:SendToDebugger('target extended-remote localhost:'.g:GdbPort)
-                sleep 1
-                if exists("g:ProgramRemote")
-                    call s:SendToDebugger('set remote exec-file '.g:ProgramRemote)
-                    sleep 1
-                endif
-                call s:SendToDebugger('file '.g:Elffile)
-                call s:SendToDebugger('set solib-search-path '. g:oselas_gcc_solib_paths)
-                if ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
-                    call s:SendToDebugger('y')
-                    call s:SendToDebugger('monitor reset')
-                    call s:SendToDebugger('load')
-                    call s:SendToDebugger('break main')
-                else
-                    call s:SendToDebugger('break main')
-                    sleep 1
-                    call s:SendToDebugger('run')
-                endif
-                execute '2hide'
-            endif
         endif
+        Termdebug
     else
-        call s:DeviceStartGdbServerAttach()
+        if (a:attach == 0)
-        call s:StartDebugger(a:attach)
+    "        let r = s:DeviceFirmwareUpdate()
-        call s:SendToDebugger('target remote localhost:'.g:GdbPort)
+            let r = 0
-        " get remote src path with gdb: info sources or gdb: break main
+            if (r != 0)
-        call s:SendToDebugger('set substitute-path '.g:DlcproBasePath.' '.s:ProjectSrcDir)
+                echoerr "DeviceFirmwareUpdate() failed!"
-    endif
+            else
+                if (g:DebugRemote == v:false)
+                    call s:StartDebugger(g:Elffile, a:attach)
+                    call s:SendToDebugger('file '.g:Elffile)
+                    call s:SendToDebugger('break main')
+                    call s:SendToDebugger('run')
+                else
+                    call s:DeviceStartGdbServer()
+                    sleep 1
+                    call s:StartDebugger(g:Elffile, a:attach)
+                    sleep 1
+                    call s:SendToDebugger('target extended-remote localhost:'.g:GdbPort)
+                    sleep 1
+                    if exists("g:ProgramRemote")
+                        call s:SendToDebugger('set remote exec-file '.g:ProgramRemote)
+                        sleep 1
+                    endif
+                    call s:SendToDebugger('file '.g:Elffile)
+                    if (g:project_type != 'pfd')
+                        call s:SendToDebugger('set solib-search-path '. g:oselas_gcc_solib_paths)
+                    endif
+                    if ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
+                        call s:SendToDebugger('y')
+                        call s:SendToDebugger('monitor reset')
+                        call s:SendToDebugger('load')
+                        call s:SendToDebugger('break main')
+                    else
+                        call s:SendToDebugger('break main')
+                        sleep 1
+                        call s:SendToDebugger('run')
+                    endif
+                    " Close Program window
+                    execute '2hide'
+                endif
+            endif
+        else
+            call s:DeviceStartGdbServerAttach()
+            call s:StartDebugger(a:attach)
+            call s:SendToDebugger('target remote localhost:'.g:GdbPort)
+            " get remote src path with gdb: info sources or gdb: break main
+            call s:SendToDebugger('set substitute-path '.g:DlcproBasePath.' '.s:ProjectSrcDir)
+        endif
 
-"    call s:SendToDebugger('set can-use-hw-watchpoints 0')
+    "    call s:SendToDebugger('set can-use-hw-watchpoints 0')
+    endif
 endfunction
 
 " ================
@@ -723,8 +826,6 @@ function! s:DlcproRegtestCmd(ip, powerswitch_ip, powerplug, laser_count, laser_t
                 \"--powerswitch_passwd=nimda ".
                 \"--power_plug=".a:powerplug." ".
                 \"--power_plug_fan=8"." ".
-                \"--version_file=".archive_dir."/VERSION ".
-                \"--firmware_file=".archive_dir."/DLCpro-archive.fw ".
                 \"--license_tool=".licensetool." ".
                 \"--license_keyfile=".s:ProjectSrcDir."/license/libdlcprolicense/rsa-private.key ".
                 \"--log-cli-level=INFO "