1 \input texinfo @c -*-texinfo-*-
3 @setfilename openocd.info
4 @settitle Open On-Chip Debugger (OpenOCD)
5 @dircategory Development
8 * OpenOCD: (openocd). Open On-Chip Debugger.
17 @item Copyright @copyright{} 2008 The OpenOCD Project
18 @item Copyright @copyright{} 2007-2008 Spencer Oliver @email{spen@@spen-soft.co.uk}
19 @item Copyright @copyright{} 2008 Oyvind Harboe @email{oyvind.harboe@@zylin.com}
20 @item Copyright @copyright{} 2008 Duane Ellis @email{openocd@@duaneellis.com}
24 Permission is granted to copy, distribute and/or modify this document
25 under the terms of the GNU Free Documentation License, Version 1.2 or
26 any later version published by the Free Software Foundation; with no
27 Invariant Sections, with no Front-Cover Texts, and with no Back-Cover
28 Texts. A copy of the license is included in the section entitled ``GNU
29 Free Documentation License''.
34 @title Open On-Chip Debugger (OpenOCD)
35 @subtitle Edition @value{EDITION} for OpenOCD version @value{VERSION}
36 @subtitle @value{UPDATED}
38 @vskip 0pt plus 1filll
45 @node Top, About, , (dir)
48 This manual documents edition @value{EDITION} of the Open On-Chip Debugger
49 (OpenOCD) version @value{VERSION}, @value{UPDATED}.
54 * About:: About OpenOCD
55 * Developers:: OpenOCD Developers
56 * Building OpenOCD:: Building OpenOCD From SVN
57 * JTAG Hardware Dongles:: JTAG Hardware Dongles
58 * Running:: Running OpenOCD
59 * Simple Configuration Files:: Simple Configuration Files
60 * Config File Guidelines:: Config File Guidelines
61 * About JIM-Tcl:: About JIM-Tcl
62 * Daemon Configuration:: Daemon Configuration
63 * Interface - Dongle Configuration:: Interface - Dongle Configuration
64 * Reset Configuration:: Reset Configuration
65 * Tap Creation:: Tap Creation
66 * Target Configuration:: Target Configuration
67 * Flash Commands:: Flash Commands
68 * NAND Flash Commands:: NAND Flash Commands
69 * General Commands:: General Commands
70 * JTAG Commands:: JTAG Commands
71 * Sample Scripts:: Sample Target Scripts
73 * GDB and OpenOCD:: Using GDB and OpenOCD
74 * Tcl Scripting API:: Tcl Scripting API
75 * Upgrading:: Deprecated/Removed Commands
76 * Target Library:: Target Library
77 * FAQ:: Frequently Asked Questions
78 * Tcl Crash Course:: Tcl Crash Course
79 * License:: GNU Free Documentation License
80 @comment DO NOT use the plain word ``Index'', reason: CYGWIN filename
81 @comment case issue with ``Index.html'' and ``index.html''
82 @comment Occurs when creating ``--html --no-split'' output
83 @comment This fix is based on: http://sourceware.org/ml/binutils/2006-05/msg00215.html
84 * OpenOCD Concept Index:: Concept Index
85 * Command and Driver Index:: Command and Driver Index
92 OpenOCD was created by Dominic Rath as part of a diploma thesis written at the
93 University of Applied Sciences Augsburg (@uref{http://www.fh-augsburg.de}).
94 Since that time, the project has grown into an active open-source project,
95 supported by a diverse community of software and hardware developers from
98 @section What is OpenOCD?
100 The Open On-Chip Debugger (OpenOCD) aims to provide debugging,
101 in-system programming and boundary-scan testing for embedded target
104 @b{JTAG:} OpenOCD uses a ``hardware interface dongle'' to communicate
105 with the JTAG (IEEE 1149.1) compliant taps on your target board.
107 @b{Dongles:} OpenOCD currently supports many types of hardware dongles: USB
108 based, parallel port based, and other standalone boxes that run
109 OpenOCD internally. @xref{JTAG Hardware Dongles}.
111 @b{GDB Debug:} It allows ARM7 (ARM7TDMI and ARM720t), ARM9 (ARM920T,
112 ARM922T, ARM926EJ--S, ARM966E--S), XScale (PXA25x, IXP42x) and
113 Cortex-M3 (Stellaris LM3 and ST STM32) based cores to be
114 debugged via the GDB protocol.
116 @b{Flash Programing:} Flash writing is supported for external CFI
117 compatible NOR flashes (Intel and AMD/Spansion command set) and several
118 internal flashes (LPC2000, AT91SAM7, STR7x, STR9x, LM3, and
119 STM32x). Preliminary support for various NAND flash controllers
120 (LPC3180, Orion, S3C24xx, more) controller is included.
122 @section OpenOCD Web Site
124 The OpenOCD web site provides the latest public news from the community:
126 @uref{http://openocd.berlios.de/web/}
130 @chapter OpenOCD Developer Resources
133 If you are interested in improving the state of OpenOCD's debugging and
134 testing support, new contributions will be welcome. Motivated developers
135 can produce new target, flash or interface drivers, improve the
136 documentation, as well as more conventional bug fixes and enhancements.
138 The resources in this chapter are available for developers wishing to explore
139 or expand the OpenOCD source code.
141 @section OpenOCD Subversion Repository
143 The ``Building From Source'' section provides instructions to retrieve
144 and and build the latest version of the OpenOCD source code.
145 @xref{Building OpenOCD}.
147 Developers that want to contribute patches to the OpenOCD system are
148 @b{strongly} encouraged to base their work off of the most recent trunk
149 revision. Patches created against older versions may require additional
150 work from their submitter in order to be updated for newer releases.
152 @section Doxygen Developer Manual
154 During the development of the 0.2.0 release, the OpenOCD project began
155 providing a Doxygen reference manual. This document contains more
156 technical information about the software internals, development
157 processes, and similar documentation:
159 @uref{http://openocd.berlios.de/doc/doxygen/index.html}
161 This document is a work-in-progress, but contributions would be welcome
162 to fill in the gaps. All of the source files are provided in-tree,
163 listed in the Doxyfile configuration in the top of the repository trunk.
165 @section OpenOCD Developer Mailing List
167 The OpenOCD Developer Mailing List provides the primary means of
168 communication between developers:
170 @uref{https://lists.berlios.de/mailman/listinfo/openocd-development}
172 All drivers developers are enouraged to also subscribe to the list of
173 SVN commits to keep pace with the ongoing changes:
175 @uref{https://lists.berlios.de/mailman/listinfo/openocd-svn}
177 @node Building OpenOCD
178 @chapter Building OpenOCD
181 @section Pre-Built Tools
182 If you are interested in getting actual work done rather than building
183 OpenOCD, then check if your interface supplier provides binaries for
184 you. Chances are that that binary is from some SVN version that is more
185 stable than SVN trunk where bleeding edge development takes place.
187 @section Packagers Please Read!
189 You are a @b{PACKAGER} of OpenOCD if you
192 @item @b{Sell dongles} and include pre-built binaries
193 @item @b{Supply tools} i.e.: A complete development solution
194 @item @b{Supply IDEs} like Eclipse, or RHIDE, etc.
195 @item @b{Build packages} i.e.: RPM files, or DEB files for a Linux Distro
198 As a @b{PACKAGER}, you will experience first reports of most issues.
199 When you fix those problems for your users, your solution may help
200 prevent hundreds (if not thousands) of other questions from other users.
202 If something does not work for you, please work to inform the OpenOCD
203 developers know how to improve the system or documentation to avoid
204 future problems, and follow-up to help us ensure the issue will be fully
205 resolved in our future releases.
207 That said, the OpenOCD developers would also like you to follow a few
211 @item @b{Always build with printer ports enabled.}
212 @item @b{Try to use LIBFTDI + LIBUSB where possible. You cover more bases.}
216 @item @b{Why YES to LIBFTDI + LIBUSB?}
218 @item @b{LESS} work - libusb perhaps already there
219 @item @b{LESS} work - identical code, multiple platforms
220 @item @b{MORE} dongles are supported
221 @item @b{MORE} platforms are supported
222 @item @b{MORE} complete solution
224 @item @b{Why not LIBFTDI + LIBUSB} (i.e.: ftd2xx instead)?
226 @item @b{LESS} speed - some say it is slower
227 @item @b{LESS} complex to distribute (external dependencies)
231 @section Building From Source
233 You can download the current SVN version with an SVN client of your choice from the
234 following repositories:
236 @uref{svn://svn.berlios.de/openocd/trunk}
240 @uref{http://svn.berlios.de/svnroot/repos/openocd/trunk}
242 Using the SVN command line client, you can use the following command to fetch the
243 latest version (make sure there is no (non-svn) directory called "openocd" in the
247 svn checkout svn://svn.berlios.de/openocd/trunk openocd
250 Building OpenOCD requires a recent version of the GNU autotools (autoconf >= 2.59 and automake >= 1.9).
251 For building on Windows,
252 you have to use Cygwin. Make sure that your @env{PATH} environment variable contains no
253 other locations with Unix utils (like UnxUtils) - these can't handle the Cygwin
254 paths, resulting in obscure dependency errors (This is an observation I've gathered
255 from the logs of one user - correct me if I'm wrong).
257 You further need the appropriate driver files, if you want to build support for
258 a FTDI FT2232 based interface:
261 @item @b{ftdi2232} libftdi (@uref{http://www.intra2net.com/opensource/ftdi/})
262 @item @b{ftd2xx} libftd2xx (@uref{http://www.ftdichip.com/Drivers/D2XX.htm})
263 @item When using the Amontec JTAGkey, you have to get the drivers from the Amontec
264 homepage (@uref{http://www.amontec.com}). The JTAGkey uses a non-standard VID/PID.
267 libftdi is supported under Windows. Do not use versions earlier than 0.14.
269 In general, the D2XX driver provides superior performance (several times as fast),
270 but has the draw-back of being binary-only - though that isn't that bad, as it isn't
271 a kernel module, only a user space library.
273 To build OpenOCD (on both Linux and Cygwin), use the following commands:
279 Bootstrap generates the configure script, and prepares building on your system.
282 ./configure [options, see below]
285 Configure generates the Makefiles used to build OpenOCD.
292 Make builds OpenOCD, and places the final executable in ./src/, the last step, ``make install'' is optional.
294 The configure script takes several options, specifying which JTAG interfaces
295 should be included (among other things):
299 @option{--enable-parport} - Enable building the PC parallel port driver.
301 @option{--enable-parport_ppdev} - Enable use of ppdev (/dev/parportN) for parport.
303 @option{--enable-parport_giveio} - Enable use of giveio for parport instead of ioperm.
305 @option{--enable-amtjtagaccel} - Enable building the Amontec JTAG-Accelerator driver.
307 @option{--enable-ecosboard} - Enable building support for eCosBoard based JTAG debugger.
309 @option{--enable-ioutil} - Enable ioutil functions - useful for standalone OpenOCD implementations.
311 @option{--enable-httpd} - Enable builtin httpd server - useful for standalone OpenOCD implementations.
313 @option{--enable-ep93xx} - Enable building support for EP93xx based SBCs.
315 @option{--enable-at91rm9200} - Enable building support for AT91RM9200 based SBCs.
317 @option{--enable-gw16012} - Enable building support for the Gateworks GW16012 JTAG programmer.
319 @option{--enable-ft2232_ftd2xx} - Numerous USB type ARM JTAG dongles use the FT2232C chip from this FTDICHIP.COM chip (closed source).
321 @option{--enable-ft2232_libftdi} - An open source (free) alternative to FTDICHIP.COM ftd2xx solution (Linux, MacOS, Cygwin).
323 @option{--with-ftd2xx-win32-zipdir=PATH} - If using FTDICHIP.COM ft2232c driver,
324 give the directory where the Win32 FTDICHIP.COM 'CDM' driver zip file was unpacked.
326 @option{--with-ftd2xx-linux-tardir=PATH} - If using FTDICHIP.COM ft2232c driver
327 on Linux, give the directory where the Linux driver's TAR.GZ file was unpacked.
329 @option{--with-ftd2xx-lib=shared|static} - Linux only. Default: static. Specifies how the FTDICHIP.COM libftd2xx driver should be linked. Note: 'static' only works in conjunction with @option{--with-ftd2xx-linux-tardir}. The 'shared' value is supported (12/26/2008), however you must manually install the required header files and shared libraries in an appropriate place. This uses ``libusb'' internally.
331 @option{--enable-presto_libftdi} - Enable building support for ASIX Presto programmer using the libftdi driver.
333 @option{--enable-presto_ftd2xx} - Enable building support for ASIX Presto programmer using the FTD2XX driver.
335 @option{--enable-usbprog} - Enable building support for the USBprog JTAG programmer.
337 @option{--enable-oocd_trace} - Enable building support for the OpenOCD+trace ETM capture device.
339 @option{--enable-jlink} - Enable building support for the Segger J-Link JTAG programmer.
341 @option{--enable-vsllink} - Enable building support for the Versaloon-Link JTAG programmer.
343 @option{--enable-rlink} - Enable building support for the Raisonance RLink JTAG programmer.
345 @option{--enable-arm-jtag-ew} - Enable building support for the Olimex ARM-JTAG-EW programmer.
347 @option{--enable-dummy} - Enable building the dummy port driver.
350 @section Parallel Port Dongles
352 If you want to access the parallel port using the PPDEV interface you have to specify
353 both the @option{--enable-parport} AND the @option{--enable-parport_ppdev} option since
354 the @option{--enable-parport_ppdev} option actually is an option to the parport driver
355 (see @uref{http://forum.sparkfun.com/viewtopic.php?t=3795} for more info).
357 The same is true for the @option{--enable-parport_giveio} option, you have to
358 use both the @option{--enable-parport} AND the @option{--enable-parport_giveio} option if you want to use giveio instead of ioperm parallel port access method.
360 @section FT2232C Based USB Dongles
362 There are 2 methods of using the FTD2232, either (1) using the
363 FTDICHIP.COM closed source driver, or (2) the open (and free) driver
364 libftdi. Some claim the (closed) FTDICHIP.COM solution is faster.
366 The FTDICHIP drivers come as either a (win32) ZIP file, or a (Linux)
367 TAR.GZ file. You must unpack them ``some where'' convient. As of this
368 writing (12/26/2008) FTDICHIP does not supply means to install these
369 files ``in an appropriate place'' As a result, there are two
370 ``./configure'' options that help.
372 Below is an example build process:
375 @item Check out the latest version of ``openocd'' from SVN.
377 @item If you are using the FTDICHIP.COM driver, download
378 and unpack the Windows or Linux FTD2xx drivers
379 (@uref{http://www.ftdichip.com/Drivers/D2XX.htm}).
380 If you are using the libftdi driver, install that package
381 (e.g. @command{apt-get install libftdi} on systems with APT).
384 /home/duane/ftd2xx.win32 => the Cygwin/Win32 ZIP file contents
385 /home/duane/libftd2xx0.4.16 => the Linux TAR.GZ file contents
388 @item Configure with options resembling the following.
391 @item Cygwin FTDICHIP solution:
393 ./configure --prefix=/home/duane/mytools \
394 --enable-ft2232_ftd2xx \
395 --with-ftd2xx-win32-zipdir=/home/duane/ftd2xx.win32
398 @item Linux FTDICHIP solution:
400 ./configure --prefix=/home/duane/mytools \
401 --enable-ft2232_ftd2xx \
402 --with-ft2xx-linux-tardir=/home/duane/libftd2xx0.4.16
405 @item Cygwin/Linux LIBFTDI solution ... assuming that
407 @item For Windows -- that the Windows port of LIBUSB is in place.
408 @item For Linux -- that libusb has been built/installed and is in place.
409 @item That libftdi has been built and installed (relies on libusb).
412 Then configure the libftdi solution like this:
415 ./configure --prefix=/home/duane/mytools \
416 --enable-ft2232_libftdi
420 @item Then just type ``make'', and perhaps ``make install''.
424 @section Miscellaneous Configure Options
428 @option{--disable-option-checking} - Ignore unrecognized @option{--enable} and @option{--with} options.
430 @option{--enable-gccwarnings} - Enable extra gcc warnings during build.
433 @option{--enable-release} - Enable building of an OpenOCD release, generally
434 this is for developers. It simply omits the svn version string when the
435 openocd @option{-v} is executed.
438 @node JTAG Hardware Dongles
439 @chapter JTAG Hardware Dongles
448 Defined: @b{dongle}: A small device that plugins into a computer and serves as
449 an adapter .... [snip]
451 In the OpenOCD case, this generally refers to @b{a small adapater} one
452 attaches to your computer via USB or the Parallel Printer Port. The
453 execption being the Zylin ZY1000 which is a small box you attach via
454 an ethernet cable. The Zylin ZY1000 has the advantage that it does not
455 require any drivers to be installed on the developer PC. It also has
456 a built in web interface. It supports RTCK/RCLK or adaptive clocking
457 and has a built in relay to power cycle targets remotely.
460 @section Choosing a Dongle
462 There are three things you should keep in mind when choosing a dongle.
465 @item @b{Voltage} What voltage is your target? 1.8, 2.8, 3.3, or 5V? Does your dongle support it?
466 @item @b{Connection} Printer Ports - Does your computer have one?
467 @item @b{Connection} Is that long printer bit-bang cable practical?
468 @item @b{RTCK} Do you require RTCK? Also known as ``adaptive clocking''
471 @section Stand alone Systems
473 @b{ZY1000} See: @url{http://www.zylin.com/zy1000.html} Technically, not a
474 dongle, but a standalone box. The ZY1000 has the advantage that it does
475 not require any drivers installed on the developer PC. It also has
476 a built in web interface. It supports RTCK/RCLK or adaptive clocking
477 and has a built in relay to power cycle targets remotely.
479 @section USB FT2232 Based
481 There are many USB JTAG dongles on the market, many of them are based
482 on a chip from ``Future Technology Devices International'' (FTDI)
483 known as the FTDI FT2232; this is a USB full speed (12 Mbps) chip.
484 See: @url{http://www.ftdichip.com} for more information.
485 In summer 2009, USB high speed (480 Mbps) versions of these FTDI
486 chips are starting to become available in JTAG adapters.
488 As of 28/Nov/2008, the following are supported:
492 @* Link @url{http://www.hs-augsburg.de/~hhoegl/proj/usbjtag/usbjtag.html}
494 @* See: @url{http://www.amontec.com/jtagkey.shtml}
496 @* See: @url{http://www.oocdlink.com} By Joern Kaipf
498 @* See: @url{http://www.signalyzer.com}
499 @item @b{evb_lm3s811}
500 @* See: @url{http://www.luminarymicro.com} - The Stellaris LM3S811 eval board has an FTD2232C chip built in.
501 @item @b{olimex-jtag}
502 @* See: @url{http://www.olimex.com}
504 @* See: @url{http://www.tincantools.com}
505 @item @b{turtelizer2}
507 @uref{http://www.ethernut.de/en/hardware/turtelizer/index.html, Turtelizer 2}, or
508 @url{http://www.ethernut.de}
510 @* Link: @url{http://www.hitex.com/index.php?id=383}
512 @* Link @url{http://www.hitex.com/stm32-stick}
513 @item @b{axm0432_jtag}
514 @* Axiom AXM-0432 Link @url{http://www.axman.com}
516 @* Link @url{http://www.hitex.com/index.php?id=cortino}
519 @section USB JLINK based
520 There are several OEM versions of the Segger @b{JLINK} adapter. It is
521 an example of a micro controller based JTAG adapter, it uses an
522 AT91SAM764 internally.
525 @item @b{ATMEL SAMICE} Only works with ATMEL chips!
526 @* Link: @url{http://www.atmel.com/dyn/products/tools_card.asp?tool_id=3892}
527 @item @b{SEGGER JLINK}
528 @* Link: @url{http://www.segger.com/jlink.html}
530 @* Link: @url{http://www.iar.com/website1/1.0.1.0/369/1/index.php}
533 @section USB RLINK based
534 Raisonance has an adapter called @b{RLink}. It exists in a stripped-down form on the STM32 Primer, permanently attached to the JTAG lines. It also exists on the STM32 Primer2, but that is wired for SWD and not JTAG, thus not supported.
537 @item @b{Raisonance RLink}
538 @* Link: @url{http://www.raisonance.com/products/RLink.php}
539 @item @b{STM32 Primer}
540 @* Link: @url{http://www.stm32circle.com/resources/stm32primer.php}
541 @item @b{STM32 Primer2}
542 @* Link: @url{http://www.stm32circle.com/resources/stm32primer2.php}
548 @* Link: @url{http://www.embedded-projects.net/usbprog} - which uses an Atmel MEGA32 and a UBN9604
550 @item @b{USB - Presto}
551 @* Link: @url{http://tools.asix.net/prg_presto.htm}
553 @item @b{Versaloon-Link}
554 @* Link: @url{http://www.simonqian.com/en/Versaloon}
556 @item @b{ARM-JTAG-EW}
557 @* Link: @url{http://www.olimex.com/dev/arm-jtag-ew.html}
560 @section IBM PC Parallel Printer Port Based
562 The two well known ``JTAG Parallel Ports'' cables are the Xilnx DLC5
563 and the MacGraigor Wiggler. There are many clones and variations of
568 @item @b{Wiggler} - There are many clones of this.
569 @* Link: @url{http://www.macraigor.com/wiggler.htm}
571 @item @b{DLC5} - From XILINX - There are many clones of this
572 @* Link: Search the web for: ``XILINX DLC5'' - it is no longer
573 produced, PDF schematics are easily found and it is easy to make.
575 @item @b{Amontec - JTAG Accelerator}
576 @* Link: @url{http://www.amontec.com/jtag_accelerator.shtml}
579 @* Link: @url{http://www.gateworks.com/products/avila_accessories/gw16042.php}
582 @*@uref{http://www.ccac.rwth-aachen.de/@/~michaels/@/index.php/hardware/@/armjtag,
583 Improved parallel-port wiggler-style JTAG adapter}
585 @item @b{Wiggler_ntrst_inverted}
586 @* Yet another variation - See the source code, src/jtag/parport.c
588 @item @b{old_amt_wiggler}
589 @* Unknown - probably not on the market today
592 @* Link: Most likely @url{http://www.olimex.com/dev/arm-jtag.html} [another wiggler clone]
595 @* Link: @url{http://www.amontec.com/chameleon.shtml}
601 @* ispDownload from Lattice Semiconductor
602 @url{http://www.latticesemi.com/lit/docs/@/devtools/dlcable.pdf}
605 @* From ST Microsystems;
606 @uref{http://www.st.com/stonline/@/products/literature/um/7889.pdf,
607 FlashLINK JTAG programing cable for PSD and uPSD}
615 @* An EP93xx based Linux machine using the GPIO pins directly.
618 @* Like the EP93xx - but an ATMEL AT91RM9200 based solution using the GPIO pins on the chip.
624 @cindex running OpenOCD
626 @cindex --debug_level
630 The @option{--help} option shows:
634 --help | -h display this help
635 --version | -v display OpenOCD version
636 --file | -f use configuration file <name>
637 --search | -s dir to search for config files and scripts
638 --debug | -d set debug level <0-3>
639 --log_output | -l redirect log output to file <name>
640 --command | -c run <command>
641 --pipe | -p use pipes when talking to gdb
644 By default OpenOCD reads the file configuration file ``openocd.cfg''
645 in the current directory. To specify a different (or multiple)
646 configuration file, you can use the ``-f'' option. For example:
649 openocd -f config1.cfg -f config2.cfg -f config3.cfg
652 Once started, OpenOCD runs as a daemon, waiting for connections from
653 clients (Telnet, GDB, Other).
655 If you are having problems, you can enable internal debug messages via
658 Also it is possible to interleave commands w/config scripts using the
659 @option{-c} command line switch.
661 To enable debug output (when reporting problems or working on OpenOCD
662 itself), use the @option{-d} command line switch. This sets the
663 @option{debug_level} to "3", outputting the most information,
664 including debug messages. The default setting is "2", outputting only
665 informational messages, warnings and errors. You can also change this
666 setting from within a telnet or gdb session using @option{debug_level
667 <n>} @xref{debug_level}.
669 You can redirect all output from the daemon to a file using the
670 @option{-l <logfile>} switch.
672 Search paths for config/script files can be added to OpenOCD by using
673 the @option{-s <search>} switch. The current directory and the OpenOCD
674 target library is in the search path by default.
676 For details on the @option{-p} option. @xref{Connecting to GDB}.
678 Note! OpenOCD will launch the GDB & telnet server even if it can not
679 establish a connection with the target. In general, it is possible for
680 the JTAG controller to be unresponsive until the target is set up
681 correctly via e.g. GDB monitor commands in a GDB init script.
683 @node Simple Configuration Files
684 @chapter Simple Configuration Files
685 @cindex configuration
688 There are 4 basic ways of ``configurating'' OpenOCD to run, they are:
691 @item A small openocd.cfg file which ``sources'' other configuration files
692 @item A monolithic openocd.cfg file
693 @item Many -f filename options on the command line
694 @item Your Mixed Solution
697 @section Small configuration file method
699 This is the preferred method. It is simple and works well for many
700 people. The developers of OpenOCD would encourage you to use this
701 method. If you create a new configuration please email new
702 configurations to the development list.
704 Here is an example of an openocd.cfg file for an ATMEL at91sam7x256
707 source [find interface/signalyzer.cfg]
709 # GDB can also flash my flash!
710 gdb_memory_map enable
711 gdb_flash_program enable
713 source [find target/sam7x256.cfg]
716 There are many example configuration scripts you can work with. You
717 should look in the directory: @t{$(INSTALLDIR)/lib/openocd}. You
721 @item @b{board} - eval board level configurations
722 @item @b{interface} - specific dongle configurations
723 @item @b{target} - the target chips
724 @item @b{tcl} - helper scripts
725 @item @b{xscale} - things specific to the xscale.
728 Look first in the ``boards'' area, then the ``targets'' area. Often a board
729 configuration is a good example to work from.
731 @section Many -f filename options
732 Some believe this is a wonderful solution, others find it painful.
734 You can use a series of ``-f filename'' options on the command line,
735 OpenOCD will read each filename in sequence, for example:
738 openocd -f file1.cfg -f file2.cfg -f file2.cfg
741 You can also intermix various commands with the ``-c'' command line
744 @section Monolithic file
745 The ``Monolithic File'' dispenses with all ``source'' statements and
746 puts everything in one self contained (monolithic) file. This is not
749 Please try to ``source'' various files or use the multiple -f
752 @section Advice for you
753 Often, one uses a ``mixed approach''. Where possible, please try to
754 ``source'' common things, and if needed cut/paste parts of the
755 standard distribution configuration files as needed.
757 @b{REMEMBER:} The ``important parts'' of your configuration file are:
760 @item @b{Interface} - Defines the dongle
761 @item @b{Taps} - Defines the JTAG Taps
762 @item @b{GDB Targets} - What GDB talks to
763 @item @b{Flash Programing} - Very Helpful
766 Some key things you should look at and understand are:
769 @item The reset configuration of your debug environment as a whole
770 @item Is there a ``work area'' that OpenOCD can use?
771 @* For ARM - work areas mean up to 10x faster downloads.
772 @item For MMU/MPU based ARM chips (i.e.: ARM9 and later) will that work area still be available?
773 @item For complex targets (multiple chips) the JTAG SPEED becomes an issue.
778 @node Config File Guidelines
779 @chapter Config File Guidelines
781 This section/chapter is aimed at developers and integrators of
782 OpenOCD. These are guidelines for creating new boards and new target
783 configurations as of 28/Nov/2008.
785 However, you, the user of OpenOCD, should be somewhat familiar with
786 this section as it should help explain some of the internals of what
787 you might be looking at.
789 The user should find the following directories under @t{$(INSTALLDIR)/lib/openocd} :
793 @*Think JTAG Dongle. Files that configure the JTAG dongle go here.
795 @* Think Circuit Board, PWA, PCB, they go by many names. Board files
796 contain initialization items that are specific to a board - for
797 example: The SDRAM initialization sequence for the board, or the type
798 of external flash and what address it is found at. Any initialization
799 sequence to enable that external flash or SDRAM should be found in the
800 board file. Boards may also contain multiple targets, i.e.: Two CPUs, or
801 a CPU and an FPGA or CPLD.
803 @* Think chip. The ``target'' directory represents a JTAG tap (or
804 chip) OpenOCD should control, not a board. Two common types of targets
805 are ARM chips and FPGA or CPLD chips.
808 @b{If needed...} The user in their ``openocd.cfg'' file or the board
809 file might override a specific feature in any of the above files by
810 setting a variable or two before sourcing the target file. Or adding
811 various commands specific to their situation.
813 @section Interface Config Files
815 The user should be able to source one of these files via a command like this:
818 source [find interface/FOOBAR.cfg]
820 openocd -f interface/FOOBAR.cfg
823 A preconfigured interface file should exist for every interface in use
824 today, that said, perhaps some interfaces have only been used by the
825 sole developer who created it.
827 Interface files should be found in @t{$(INSTALLDIR)/lib/openocd/interface}
829 @section Board Config Files
831 @b{Note: BOARD directory NEW as of 28/nov/2008}
833 The user should be able to source one of these files via a command like this:
836 source [find board/FOOBAR.cfg]
838 openocd -f board/FOOBAR.cfg
842 The board file should contain one or more @t{source [find
843 target/FOO.cfg]} statements along with any board specific things.
845 In summary the board files should contain (if present)
848 @item External flash configuration (i.e.: NOR flash on CS0, two NANDs on CS2)
849 @item SDRAM configuration (size, speed, etc.
850 @item Board specific IO configuration (i.e.: GPIO pins might disable a 2nd flash)
851 @item Multiple TARGET source statements
852 @item All things that are not ``inside a chip''
853 @item Things inside a chip go in a 'target' file
856 @section Target Config Files
858 The user should be able to source one of these files via a command like this:
861 source [find target/FOOBAR.cfg]
863 openocd -f target/FOOBAR.cfg
866 In summary the target files should contain
871 @item Reset configuration
873 @item CPU/Chip/CPU-Core specific features
877 @subsection Important variable names
879 By default, the end user should never need to set these
880 variables. However, if the user needs to override a setting they only
881 need to set the variable in a simple way.
885 @* This gives a name to the overall chip, and is used as part of the
886 tap identifier dotted name.
888 @* By default little - unless the chip or board is not normally used that way.
890 @* When OpenOCD examines the JTAG chain, it will attempt to identify
891 every chip. If the @t{-expected-id} is nonzero, OpenOCD attempts
892 to verify the tap id number verses configuration file and may issue an
893 error or warning like this. The hope is that this will help to pinpoint
894 problems in OpenOCD configurations.
897 Info: JTAG tap: sam7x256.cpu tap/device found: 0x3f0f0f0f
898 (Manufacturer: 0x787, Part: 0xf0f0, Version: 0x3)
899 Error: ERROR: Tap: sam7x256.cpu - Expected id: 0x12345678,
901 Error: ERROR: expected: mfg: 0x33c, part: 0x2345, ver: 0x1
902 Error: ERROR: got: mfg: 0x787, part: 0xf0f0, ver: 0x3
905 @item @b{_TARGETNAME}
906 @* By convention, this variable is created by the target configuration
907 script. The board configuration file may make use of this variable to
908 configure things like a ``reset init'' script, or other things
909 specific to that board and that target.
911 If the chip has 2 targets, use the names @b{_TARGETNAME0},
912 @b{_TARGETNAME1}, ... etc.
914 @b{Remember:} The ``board file'' may include multiple targets.
916 At no time should the name ``target0'' (the default target name if
917 none was specified) be used. The name ``target0'' is a hard coded name
918 - the next target on the board will be some other number.
919 In the same way, avoid using target numbers even when they are
920 permitted; use the right target name(s) for your board.
922 The user (or board file) should reasonably be able to:
925 source [find target/FOO.cfg]
926 $_TARGETNAME configure ... FOO specific parameters
928 source [find target/BAR.cfg]
929 $_TARGETNAME configure ... BAR specific parameters
934 @subsection Tcl Variables Guide Line
935 The Full Tcl/Tk language supports ``namespaces'' - JIM-Tcl does not.
937 Thus the rule we follow in OpenOCD is this: Variables that begin with
938 a leading underscore are temporary in nature, and can be modified and
939 used at will within a ?TARGET? configuration file.
941 @b{EXAMPLE:} The user should be able to do this:
945 # PXA270 #1 network side, big endian
946 # PXA270 #2 video side, little endian
950 source [find target/pxa270.cfg]
951 # variable: _TARGETNAME = network.cpu
952 # other commands can refer to the "network.cpu" tap.
953 $_TARGETNAME configure .... params for this CPU..
957 source [find target/pxa270.cfg]
958 # variable: _TARGETNAME = video.cpu
959 # other commands can refer to the "video.cpu" tap.
960 $_TARGETNAME configure .... params for this CPU..
964 source [find target/spartan3.cfg]
966 # Since $_TARGETNAME is temporal..
967 # these names still work!
968 network.cpu configure ... params
969 video.cpu configure ... params
973 @subsection Default Value Boiler Plate Code
975 All target configuration files should start with this (or a modified form)
979 if @{ [info exists CHIPNAME] @} @{
980 set _CHIPNAME $CHIPNAME
982 set _CHIPNAME sam7x256
985 if @{ [info exists ENDIAN] @} @{
991 if @{ [info exists CPUTAPID ] @} @{
992 set _CPUTAPID $CPUTAPID
994 set _CPUTAPID 0x3f0f0f0f
999 @subsection Creating Taps
1000 After the ``defaults'' are choosen [see above] the taps are created.
1002 @b{SIMPLE example:} such as an Atmel AT91SAM7X256
1006 set _TARGETNAME [format "%s.cpu" $_CHIPNAME]
1007 jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf \
1008 -expected-id $_CPUTAPID
1011 @b{COMPLEX example:}
1013 This is an SNIP/example for an STR912 - which has 3 internal taps. Key features shown:
1016 @item @b{Unform tap names} - See: Tap Naming Convention
1017 @item @b{_TARGETNAME} is created at the end where used.
1021 if @{ [info exists FLASHTAPID ] @} @{
1022 set _FLASHTAPID $FLASHTAPID
1024 set _FLASHTAPID 0x25966041
1026 jtag newtap $_CHIPNAME flash -irlen 8 -ircapture 0x1 -irmask 0x1 \
1027 -expected-id $_FLASHTAPID
1029 if @{ [info exists CPUTAPID ] @} @{
1030 set _CPUTAPID $CPUTAPID
1032 set _CPUTAPID 0x25966041
1034 jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0xf -irmask 0xe \
1035 -expected-id $_CPUTAPID
1038 if @{ [info exists BSTAPID ] @} @{
1039 set _BSTAPID $BSTAPID
1041 set _BSTAPID 0x1457f041
1043 jtag newtap $_CHIPNAME bs -irlen 5 -ircapture 0x1 -irmask 0x1 \
1044 -expected-id $_BSTAPID
1046 set _TARGETNAME [format "%s.cpu" $_CHIPNAME]
1049 @b{Tap Naming Convention}
1051 See the command ``jtag newtap'' for detail, but in brief the names you should use are:
1060 @item @b{unknownN} - it happens :-(
1063 @subsection Reset Configuration
1065 Some chips have specific ways the TRST and SRST signals are
1066 managed. If these are @b{CHIP SPECIFIC} they go here, if they are
1067 @b{BOARD SPECIFIC} they go in the board file.
1069 @subsection Work Areas
1071 Work areas are small RAM areas used by OpenOCD to speed up downloads,
1072 and to download small snippets of code to program flash chips.
1074 If the chip includes a form of ``on-chip-ram'' - and many do - define
1075 a reasonable work area and use the ``backup'' option.
1077 @b{PROBLEMS:} On more complex chips, this ``work area'' may become
1078 inaccessible if/when the application code enables or disables the MMU.
1080 @subsection ARM Core Specific Hacks
1082 If the chip has a DCC, enable it. If the chip is an ARM9 with some
1083 special high speed download features - enable it.
1085 If the chip has an ARM ``vector catch'' feature - by default enable
1086 it for Undefined Instructions, Data Abort, and Prefetch Abort, if the
1087 user is really writing a handler for those situations - they can
1088 easily disable it. Experiance has shown the ``vector catch'' is
1089 helpful - for common programing errors.
1091 If present, the MMU, the MPU and the CACHE should be disabled.
1093 Some ARM cores are equipped with trace support, which permits
1094 examination of the instruction and data bus activity. Trace
1095 activity is controlled through an ``Embedded Trace Module'' (ETM)
1096 on one of the core's scan chains. The ETM emits voluminous data
1097 through a ``trace port''. The trace port is accessed in one
1098 of two ways. When its signals are pinned out from the chip,
1099 boards may provide a special high speed debugging connector;
1100 software support for this is not configured by default, use
1101 the ``--enable-oocd_trace'' option. Alternatively, trace data
1102 may be stored an on-chip SRAM which is packaged as an ``Embedded
1103 Trace Buffer'' (ETB). An ETB has its own TAP, usually right after
1104 its associated ARM core. OpenOCD supports the ETM, and your
1105 target configuration should set it up with the relevant trace
1106 port: ``etb'' for chips which use that, else the board-specific
1107 option will be either ``oocd_trace'' or ``dummy''.
1110 etm config $_TARGETNAME 16 normal full etb
1111 etb config $_TARGETNAME $_CHIPNAME.etb
1114 @subsection Internal Flash Configuration
1116 This applies @b{ONLY TO MICROCONTROLLERS} that have flash built in.
1118 @b{Never ever} in the ``target configuration file'' define any type of
1119 flash that is external to the chip. (For example a BOOT flash on
1120 Chip Select 0.) Such flash information goes in a board file - not
1121 the TARGET (chip) file.
1125 @item at91sam7x256 - has 256K flash YES enable it.
1126 @item str912 - has flash internal YES enable it.
1127 @item imx27 - uses boot flash on CS0 - it goes in the board file.
1128 @item pxa270 - again - CS0 flash - it goes in the board file.
1132 @chapter About JIM-Tcl
1136 OpenOCD includes a small ``TCL Interpreter'' known as JIM-TCL. You can
1137 learn more about JIM here: @url{http://jim.berlios.de}
1140 @item @b{JIM vs. Tcl}
1141 @* JIM-TCL is a stripped down version of the well known Tcl language,
1142 which can be found here: @url{http://www.tcl.tk}. JIM-Tcl has far
1143 fewer features. JIM-Tcl is a single .C file and a single .H file and
1144 impliments the basic Tcl command set along. In contrast: Tcl 8.6 is a
1145 4.2 MB .zip file containing 1540 files.
1147 @item @b{Missing Features}
1148 @* Our practice has been: Add/clone the real Tcl feature if/when
1149 needed. We welcome JIM Tcl improvements, not bloat.
1152 @* OpenOCD configuration scripts are JIM Tcl Scripts. OpenOCD's
1153 command interpreter today (28/nov/2008) is a mixture of (newer)
1154 JIM-Tcl commands, and (older) the orginal command interpreter.
1157 @* At the OpenOCD telnet command line (or via the GDB mon command) one
1158 can type a Tcl for() loop, set variables, etc.
1160 @item @b{Historical Note}
1161 @* JIM-Tcl was introduced to OpenOCD in spring 2008.
1163 @item @b{Need a crash course in Tcl?}
1164 @* See: @xref{Tcl Crash Course}.
1167 @node Daemon Configuration
1168 @chapter Daemon Configuration
1169 @cindex initialization
1170 The commands here are commonly found in the openocd.cfg file and are
1171 used to specify what TCP/IP ports are used, and how GDB should be
1174 @section Configuration Stage
1175 @cindex configuration stage
1176 @cindex configuration command
1178 When the OpenOCD server process starts up, it enters a
1179 @emph{configuration stage} which is the only time that
1180 certain commands, @emph{configuration commands}, may be issued.
1181 Those configuration commands include declaration of TAPs
1182 and other basic setup.
1183 The server must leave the configuration stage before it
1184 may access or activate TAPs.
1185 After it leaves this stage, configuration commands may no
1188 @deffn {Config Command} init
1189 This command terminates the configuration stage and
1190 enters the normal command mode. This can be useful to add commands to
1191 the startup scripts and commands such as resetting the target,
1192 programming flash, etc. To reset the CPU upon startup, add "init" and
1193 "reset" at the end of the config script or at the end of the OpenOCD
1194 command line using the @option{-c} command line switch.
1196 If this command does not appear in any startup/configuration file
1197 OpenOCD executes the command for you after processing all
1198 configuration files and/or command line options.
1200 @b{NOTE:} This command normally occurs at or near the end of your
1201 openocd.cfg file to force OpenOCD to ``initialize'' and make the
1202 targets ready. For example: If your openocd.cfg file needs to
1203 read/write memory on your target, @command{init} must occur before
1204 the memory read/write commands. This includes @command{nand probe}.
1207 @section TCP/IP Ports
1211 The OpenOCD server accepts remote commands in several syntaxes.
1212 Each syntax uses a different TCP/IP port, which you may specify
1213 only during configuration (before those ports are opened).
1215 @deffn {Command} gdb_port (number)
1217 Specify or query the first port used for incoming GDB connections.
1218 The GDB port for the
1219 first target will be gdb_port, the second target will listen on gdb_port + 1, and so on.
1220 When not specified during the configuration stage,
1221 the port @var{number} defaults to 3333.
1224 @deffn {Command} tcl_port (number)
1225 Specify or query the port used for a simplified RPC
1226 connection that can be used by clients to issue TCL commands and get the
1227 output from the Tcl engine.
1228 Intended as a machine interface.
1229 When not specified during the configuration stage,
1230 the port @var{number} defaults to 6666.
1233 @deffn {Command} telnet_port (number)
1234 Specify or query the
1235 port on which to listen for incoming telnet connections.
1236 This port is intended for interaction with one human through TCL commands.
1237 When not specified during the configuration stage,
1238 the port @var{number} defaults to 4444.
1241 @section GDB Configuration
1242 @anchor{GDB Configuration}
1244 @cindex GDB configuration
1245 You can reconfigure some GDB behaviors if needed.
1246 The ones listed here are static and global.
1247 @xref{Target Create}, about declaring individual targets.
1248 @xref{Target Events}, about configuring target-specific event handling.
1250 @deffn {Command} gdb_breakpoint_override <hard|soft|disable>
1251 @anchor{gdb_breakpoint_override}
1252 Force breakpoint type for gdb @command{break} commands.
1253 The raison d'etre for this option is to support GDB GUI's which don't
1254 distinguish hard versus soft breakpoints, if the default OpenOCD and
1255 GDB behaviour is not sufficient. GDB normally uses hardware
1256 breakpoints if the memory map has been set up for flash regions.
1258 This option replaces older arm7_9 target commands that addressed
1262 @deffn {Config command} gdb_detach <resume|reset|halt|nothing>
1263 Configures what OpenOCD will do when GDB detaches from the daemon.
1264 Default behaviour is @var{resume}.
1267 @deffn {Config command} gdb_flash_program <enable|disable>
1268 @anchor{gdb_flash_program}
1269 Set to @var{enable} to cause OpenOCD to program the flash memory when a
1270 vFlash packet is received.
1271 The default behaviour is @var{enable}.
1274 @deffn {Config command} gdb_memory_map <enable|disable>
1275 Set to @var{enable} to cause OpenOCD to send the memory configuration to GDB when
1276 requested. GDB will then know when to set hardware breakpoints, and program flash
1277 using the GDB load command. @command{gdb_flash_program enable} must also be enabled
1278 for flash programming to work.
1279 Default behaviour is @var{enable}.
1280 @xref{gdb_flash_program}.
1283 @deffn {Config command} gdb_report_data_abort <enable|disable>
1284 Specifies whether data aborts cause an error to be reported
1285 by GDB memory read packets.
1286 The default behaviour is @var{disable};
1287 use @var{enable} see these errors reported.
1290 @node Interface - Dongle Configuration
1291 @chapter Interface - Dongle Configuration
1292 Interface commands are normally found in an interface configuration
1293 file which is sourced by your openocd.cfg file. These commands tell
1294 OpenOCD what type of JTAG dongle you have and how to talk to it.
1295 @section Simple Complete Interface Examples
1296 @b{A Turtelizer FT2232 Based JTAG Dongle}
1300 ft2232_device_desc "Turtelizer JTAG/RS232 Adapter A"
1301 ft2232_layout turtelizer2
1302 ft2232_vid_pid 0x0403 0xbdc8
1309 @b{A Raisonance RLink}
1318 parport_cable wiggler
1323 interface arm-jtag-ew
1325 @section Interface Command
1327 The interface command tells OpenOCD what type of JTAG dongle you are
1328 using. Depending on the type of dongle, you may need to have one or
1329 more additional commands.
1333 @item @b{interface} <@var{name}>
1335 @*Use the interface driver <@var{name}> to connect to the
1336 target. Currently supported interfaces are
1341 @* PC parallel port bit-banging (Wigglers, PLD download cable, ...)
1343 @item @b{amt_jtagaccel}
1344 @* Amontec Chameleon in its JTAG Accelerator configuration connected to a PC's EPP
1348 @* FTDI FT2232 (USB) based devices using either the open-source libftdi or the binary only
1349 FTD2XX driver. The FTD2XX is superior in performance, but not available on every
1350 platform. The libftdi uses libusb, and should be portable to all systems that provide
1354 @*Cirrus Logic EP93xx based single-board computer bit-banging (in development)
1357 @* ASIX PRESTO USB JTAG programmer.
1360 @* usbprog is a freely programmable USB adapter.
1363 @* Gateworks GW16012 JTAG programmer.
1366 @* Segger jlink USB adapter
1369 @* Raisonance RLink USB adapter
1372 @* vsllink is part of Versaloon which is a versatile USB programmer.
1374 @item @b{arm-jtag-ew}
1375 @* Olimex ARM-JTAG-EW USB adapter
1376 @comment - End parameters
1378 @comment - End Interface
1380 @subsection parport options
1383 @item @b{parport_port} <@var{number}>
1384 @cindex parport_port
1385 @*Either the address of the I/O port (default: 0x378 for LPT1) or the number of
1386 the @file{/dev/parport} device
1388 When using PPDEV to access the parallel port, use the number of the parallel port:
1389 @option{parport_port 0} (the default). If @option{parport_port 0x378} is specified
1390 you may encounter a problem.
1391 @item @b{parport_cable} <@var{name}>
1392 @cindex parport_cable
1393 @*The layout of the parallel port cable used to connect to the target.
1394 Currently supported cables are
1398 The original Wiggler layout, also supported by several clones, such
1399 as the Olimex ARM-JTAG
1402 Same as original wiggler except an led is fitted on D5.
1403 @item @b{wiggler_ntrst_inverted}
1404 @cindex wiggler_ntrst_inverted
1405 Same as original wiggler except TRST is inverted.
1406 @item @b{old_amt_wiggler}
1407 @cindex old_amt_wiggler
1408 The Wiggler configuration that comes with Amontec's Chameleon Programmer. The new
1409 version available from the website uses the original Wiggler layout ('@var{wiggler}')
1412 The Amontec Chameleon's CPLD when operated in configuration mode. This is only used to
1413 program the Chameleon itself, not a connected target.
1416 The Xilinx Parallel cable III.
1419 The parallel port adapter found on the 'Karo Triton 1 Development Board'.
1420 This is also the layout used by the HollyGates design
1421 (see @uref{http://www.lartmaker.nl/projects/jtag/}).
1424 The ST Parallel cable.
1427 Same as original wiggler except SRST and TRST connections reversed and
1428 TRST is also inverted.
1431 Altium Universal JTAG cable.
1433 @item @b{parport_write_on_exit} <@var{on}|@var{off}>
1434 @cindex parport_write_on_exit
1435 @*This will configure the parallel driver to write a known value to the parallel
1436 interface on exiting OpenOCD
1439 @subsection amt_jtagaccel options
1441 @item @b{parport_port} <@var{number}>
1442 @cindex parport_port
1443 @*Either the address of the I/O port (default: 0x378 for LPT1) or the number of the
1444 @file{/dev/parport} device
1446 @subsection ft2232 options
1449 @item @b{ft2232_device_desc} <@var{description}>
1450 @cindex ft2232_device_desc
1451 @*The USB device description of the FTDI FT2232 device. If not
1452 specified, the FTDI default value is used. This setting is only valid
1453 if compiled with FTD2XX support.
1455 @b{TODO:} Confirm the following: On Windows the name needs to end with
1456 a ``space A''? Or not? It has to do with the FTD2xx driver. When must
1457 this be added and when must it not be added? Why can't the code in the
1458 interface or in OpenOCD automatically add this if needed? -- Duane.
1460 @item @b{ft2232_serial} <@var{serial-number}>
1461 @cindex ft2232_serial
1462 @*The serial number of the FTDI FT2232 device. If not specified, the FTDI default
1464 @item @b{ft2232_layout} <@var{name}>
1465 @cindex ft2232_layout
1466 @*The layout of the FT2232 GPIO signals used to control output-enables and reset
1467 signals. Valid layouts are
1470 "USBJTAG-1" layout described in the original OpenOCD diploma thesis
1472 Amontec JTAGkey and JTAGkey-Tiny
1473 @item @b{signalyzer}
1475 @item @b{olimex-jtag}
1478 American Microsystems M5960
1479 @item @b{evb_lm3s811}
1480 Luminary Micro EVB_LM3S811 as a JTAG interface (not onboard processor), no TRST or
1481 SRST signals on external connector
1484 @item @b{stm32stick}
1485 Hitex STM32 Performance Stick
1486 @item @b{flyswatter}
1487 Tin Can Tools Flyswatter
1488 @item @b{turtelizer2}
1489 egnite Software turtelizer2
1492 @item @b{axm0432_jtag}
1495 Hitex Cortino JTAG interface
1498 @item @b{ft2232_vid_pid} <@var{vid}> <@var{pid}>
1499 @*The vendor ID and product ID of the FTDI FT2232 device. If not specified, the FTDI
1500 default values are used. Multiple <@var{vid}>, <@var{pid}> pairs may be given, e.g.
1502 ft2232_vid_pid 0x0403 0xcff8 0x15ba 0x0003
1504 @item @b{ft2232_latency} <@var{ms}>
1505 @*On some systems using FT2232 based JTAG interfaces the FT_Read function call in
1506 ft2232_read() fails to return the expected number of bytes. This can be caused by
1507 USB communication delays and has proved hard to reproduce and debug. Setting the
1508 FT2232 latency timer to a larger value increases delays for short USB packets but it
1509 also reduces the risk of timeouts before receiving the expected number of bytes.
1510 The OpenOCD default value is 2 and for some systems a value of 10 has proved useful.
1513 @subsection ep93xx options
1514 @cindex ep93xx options
1515 Currently, there are no options available for the ep93xx interface.
1519 JTAG clock setup is part of system setup.
1520 It @emph{does not belong with interface setup} since any interface
1521 only knows a few of the constraints for the JTAG clock speed.
1522 Sometimes the JTAG speed is
1523 changed during the target initialization process: (1) slow at
1524 reset, (2) program the CPU clocks, (3) run fast.
1525 Both the "slow" and "fast" clock rates are functions of the
1526 oscillators used, the chip, the board design, and sometimes
1527 power management software that may be active.
1529 The speed used during reset can be adjusted using pre_reset
1530 and post_reset event handlers.
1531 @xref{Target Events}.
1533 If your system supports adaptive clocking (RTCK), configuring
1534 JTAG to use that is probably the most robust approach.
1535 However, it introduces delays to synchronize clocks; so it
1536 may not be the fastest solution.
1538 @b{NOTE:} Script writers should consider using @command{jtag_rclk}
1539 instead of @command{jtag_khz}.
1541 @deffn {Command} jtag_khz max_speed_kHz
1542 A non-zero speed is in KHZ. Hence: 3000 is 3mhz.
1543 JTAG interfaces usually support a limited number of
1544 speeds. The speed actually used won't be faster
1545 than the speed specified.
1547 As a rule of thumb, if you specify a clock rate make
1548 sure the JTAG clock is no more than @math{1/6th CPU-Clock}.
1549 This is especially true for synthesized cores (ARMxxx-S).
1551 Speed 0 (khz) selects RTCK method.
1553 If your system uses RTCK, you won't need to change the
1554 JTAG clocking after setup.
1555 Not all interfaces, boards, or targets support ``rtck''.
1556 If the interface device can not
1557 support it, an error is returned when you try to use RTCK.
1560 @defun jtag_rclk fallback_speed_kHz
1562 This Tcl proc (defined in startup.tcl) attempts to enable RTCK/RCLK.
1563 If that fails (maybe the interface, board, or target doesn't
1564 support it), falls back to the specified frequency.
1566 # Fall back to 3mhz if RTCK is not supported
1571 @node Reset Configuration
1572 @chapter Reset Configuration
1573 @cindex Reset Configuration
1575 Every system configuration may require a different reset
1576 configuration. This can also be quite confusing.
1577 Please see the various board files for examples.
1579 @b{Note} to maintainers and integrators:
1580 Reset configuration touches several things at once.
1581 Normally the board configuration file
1582 should define it and assume that the JTAG adapter supports
1583 everything that's wired up to the board's JTAG connector.
1584 However, the target configuration file could also make note
1585 of something the silicon vendor has done inside the chip,
1586 which will be true for most (or all) boards using that chip.
1587 And when the JTAG adapter doesn't support everything, the
1588 system configuration file will need to override parts of
1589 the reset configuration provided by other files.
1591 @section Types of Reset
1593 There are many kinds of reset possible through JTAG, but
1594 they may not all work with a given board and adapter.
1595 That's part of why reset configuration can be error prone.
1599 @emph{System Reset} ... the @emph{SRST} hardware signal
1600 resets all chips connected to the JTAG adapter, such as processors,
1601 power management chips, and I/O controllers. Normally resets triggered
1602 with this signal behave exactly like pressing a RESET button.
1604 @emph{JTAG TAP Reset} ... the @emph{TRST} hardware signal resets
1605 just the TAP controllers connected to the JTAG adapter.
1606 Such resets should not be visible to the rest of the system; resetting a
1607 device's the TAP controller just puts that controller into a known state.
1609 @emph{Emulation Reset} ... many devices can be reset through JTAG
1610 commands. These resets are often distinguishable from system
1611 resets, either explicitly (a "reset reason" register says so)
1612 or implicitly (not all parts of the chip get reset).
1614 @emph{Other Resets} ... system-on-chip devices often support
1615 several other types of reset.
1616 You may need to arrange that a watchdog timer stops
1617 while debugging, preventing a watchdog reset.
1618 There may be individual module resets.
1621 In the best case, OpenOCD can hold SRST, then reset
1622 the TAPs via TRST and send commands through JTAG to halt the
1623 CPU at the reset vector before the 1st instruction is executed.
1624 Then when it finally releases the SRST signal, the system is
1625 halted under debugger control before any code has executed.
1626 This is the behavior required to support the @command{reset halt}
1627 and @command{reset init} commands; after @command{reset init} a
1628 board-specific script might do things like setting up DRAM.
1629 (@xref{Reset Command}.)
1631 @section SRST and TRST Signal Issues
1633 Because SRST and TRST are hardware signals, they can have a
1634 variety of system-specific constraints. Some of the most
1639 @item @emph{Signal not available} ... Some boards don't wire
1640 SRST or TRST to the JTAG connector. Some JTAG adapters don't
1641 support such signals even if they are wired up.
1642 Use the @command{reset_config} @var{signals} options to say
1643 when one of those signals is not connected.
1644 When SRST is not available, your code might not be able to rely
1645 on controllers having been fully reset during code startup.
1647 @item @emph{Signals shorted} ... Sometimes a chip, board, or
1648 adapter will connect SRST to TRST, instead of keeping them separate.
1649 Use the @command{reset_config} @var{combination} options to say
1650 when those signals aren't properly independent.
1652 @item @emph{Timing} ... Reset circuitry like a resistor/capacitor
1653 delay circuit, reset supervisor, or on-chip features can extend
1654 the effect of a JTAG adapter's reset for some time after the adapter
1655 stops issuing the reset. For example, there may be chip or board
1656 requirements that all reset pulses last for at least a
1657 certain amount of time; and reset buttons commonly have
1658 hardware debouncing.
1659 Use the @command{jtag_nsrst_delay} and @command{jtag_ntrst_delay}
1660 commands to say when extra delays are needed.
1662 @item @emph{Drive type} ... Reset lines often have a pullup
1663 resistor, letting the JTAG interface treat them as open-drain
1664 signals. But that's not a requirement, so the adapter may need
1665 to use push/pull output drivers.
1666 Also, with weak pullups it may be advisable to drive
1667 signals to both levels (push/pull) to minimize rise times.
1668 Use the @command{reset_config} @var{trst_type} and
1669 @var{srst_type} parameters to say how to drive reset signals.
1672 There can also be other issues.
1673 Some devices don't fully conform to the JTAG specifications.
1674 Others have chip-specific extensions like extra steps needed
1675 during TAP reset, or a requirement to use the normally-optional TRST
1677 Trivial system-specific differences are common, such as
1678 SRST and TRST using slightly different names.
1680 @section Commands for Handling Resets
1682 @deffn {Command} jtag_nsrst_delay milliseconds
1683 How long (in milliseconds) OpenOCD should wait after deasserting
1684 nSRST (active-low system reset) before starting new JTAG operations.
1685 When a board has a reset button connected to SRST line it will
1686 probably have hardware debouncing, implying you should use this.
1689 @deffn {Command} jtag_ntrst_delay milliseconds
1690 How long (in milliseconds) OpenOCD should wait after deasserting
1691 nTRST (active-low JTAG TAP reset) before starting new JTAG operations.
1694 @deffn {Command} reset_config signals [combination [trst_type [srst_type]]]
1695 This command tells OpenOCD the reset configuration
1696 of your combination of JTAG interface, board, and target.
1697 If the JTAG interface provides SRST, but the board doesn't connect
1698 that signal properly, then OpenOCD can't use it. @var{signals} can
1699 be @option{none}, @option{trst_only}, @option{srst_only} or
1700 @option{trst_and_srst}.
1702 The @var{combination} is an optional value specifying broken reset
1703 signal implementations. @option{srst_pulls_trst} states that the
1704 test logic is reset together with the reset of the system (e.g. Philips
1705 LPC2000, "broken" board layout), @option{trst_pulls_srst} says that
1706 the system is reset together with the test logic (only hypothetical, I
1707 haven't seen hardware with such a bug, and can be worked around).
1708 @option{combined} implies both @option{srst_pulls_trst} and
1709 @option{trst_pulls_srst}. The default behaviour if no option given is
1712 The optional @var{trst_type} and @var{srst_type} parameters allow the
1713 driver type of the reset lines to be specified. Possible values are
1714 @option{trst_push_pull} (default) and @option{trst_open_drain} for the
1715 test reset signal, and @option{srst_open_drain} (default) and
1716 @option{srst_push_pull} for the system reset. These values only affect
1717 JTAG interfaces with support for different drivers, like the Amontec
1718 JTAGkey and JTAGAccelerator.
1723 @chapter Tap Creation
1724 @cindex tap creation
1725 @cindex tap configuration
1727 In order for OpenOCD to control a target, a JTAG tap must be
1730 Commands to create taps are normally found in a configuration file and
1731 are not normally typed by a human.
1733 When a tap is created a @b{dotted.name} is created for the tap. Other
1734 commands use that dotted.name to manipulate or refer to the tap.
1738 @item @b{Debug Target} A tap can be used by a GDB debug target
1739 @item @b{Flash Programing} Some chips program the flash directly via JTAG,
1740 instead of indirectly by making a CPU do it.
1741 @item @b{Boundry Scan} Some chips support boundary scan.
1745 @section jtag newtap
1746 @b{@t{jtag newtap CHIPNAME TAPNAME configparams ....}}
1751 @cindex tap geometry
1753 @comment START options
1756 @* is a symbolic name of the chip.
1758 @* is a symbol name of a tap present on the chip.
1759 @item @b{Required configparams}
1760 @* Every tap has 3 required configparams, and several ``optional
1761 parameters'', the required parameters are:
1762 @comment START REQUIRED
1764 @item @b{-irlen NUMBER} - the length in bits of the instruction register, mostly 4 or 5 bits.
1765 @item @b{-ircapture NUMBER} - the IDCODE capture command, usually 0x01.
1766 @item @b{-irmask NUMBER} - the corresponding mask for the IR register. For
1767 some devices, there are bits in the IR that aren't used. This lets you mask
1768 them off when doing comparisons. In general, this should just be all ones for
1770 @comment END REQUIRED
1772 An example of a FOOBAR Tap
1774 jtag newtap foobar tap -irlen 7 -ircapture 0x42 -irmask 0x55
1776 Creates the tap ``foobar.tap'' with the instruction register (IR) is 7
1777 bits long, during Capture-IR 0x42 is loaded into the IR, and bits
1778 [6,4,2,0] are checked.
1780 @item @b{Optional configparams}
1781 @comment START Optional
1783 @item @b{-expected-id NUMBER}
1784 @* By default it is zero. If non-zero represents the
1785 expected tap ID used when the JTAG chain is examined. Repeat
1786 the option as many times as required if multiple id's can be
1787 expected. See below.
1790 @* By default not specified the tap is enabled. Some chips have a
1791 JTAG route controller (JRC) that is used to enable and/or disable
1792 specific JTAG taps. You can later enable or disable any JTAG tap via
1793 the command @b{jtag tapenable DOTTED.NAME} or @b{jtag tapdisable
1795 @comment END Optional
1798 @comment END OPTIONS
1801 @comment START NOTES
1803 @item @b{Technically}
1804 @* newtap is a sub command of the ``jtag'' command
1805 @item @b{Big Picture Background}
1806 @*GDB Talks to OpenOCD using the GDB protocol via
1807 TCP/IP. OpenOCD then uses the JTAG interface (the dongle) to
1808 control the JTAG chain on your board. Your board has one or more chips
1809 in a @i{daisy chain configuration}. Each chip may have one or more
1810 JTAG taps. GDB ends up talking via OpenOCD to one of the taps.
1811 @item @b{NAME Rules}
1812 @*Names follow ``C'' symbol name rules (start with alpha ...)
1813 @item @b{TAPNAME - Conventions}
1815 @item @b{tap} - should be used only FPGA or CPLD like devices with a single tap.
1816 @item @b{cpu} - the main CPU of the chip, alternatively @b{foo.arm} and @b{foo.dsp}
1817 @item @b{flash} - if the chip has a flash tap, example: str912.flash
1818 @item @b{bs} - for boundary scan if this is a seperate tap.
1819 @item @b{etb} - for an embedded trace buffer (example: an ARM ETB11)
1820 @item @b{jrc} - for JTAG route controller (example: OMAP3530 found on Beagleboards)
1821 @item @b{unknownN} - where N is a number if you have no idea what the tap is for
1822 @item @b{Other names} - Freescale IMX31 has a SDMA (smart dma) with a JTAG tap, that tap should be called the ``sdma'' tap.
1823 @item @b{When in doubt} - use the chip maker's name in their data sheet.
1825 @item @b{DOTTED.NAME}
1826 @* @b{CHIPNAME}.@b{TAPNAME} creates the tap name, aka: the
1827 @b{Dotted.Name} is the @b{CHIPNAME} and @b{TAPNAME} combined with a
1828 dot (period); for example: @b{xilinx.tap}, @b{str912.flash},
1829 @b{omap3530.jrc}, or @b{stm32.cpu} The @b{dotted.name} is used in
1830 numerous other places to refer to various taps.
1832 @* The order this command appears via the config files is
1834 @item @b{Multi Tap Example}
1835 @* This example is based on the ST Microsystems STR912. See the ST
1836 document titled: @b{STR91xFAxxx, Section 3.15 Jtag Interface, Page:
1837 28/102, Figure 3: JTAG chaining inside the STR91xFA}.
1839 @url{http://eu.st.com/stonline/products/literature/ds/13495.pdf}
1840 @*@b{checked: 28/nov/2008}
1842 The diagram shows that the TDO pin connects to the flash tap, flash TDI
1843 connects to the CPU debug tap, CPU TDI connects to the boundary scan
1844 tap which then connects to the TDI pin.
1848 # create tap: 'str912.flash'
1849 jtag newtap str912 flash ... params ...
1850 # create tap: 'str912.cpu'
1851 jtag newtap str912 cpu ... params ...
1852 # create tap: 'str912.bs'
1853 jtag newtap str912 bs ... params ...
1856 @item @b{Note: Deprecated} - Index Numbers
1857 @* Prior to 28/nov/2008, JTAG taps where numbered from 0..N this
1858 feature is still present, however its use is highly discouraged and
1859 should not be counted upon. Update all of your scripts to use
1860 TAP names rather than numbers.
1861 @item @b{Multiple chips}
1862 @* If your board has multiple chips, you should be
1863 able to @b{source} two configuration files, in the proper order, and
1864 have the taps created in the proper order.
1867 @comment at command level
1868 @comment DOCUMENT old command
1869 @section jtag_device - REMOVED
1871 @b{jtag_device} <@var{IR length}> <@var{IR capture}> <@var{IR mask}> <@var{IDCODE instruction}>
1875 @* @b{Removed: 28/nov/2008} This command has been removed and replaced
1876 by the ``jtag newtap'' command. The documentation remains here so that
1877 one can easily convert the old syntax to the new syntax. About the old
1878 syntax: The old syntax is positional, i.e.: The 3rd parameter is the
1879 ``irmask''. The new syntax requires named prefixes, and supports
1880 additional options, for example ``-expected-id 0x3f0f0f0f''. Please refer to the
1881 @b{jtag newtap} command for details.
1883 OLD: jtag_device 8 0x01 0xe3 0xfe
1884 NEW: jtag newtap CHIPNAME TAPNAME -irlen 8 -ircapture 0x01 -irmask 0xe3
1887 @section Enable/Disable Taps
1888 @b{Note:} These commands are intended to be used as a machine/script
1889 interface. Humans might find the ``scan_chain'' command more helpful
1890 when querying the state of the JTAG taps.
1892 @b{By default, all taps are enabled}
1895 @item @b{jtag tapenable} @var{DOTTED.NAME}
1896 @item @b{jtag tapdisable} @var{DOTTED.NAME}
1897 @item @b{jtag tapisenabled} @var{DOTTED.NAME}
1902 @cindex route controller
1904 These commands are used when your target has a JTAG route controller
1905 that effectively adds or removes a tap from the JTAG chain in a
1908 The ``standard way'' to remove a tap would be to place the tap in
1909 bypass mode. But with the advent of modern chips, this is not always a
1910 good solution. Some taps operate slowly, others operate fast, and
1911 there are other JTAG clock synchronisation problems one must face. To
1912 solve that problem, the JTAG route controller was introduced. Rather
1913 than ``bypass'' the tap, the tap is completely removed from the
1914 circuit and skipped.
1917 From OpenOCD's point of view, a JTAG tap is in one of 3 states:
1920 @item @b{Enabled - Not In ByPass} and has a variable bit length
1921 @item @b{Enabled - In ByPass} and has a length of exactly 1 bit.
1922 @item @b{Disabled} and has a length of ZERO and is removed from the circuit.
1925 The IEEE JTAG definition has no concept of a ``disabled'' tap.
1926 @b{Historical note:} this feature was added 28/nov/2008
1928 @b{jtag tapisenabled DOTTED.NAME}
1930 This command returns 1 if the named tap is currently enabled, 0 if not.
1931 This command exists so that scripts that manipulate a JRC (like the
1932 OMAP3530 has) can determine if OpenOCD thinks a tap is presently
1933 enabled or disabled.
1936 @node Target Configuration
1937 @chapter Target Configuration
1940 This chapter discusses how to create a GDB debug target. Before
1941 creating a ``target'' a JTAG tap DOTTED.NAME must exist first.
1943 @section targets [NAME]
1944 @b{Note:} This command name is PLURAL - not singular.
1946 With NO parameter, this plural @b{targets} command lists all known
1947 targets in a human friendly form.
1949 With a parameter, this plural @b{targets} command sets the current
1950 target to the given name. (i.e.: If there are multiple debug targets)
1955 CmdName Type Endian ChainPos State
1956 -- ---------- ---------- ---------- -------- ----------
1957 0: target0 arm7tdmi little 0 halted
1960 @section target COMMANDS
1961 @b{Note:} This command name is SINGULAR - not plural. It is used to
1962 manipulate specific targets, to create targets and other things.
1964 Once a target is created, a TARGETNAME (object) command is created;
1965 see below for details.
1967 The TARGET command accepts these sub-commands:
1969 @item @b{create} .. parameters ..
1970 @* creates a new target, see below for details.
1972 @* Lists all supported target types (perhaps some are not yet in this document).
1974 @* Lists all current debug target names, for example: 'str912.cpu' or 'pxa27.cpu' example usage:
1976 foreach t [target names] {
1977 puts [format "Target: %s\n" $t]
1981 @* Returns the current target. OpenOCD always has, or refers to the ``current target'' in some way.
1982 By default, commands like: ``mww'' (used to write memory) operate on the current target.
1983 @item @b{number} @b{NUMBER}
1984 @* Internally OpenOCD maintains a list of targets - in numerical index
1985 (0..N-1) this command returns the name of the target at index N.
1988 set thename [target number $x]
1989 puts [format "Target %d is: %s\n" $x $thename]
1992 @* Returns the number of targets known to OpenOCD (see number above)
1995 set c [target count]
1996 for { set x 0 } { $x < $c } { incr x } {
1997 # Assuming you have created this function
1998 print_target_details $x
2004 @section TARGETNAME (object) commands
2005 @b{Use:} Once a target is created, an ``object name'' that represents the
2006 target is created. By convention, the target name is identical to the
2007 tap name. In a multiple target system, one can preceed many common
2008 commands with a specific target name and effect only that target.
2010 str912.cpu mww 0x1234 0x42
2011 omap3530.cpu mww 0x5555 123
2014 @b{Model:} The Tcl/Tk language has the concept of object commands. A
2015 good example is a on screen button, once a button is created a button
2016 has a name (a path in Tk terms) and that name is useable as a 1st
2017 class command. For example in Tk, one can create a button and later
2018 configure it like this:
2022 button .foobar -background red -command @{ foo @}
2024 .foobar configure -foreground blue
2026 set x [.foobar cget -background]
2028 puts [format "The button is %s" $x]
2031 In OpenOCD's terms, the ``target'' is an object just like a Tcl/Tk
2032 button. Commands available as a ``target object'' are:
2034 @comment START targetobj commands.
2036 @item @b{configure} - configure the target; see Target Config/Cget Options below
2037 @item @b{cget} - query the target configuration; see Target Config/Cget Options below
2038 @item @b{curstate} - current target state (running, halt, etc.
2040 @* Intended for a human to see/read the currently configure target events.
2041 @item @b{Various Memory Commands} See the ``mww'' command elsewhere.
2042 @comment start memory
2052 @item @b{Memory To Array, Array To Memory}
2053 @* These are aimed at a machine interface to memory
2055 @item @b{mem2array ARRAYNAME WIDTH ADDRESS COUNT}
2056 @item @b{array2mem ARRAYNAME WIDTH ADDRESS COUNT}
2058 @* @b{ARRAYNAME} is the name of an array variable
2059 @* @b{WIDTH} is 8/16/32 - indicating the memory access size
2060 @* @b{ADDRESS} is the target memory address
2061 @* @b{COUNT} is the number of elements to process
2063 @item @b{Used during ``reset''}
2064 @* These commands are used internally by the OpenOCD scripts to deal
2065 with odd reset situations and are not documented here.
2067 @item @b{arp_examine}
2071 @item @b{arp_waitstate}
2073 @item @b{invoke-event} @b{EVENT-NAME}
2074 @* Invokes the specific event manually for the target
2077 @section Target Events
2079 @anchor{Target Events}
2080 At various times, certain things can happen, or you want them to happen.
2084 @item What should happen when GDB connects? Should your target reset?
2085 @item When GDB tries to flash the target, do you need to enable the flash via a special command?
2086 @item During reset, do you need to write to certain memory location to reconfigure the SDRAM?
2089 All of the above items are handled by target events.
2091 To specify an event action, either during target creation, or later
2092 via ``$_TARGETNAME configure'' see this example.
2094 Syntactially, the option is: ``-event NAME BODY'' where NAME is a
2095 target event name, and BODY is a Tcl procedure or string of commands
2098 The programmers model is the ``-command'' option used in Tcl/Tk
2099 buttons and events. Below are two identical examples, the first
2100 creates and invokes small procedure. The second inlines the procedure.
2103 proc my_attach_proc @{ @} @{
2107 mychip.cpu configure -event gdb-attach my_attach_proc
2108 mychip.cpu configure -event gdb-attach @{
2114 @section Current Events
2115 The following events are available:
2117 @item @b{debug-halted}
2118 @* The target has halted for debug reasons (i.e.: breakpoint)
2119 @item @b{debug-resumed}
2120 @* The target has resumed (i.e.: gdb said run)
2121 @item @b{early-halted}
2122 @* Occurs early in the halt process
2123 @item @b{examine-end}
2124 @* Currently not used (goal: when JTAG examine completes)
2125 @item @b{examine-start}
2126 @* Currently not used (goal: when JTAG examine starts)
2127 @item @b{gdb-attach}
2128 @* When GDB connects
2129 @item @b{gdb-detach}
2130 @* When GDB disconnects
2132 @* When the taret has halted and GDB is not doing anything (see early halt)
2133 @item @b{gdb-flash-erase-start}
2134 @* Before the GDB flash process tries to erase the flash
2135 @item @b{gdb-flash-erase-end}
2136 @* After the GDB flash process has finished erasing the flash
2137 @item @b{gdb-flash-write-start}
2138 @* Before GDB writes to the flash
2139 @item @b{gdb-flash-write-end}
2140 @* After GDB writes to the flash
2142 @* Before the taret steps, gdb is trying to start/resume the target
2144 @* The target has halted
2145 @item @b{old-gdb_program_config}
2146 @* DO NOT USE THIS: Used internally
2147 @item @b{old-pre_resume}
2148 @* DO NOT USE THIS: Used internally
2149 @item @b{reset-assert-pre}
2150 @* Before reset is asserted on the tap.
2151 @item @b{reset-assert-post}
2152 @* Reset is now asserted on the tap.
2153 @item @b{reset-deassert-pre}
2154 @* Reset is about to be released on the tap
2155 @item @b{reset-deassert-post}
2156 @* Reset has been released on the tap
2158 @* Currently not used.
2159 @item @b{reset-halt-post}
2160 @* Currently not usd
2161 @item @b{reset-halt-pre}
2162 @* Currently not used
2163 @item @b{reset-init}
2164 @* Used by @b{reset init} command for board-specific initialization.
2165 This is where you would configure PLLs and clocking, set up DRAM so
2166 you can download programs that don't fit in on-chip SRAM, set up pin
2167 multiplexing, and so on.
2168 @item @b{reset-start}
2169 @* Currently not used
2170 @item @b{reset-wait-pos}
2171 @* Currently not used
2172 @item @b{reset-wait-pre}
2173 @* Currently not used
2174 @item @b{resume-start}
2175 @* Before any target is resumed
2176 @item @b{resume-end}
2177 @* After all targets have resumed
2181 @* Target has resumed
2182 @item @b{tap-enable}
2183 @* Executed by @b{jtag tapenable DOTTED.NAME} command. Example:
2185 jtag configure DOTTED.NAME -event tap-enable @{
2190 @item @b{tap-disable}
2191 @*Executed by @b{jtag tapdisable DOTTED.NAME} command. Example:
2193 jtag configure DOTTED.NAME -event tap-disable @{
2194 puts "Disabling CPU"
2200 @section Target Create
2201 @anchor{Target Create}
2203 @cindex target creation
2206 @b{target} @b{create} <@var{NAME}> <@var{TYPE}> <@var{PARAMS ...}>
2208 @*This command creates a GDB debug target that refers to a specific JTAG tap.
2209 @comment START params
2212 @* Is the name of the debug target. By convention it should be the tap
2213 DOTTED.NAME. This name is also used to create the target object
2214 command, and in other places the target needs to be identified.
2216 @* Specifies the target type, i.e.: ARM7TDMI, or Cortex-M3. Currently supported targets are:
2217 @comment START types
2234 @*PARAMs are various target configuration parameters. The following ones are mandatory:
2235 @comment START mandatory
2237 @item @b{-endian big|little}
2238 @item @b{-chain-position DOTTED.NAME}
2239 @comment end MANDATORY
2244 @section Target Config/Cget Options
2245 These options can be specified when the target is created, or later
2246 via the configure option or to query the target via cget.
2248 You should specify a working area if you can; typically it uses some
2249 on-chip SRAM. Such a working area can speed up many things, including bulk
2250 writes to target memory; flash operations like checking to see if memory needs
2251 to be erased; GDB memory checksumming; and may help perform otherwise
2252 unavailable operations (like some coprocessor operations on ARM7/9 systems).
2254 @item @b{-type} - returns the target type
2255 @item @b{-event NAME BODY} see Target events
2256 @item @b{-work-area-virt [ADDRESS]} specify/set the work area base address
2257 which will be used when an MMU is active.
2258 @item @b{-work-area-phys [ADDRESS]} specify/set the work area base address
2259 which will be used when an MMU is inactive.
2260 @item @b{-work-area-size [ADDRESS]} specify/set the work area
2261 @item @b{-work-area-backup [0|1]} does the work area get backed up;
2262 by default, it doesn't. When possible, use a working_area that doesn't
2263 need to be backed up, since performing a backup slows down operations.
2264 @item @b{-endian [big|little]}
2265 @item @b{-variant [NAME]} some chips have variants OpenOCD needs to know about
2266 @item @b{-chain-position DOTTED.NAME} the tap name this target refers to.
2270 for @{ set x 0 @} @{ $x < [target count] @} @{ incr x @} @{
2271 set name [target number $x]
2272 set y [$name cget -endian]
2273 set z [$name cget -type]
2274 puts [format "Chip %d is %s, Endian: %s, type: %s" $x $y $z]
2278 @section Target Variants
2281 @* Use variant @option{lm3s} when debugging older Stellaris LM3S targets.
2282 This will cause OpenOCD to use a software reset rather than asserting
2283 SRST, to avoid a issue with clearing the debug registers.
2284 This is fixed in Fury Rev B, DustDevil Rev B, Tempest; these revisions will
2285 be detected and the normal reset behaviour used.
2287 @*Supported variants are
2288 @option{ixp42x}, @option{ixp45x}, @option{ixp46x},
2289 @option{pxa250}, @option{pxa255}, @option{pxa26x}.
2291 @* Use variant @option{ejtag_srst} when debugging targets that do not
2292 provide a functional SRST line on the EJTAG connector. This causes
2293 OpenOCD to instead use an EJTAG software reset command to reset the
2294 processor. You still need to enable @option{srst} on the reset
2295 configuration command to enable OpenOCD hardware reset functionality.
2296 @comment END variants
2298 @section working_area - Command Removed
2299 @cindex working_area
2300 @*@b{Please use the ``$_TARGETNAME configure -work-area-... parameters instead}
2301 @* This documentation remains because there are existing scripts that
2302 still use this that need to be converted.
2304 working_area target# address size backup| [virtualaddress]
2306 @* The target# is a the 0 based target numerical index.
2308 @node Flash Commands
2309 @chapter Flash Commands
2311 OpenOCD has different commands for NOR and NAND flash;
2312 the ``flash'' command works with NOR flash, while
2313 the ``nand'' command works with NAND flash.
2314 This partially reflects different hardware technologies:
2315 NOR flash usually supports direct CPU instruction and data bus access,
2316 while data from a NAND flash must be copied to memory before it can be
2317 used. (SPI flash must also be copied to memory before use.)
2318 However, the documentation also uses ``flash'' as a generic term;
2319 for example, ``Put flash configuration in board-specific files''.
2322 As of 28-nov-2008 OpenOCD does not know how to program a SPI
2323 flash that a micro may boot from. Perhaps you, the reader, would like to
2324 contribute support for this.
2329 @item Configure via the command @command{flash bank}
2330 @* Do this in a board-specific configuration file,
2331 passing parameters as needed by the driver.
2332 @item Operate on the flash via @command{flash subcommand}
2333 @* Often commands to manipulate the flash are typed by a human, or run
2334 via a script in some automated way. Common tasks include writing a
2335 boot loader, operating system, or other data.
2337 @* Flashing via GDB requires the flash be configured via ``flash
2338 bank'', and the GDB flash features be enabled.
2339 @xref{GDB Configuration}.
2342 Many CPUs have the ablity to ``boot'' from the first flash bank.
2343 This means that misprograming that bank can ``brick'' a system,
2344 so that it can't boot.
2345 JTAG tools, like OpenOCD, are often then used to ``de-brick'' the
2346 board by (re)installing working boot firmware.
2348 @section Flash Configuration Commands
2349 @cindex flash configuration
2351 @deffn {Config Command} {flash bank} driver base size chip_width bus_width target [driver_options]
2352 Configures a flash bank which provides persistent storage
2353 for addresses from @math{base} to @math{base + size - 1}.
2354 These banks will often be visible to GDB through the target's memory map.
2355 In some cases, configuring a flash bank will activate extra commands;
2356 see the driver-specific documentation.
2359 @item @var{driver} ... identifies the controller driver
2360 associated with the flash bank being declared.
2361 This is usually @code{cfi} for external flash, or else
2362 the name of a microcontroller with embedded flash memory.
2363 @xref{Flash Driver List}.
2364 @item @var{base} ... Base address of the flash chip.
2365 @item @var{size} ... Size of the chip, in bytes.
2366 For some drivers, this value is detected from the hardware.
2367 @item @var{chip_width} ... Width of the flash chip, in bytes;
2368 ignored for most microcontroller drivers.
2369 @item @var{bus_width} ... Width of the data bus used to access the
2370 chip, in bytes; ignored for most microcontroller drivers.
2371 @item @var{target} ... Names the target used to issue
2372 commands to the flash controller.
2373 @comment Actually, it's currently a controller-specific parameter...
2374 @item @var{driver_options} ... drivers may support, or require,
2375 additional parameters. See the driver-specific documentation
2376 for more information.
2379 This command is not available after OpenOCD initialization has completed.
2380 Use it in board specific configuration files, not interactively.
2384 @comment the REAL name for this command is "ocd_flash_banks"
2385 @comment less confusing would be: "flash list" (like "nand list")
2386 @deffn Command {flash banks}
2387 Prints a one-line summary of each device declared
2388 using @command{flash bank}, numbered from zero.
2389 Note that this is the @emph{plural} form;
2390 the @emph{singular} form is a very different command.
2393 @deffn Command {flash probe} num
2394 Identify the flash, or validate the parameters of the configured flash. Operation
2395 depends on the flash type.
2396 The @var{num} parameter is a value shown by @command{flash banks}.
2397 Most flash commands will implicitly @emph{autoprobe} the bank;
2398 flash drivers can distinguish between probing and autoprobing,
2399 but most don't bother.
2402 @section Erasing, Reading, Writing to Flash
2403 @cindex flash erasing
2404 @cindex flash reading
2405 @cindex flash writing
2406 @cindex flash programming
2408 One feature distinguishing NOR flash from NAND or serial flash technologies
2409 is that for read access, it acts exactly like any other addressible memory.
2410 This means you can use normal memory read commands like @command{mdw} or
2411 @command{dump_image} with it, with no special @command{flash} subcommands.
2412 @xref{Memory access}.
2413 @xref{Image access}.
2415 Write access works differently. Flash memory normally needs to be erased
2416 before it's written. Erasing a sector turns all of its bits to ones, and
2417 writing can turn ones into zeroes. This is why there are special commands
2418 for interactive erasing and writing, and why GDB needs to know which parts
2419 of the address space hold NOR flash memory.
2422 Most of these erase and write commands leverage the fact that NOR flash
2423 chips consume target address space. They implicitly refer to the current
2424 JTAG target, and map from an address in that target's address space
2425 back to a flash bank.
2426 @comment In May 2009, those mappings may fail if any bank associated
2427 @comment with that target doesn't succesfuly autoprobe ... bug worth fixing?
2428 A few commands use abstract addressing based on bank and sector numbers,
2429 and don't depend on searching the current target and its address space.
2430 Avoid confusing the two command models.
2433 Some flash chips implement software protection against accidental writes,
2434 since such buggy writes could in some cases ``brick'' a system.
2435 For such systems, erasing and writing may require sector protection to be
2437 Examples include CFI flash such as ``Intel Advanced Bootblock flash'',
2438 and AT91SAM7 on-chip flash.
2439 @xref{flash protect}.
2441 @anchor{flash erase_sector}
2442 @deffn Command {flash erase_sector} num first last
2443 Erase sectors in bank @var{num}, starting at sector @var{first} up to and including
2444 @var{last}. Sector numbering starts at 0.
2445 The @var{num} parameter is a value shown by @command{flash banks}.
2448 @deffn Command {flash erase_address} address length
2449 Erase sectors starting at @var{address} for @var{length} bytes.
2450 The flash bank to use is inferred from the @var{address}, and
2451 the specified length must stay within that bank.
2452 As a special case, when @var{length} is zero and @var{address} is
2453 the start of the bank, the whole flash is erased.
2456 @deffn Command {flash fillw} address word length
2457 @deffnx Command {flash fillh} address halfword length
2458 @deffnx Command {flash fillb} address byte length
2459 Fills flash memory with the specified @var{word} (32 bits),
2460 @var{halfword} (16 bits), or @var{byte} (8-bit) pattern,
2461 starting at @var{address} and continuing
2462 for @var{length} units (word/halfword/byte).
2463 No erasure is done before writing; when needed, that must be done
2464 before issuing this command.
2465 Writes are done in blocks of up to 1024 bytes, and each write is
2466 verified by reading back the data and comparing it to what was written.
2467 The flash bank to use is inferred from the @var{address} of
2468 each block, and the specified length must stay within that bank.
2470 @comment no current checks for errors if fill blocks touch multiple banks!
2472 @anchor{flash write_bank}
2473 @deffn Command {flash write_bank} num filename offset
2474 Write the binary @file{filename} to flash bank @var{num},
2475 starting at @var{offset} bytes from the beginning of the bank.
2476 The @var{num} parameter is a value shown by @command{flash banks}.
2479 @anchor{flash write_image}
2480 @deffn Command {flash write_image} [erase] filename [offset] [type]
2481 Write the image @file{filename} to the current target's flash bank(s).
2482 A relocation @var{offset} may be specified, in which case it is added
2483 to the base address for each section in the image.
2484 The file [@var{type}] can be specified
2485 explicitly as @option{bin} (binary), @option{ihex} (Intel hex), @option{elf}
2486 (ELF file) or @option{s19} (Motorola s19).
2487 The relevant flash sectors will be erased prior to programming
2488 if the @option{erase} parameter is given.
2489 The flash bank to use is inferred from the @var{address} of
2493 @section Other Flash commands
2494 @cindex flash protection
2496 @deffn Command {flash erase_check} num
2497 Check erase state of sectors in flash bank @var{num},
2498 and display that status.
2499 The @var{num} parameter is a value shown by @command{flash banks}.
2500 This is the only operation that
2501 updates the erase state information displayed by @option{flash info}. That means you have
2502 to issue an @command{flash erase_check} command after erasing or programming the device
2503 to get updated information.
2504 (Code execution may have invalidated any state records kept by OpenOCD.)
2507 @deffn Command {flash info} num
2508 Print info about flash bank @var{num}
2509 The @var{num} parameter is a value shown by @command{flash banks}.
2510 The information includes per-sector protect status.
2513 @anchor{flash protect}
2514 @deffn Command {flash protect} num first last (on|off)
2515 Enable (@var{on}) or disable (@var{off}) protection of flash sectors
2516 @var{first} to @var{last} of flash bank @var{num}.
2517 The @var{num} parameter is a value shown by @command{flash banks}.
2520 @deffn Command {flash protect_check} num
2521 Check protection state of sectors in flash bank @var{num}.
2522 The @var{num} parameter is a value shown by @command{flash banks}.
2523 @comment @option{flash erase_sector} using the same syntax.
2526 @section Flash Drivers, Options, and Commands
2527 @anchor{Flash Driver List}
2528 As noted above, the @command{flash bank} command requires a driver name,
2529 and allows driver-specific options and behaviors.
2530 Some drivers also activate driver-specific commands.
2532 @subsection External Flash
2534 @deffn {Flash Driver} cfi
2535 @cindex Common Flash Interface
2537 The ``Common Flash Interface'' (CFI) is the main standard for
2538 external NOR flash chips, each of which connects to a
2539 specific external chip select on the CPU.
2540 Frequently the first such chip is used to boot the system.
2541 Your board's @code{reset-init} handler might need to
2542 configure additional chip selects using other commands (like: @command{mww} to
2543 configure a bus and its timings) , or
2544 perhaps configure a GPIO pin that controls the ``write protect'' pin
2546 The CFI driver can use a target-specific working area to significantly
2549 The CFI driver can accept the following optional parameters, in any order:
2552 @item @var{jedec_probe} ... is used to detect certain non-CFI flash ROMs,
2553 like AM29LV010 and similar types.
2554 @item @var{x16_as_x8} ...
2557 To configure two adjacent banks of 16 MBytes each, both sixteen bits (two bytes)
2558 wide on a sixteen bit bus:
2561 flash bank cfi 0x00000000 0x01000000 2 2 $_TARGETNAME
2562 flash bank cfi 0x01000000 0x01000000 2 2 $_TARGETNAME
2566 @subsection Internal Flash (Microcontrollers)
2568 @deffn {Flash Driver} aduc702x
2569 The ADUC702x analog microcontrollers from ST Micro
2570 include internal flash and use ARM7TDMI cores.
2571 The aduc702x flash driver works with models ADUC7019 through ADUC7028.
2572 The setup command only requires the @var{target} argument
2573 since all devices in this family have the same memory layout.
2576 flash bank aduc702x 0 0 0 0 $_TARGETNAME
2580 @deffn {Flash Driver} at91sam7
2581 All members of the AT91SAM7 microcontroller family from Atmel
2582 include internal flash and use ARM7TDMI cores.
2583 The driver automatically recognizes a number of these chips using
2584 the chip identification register, and autoconfigures itself.
2587 flash bank at91sam7 0 0 0 0 $_TARGETNAME
2590 For chips which are not recognized by the controller driver, you must
2591 provide additional parameters in the following order:
2594 @item @var{chip_model} ... label used with @command{flash info}
2596 @item @var{sectors_per_bank}
2597 @item @var{pages_per_sector}
2598 @item @var{pages_size}
2599 @item @var{num_nvm_bits}
2600 @item @var{freq_khz} ... required if an external clock is provided,
2601 optional (but recommended) when the oscillator frequency is known
2604 It is recommended that you provide zeroes for all of those values
2605 except the clock frequency, so that everything except that frequency
2606 will be autoconfigured.
2607 Knowing the frequency helps ensure correct timings for flash access.
2609 The flash controller handles erases automatically on a page (128/256 byte)
2610 basis, so explicit erase commands are not necessary for flash programming.
2611 However, there is an ``EraseAll`` command that can erase an entire flash
2612 plane (of up to 256KB), and it will be used automatically when you issue
2613 @command{flash erase_sector} or @command{flash erase_address} commands.
2615 @deffn Command {at91sam7 gpnvm} bitnum (set|clear)
2616 Set or clear a ``General Purpose Non-Volatle Memory'' (GPNVM)
2617 bit for the processor. Each processor has a number of such bits,
2618 used for controlling features such as brownout detection (so they
2619 are not truly general purpose).
2621 This assumes that the first flash bank (number 0) is associated with
2622 the appropriate at91sam7 target.
2627 @deffn {Flash Driver} lpc2000
2628 Most members of the LPC2000 microcontroller family from NXP
2629 include internal flash and use ARM7TDMI cores.
2630 The @var{lpc2000} driver defines two mandatory and one optional parameters,
2631 which must appear in the following order:
2634 @item @var{variant} ... required, may be
2635 @var{lpc2000_v1} (older LPC21xx and LPC22xx)
2636 or @var{lpc2000_v2} (LPC213x, LPC214x, LPC210[123], LPC23xx and LPC24xx)
2637 @item @var{clock_kHz} ... the frequency, in kiloHertz,
2638 at which the core is running
2639 @item @var{calc_checksum} ... optional (but you probably want to provide this!),
2640 telling the driver to calculate a valid checksum for the exception vector table.
2643 LPC flashes don't require the chip and bus width to be specified.
2646 flash bank lpc2000 0x0 0x7d000 0 0 $_TARGETNAME \
2647 lpc2000_v2 14765 calc_checksum
2651 @deffn {Flash Driver} stellaris
2652 All members of the Stellaris LM3Sxxx microcontroller family from
2654 include internal flash and use ARM Cortex M3 cores.
2655 The driver automatically recognizes a number of these chips using
2656 the chip identification register, and autoconfigures itself.
2657 @footnote{Currently there is a @command{stellaris mass_erase} command.
2658 That seems pointless since the same effect can be had using the
2659 standard @command{flash erase_address} command.}
2662 flash bank stellaris 0 0 0 0 $_TARGETNAME
2666 @deffn {Flash Driver} stm32x
2667 All members of the STM32 microcontroller family from ST Microelectronics
2668 include internal flash and use ARM Cortex M3 cores.
2669 The driver automatically recognizes a number of these chips using
2670 the chip identification register, and autoconfigures itself.
2673 flash bank stm32x 0 0 0 0 $_TARGETNAME
2676 Some stm32x-specific commands
2677 @footnote{Currently there is a @command{stm32x mass_erase} command.
2678 That seems pointless since the same effect can be had using the
2679 standard @command{flash erase_address} command.}
2682 @deffn Command {stm32x lock} num
2683 Locks the entire stm32 device.
2684 The @var{num} parameter is a value shown by @command{flash banks}.
2687 @deffn Command {stm32x unlock} num
2688 Unlocks the entire stm32 device.
2689 The @var{num} parameter is a value shown by @command{flash banks}.
2692 @deffn Command {stm32x options_read} num
2693 Read and display the stm32 option bytes written by
2694 the @command{stm32x options_write} command.
2695 The @var{num} parameter is a value shown by @command{flash banks}.
2698 @deffn Command {stm32x options_write} num (SWWDG|HWWDG) (RSTSTNDBY|NORSTSTNDBY) (RSTSTOP|NORSTSTOP)
2699 Writes the stm32 option byte with the specified values.
2700 The @var{num} parameter is a value shown by @command{flash banks}.
2704 @deffn {Flash Driver} str7x
2705 All members of the STR7 microcontroller family from ST Microelectronics
2706 include internal flash and use ARM7TDMI cores.
2707 The @var{str7x} driver defines one mandatory parameter, @var{variant},
2708 which is either @code{STR71x}, @code{STR73x} or @code{STR75x}.
2711 flash bank str7x 0x40000000 0x00040000 0 0 $_TARGETNAME STR71x
2715 @deffn {Flash Driver} str9x
2716 Most members of the STR9 microcontroller family from ST Microelectronics
2717 include internal flash and use ARM966E cores.
2718 The str9 needs the flash controller to be configured using
2719 the @command{str9x flash_config} command prior to Flash programming.
2722 flash bank str9x 0x40000000 0x00040000 0 0 $_TARGETNAME
2723 str9x flash_config 0 4 2 0 0x80000
2726 @deffn Command {str9x flash_config} num bbsr nbbsr bbadr nbbadr
2727 Configures the str9 flash controller.
2728 The @var{num} parameter is a value shown by @command{flash banks}.
2731 @item @var{bbsr} - Boot Bank Size register
2732 @item @var{nbbsr} - Non Boot Bank Size register
2733 @item @var{bbadr} - Boot Bank Start Address register
2734 @item @var{nbbadr} - Boot Bank Start Address register
2740 @subsection str9xpec driver
2743 Here is some background info to help
2744 you better understand how this driver works. OpenOCD has two flash drivers for
2748 Standard driver @option{str9x} programmed via the str9 core. Normally used for
2749 flash programming as it is faster than the @option{str9xpec} driver.
2751 Direct programming @option{str9xpec} using the flash controller. This is an
2752 ISC compilant (IEEE 1532) tap connected in series with the str9 core. The str9
2753 core does not need to be running to program using this flash driver. Typical use
2754 for this driver is locking/unlocking the target and programming the option bytes.
2757 Before we run any commands using the @option{str9xpec} driver we must first disable
2758 the str9 core. This example assumes the @option{str9xpec} driver has been
2759 configured for flash bank 0.
2761 # assert srst, we do not want core running
2762 # while accessing str9xpec flash driver
2764 # turn off target polling
2767 str9xpec enable_turbo 0
2769 str9xpec options_read 0
2770 # re-enable str9 core
2771 str9xpec disable_turbo 0
2775 The above example will read the str9 option bytes.
2776 When performing a unlock remember that you will not be able to halt the str9 - it
2777 has been locked. Halting the core is not required for the @option{str9xpec} driver
2778 as mentioned above, just issue the commands above manually or from a telnet prompt.
2780 @subsubsection str9xpec driver options
2782 @b{flash bank str9xpec} <@var{base}> <@var{size}> 0 0 <@var{target}>
2783 @*Before using the flash commands the turbo mode must be enabled using str9xpec
2784 @option{enable_turbo} <@var{num>.}
2786 Only use this driver for locking/unlocking the device or configuring the option bytes.
2787 Use the standard str9 driver for programming.
2789 @subsubsection str9xpec specific commands
2790 @cindex str9xpec specific commands
2791 These are flash specific commands when using the str9xpec driver.
2794 @item @b{str9xpec enable_turbo} <@var{num}>
2795 @cindex str9xpec enable_turbo
2796 @*enable turbo mode, will simply remove the str9 from the chain and talk
2797 directly to the embedded flash controller.
2798 @item @b{str9xpec disable_turbo} <@var{num}>
2799 @cindex str9xpec disable_turbo
2800 @*restore the str9 into JTAG chain.
2801 @item @b{str9xpec lock} <@var{num}>
2802 @cindex str9xpec lock
2803 @*lock str9 device. The str9 will only respond to an unlock command that will
2805 @item @b{str9xpec unlock} <@var{num}>
2806 @cindex str9xpec unlock
2807 @*unlock str9 device.
2808 @item @b{str9xpec options_read} <@var{num}>
2809 @cindex str9xpec options_read
2810 @*read str9 option bytes.
2811 @item @b{str9xpec options_write} <@var{num}>
2812 @cindex str9xpec options_write
2813 @*write str9 option bytes.
2816 @subsubsection STR9 option byte configuration
2817 @cindex STR9 option byte configuration
2820 @item @b{str9xpec options_cmap} <@var{num}> <@option{bank0}|@option{bank1}>
2821 @cindex str9xpec options_cmap
2822 @*configure str9 boot bank.
2823 @item @b{str9xpec options_lvdthd} <@var{num}> <@option{2.4v}|@option{2.7v}>
2824 @cindex str9xpec options_lvdthd
2825 @*configure str9 lvd threshold.
2826 @item @b{str9xpec options_lvdsel} <@var{num}> <@option{vdd}|@option{vdd_vddq}>
2827 @cindex str9xpec options_lvdsel
2828 @*configure str9 lvd source.
2829 @item @b{str9xpec options_lvdwarn} <@var{bank}> <@option{vdd}|@option{vdd_vddq}>
2830 @cindex str9xpec options_lvdwarn
2831 @*configure str9 lvd reset warning source.
2836 @subsection mFlash Configuration
2837 @cindex mFlash Configuration
2838 @b{mflash bank} <@var{soc}> <@var{base}> <@var{RST pin}> <@var{target}>
2840 @*Configures a mflash for <@var{soc}> host bank at
2841 <@var{base}>. Pin number format is dependent on host GPIO calling convention.
2842 Currently, mflash bank support s3c2440 and pxa270.
2844 (ex. of s3c2440) mflash <@var{RST pin}> is GPIO B1.
2847 mflash bank s3c2440 0x10000000 1b 0
2850 (ex. of pxa270) mflash <@var{RST pin}> is GPIO 43.
2853 mflash bank pxa270 0x08000000 43 0
2856 @subsection mFlash commands
2857 @cindex mFlash commands
2860 @item @b{mflash probe}
2861 @cindex mflash probe
2863 @item @b{mflash write} <@var{num}> <@var{file}> <@var{offset}>
2864 @cindex mflash write
2865 @*Write the binary <@var{file}> to mflash bank <@var{num}>, starting at
2866 <@var{offset}> bytes from the beginning of the bank.
2867 @item @b{mflash dump} <@var{num}> <@var{file}> <@var{offset}> <@var{size}>
2869 @*Dump <size> bytes, starting at <@var{offset}> bytes from the beginning of the <@var{num}> bank
2871 @item @b{mflash config pll} <@var{frequency}>
2872 @cindex mflash config pll
2873 @*Configure mflash pll. <@var{frequency}> is input frequency of mflash. The order is Hz.
2874 Issuing this command will erase mflash's whole internal nand and write new pll.
2875 After this command, mflash needs power-on-reset for normal operation.
2876 If pll was newly configured, storage and boot(optional) info also need to be update.
2877 @item @b{mflash config boot}
2878 @cindex mflash config boot
2879 @*Configure bootable option. If bootable option is set, mflash offer the first 8 sectors
2881 @item @b{mflash config storage}
2882 @cindex mflash config storage
2883 @*Configure storage information. For the normal storage operation, this information must be
2887 @node NAND Flash Commands
2888 @chapter NAND Flash Commands
2891 Compared to NOR or SPI flash, NAND devices are inexpensive
2892 and high density. Today's NAND chips, and multi-chip modules,
2893 commonly hold multiple GigaBytes of data.
2895 NAND chips consist of a number of ``erase blocks'' of a given
2896 size (such as 128 KBytes), each of which is divided into a
2897 number of pages (of perhaps 512 or 2048 bytes each). Each
2898 page of a NAND flash has an ``out of band'' (OOB) area to hold
2899 Error Correcting Code (ECC) and other metadata, usually 16 bytes
2900 of OOB for every 512 bytes of page data.
2902 One key characteristic of NAND flash is that its error rate
2903 is higher than that of NOR flash. In normal operation, that
2904 ECC is used to correct and detect errors. However, NAND
2905 blocks can also wear out and become unusable; those blocks
2906 are then marked "bad". NAND chips are even shipped from the
2907 manufacturer with a few bad blocks. The highest density chips
2908 use a technology (MLC) that wears out more quickly, so ECC
2909 support is increasingly important as a way to detect blocks
2910 that have begun to fail, and help to preserve data integrity
2911 with techniques such as wear leveling.
2913 Software is used to manage the ECC. Some controllers don't
2914 support ECC directly; in those cases, software ECC is used.
2915 Other controllers speed up the ECC calculations with hardware.
2916 Single-bit error correction hardware is routine. Controllers
2917 geared for newer MLC chips may correct 4 or more errors for
2918 every 512 bytes of data.
2920 You will need to make sure that any data you write using
2921 OpenOCD includes the apppropriate kind of ECC. For example,
2922 that may mean passing the @code{oob_softecc} flag when
2923 writing NAND data, or ensuring that the correct hardware
2926 The basic steps for using NAND devices include:
2928 @item Declare via the command @command{nand device}
2929 @* Do this in a board-specific configuration file,
2930 passing parameters as needed by the controller.
2931 @item Configure each device using @command{nand probe}.
2932 @* Do this only after the associated target is set up,
2933 such as in its reset-init script or in procures defined
2934 to access that device.
2935 @item Operate on the flash via @command{nand subcommand}
2936 @* Often commands to manipulate the flash are typed by a human, or run
2937 via a script in some automated way. Common task include writing a
2938 boot loader, operating system, or other data needed to initialize or
2942 @b{NOTE:} At the time this text was written, the largest NAND
2943 flash fully supported by OpenOCD is 2 GiBytes (16 GiBits).
2944 This is because the variables used to hold offsets and lengths
2945 are only 32 bits wide.
2946 (Larger chips may work in some cases, unless an offset or length
2947 is larger than 0xffffffff, the largest 32-bit unsigned integer.)
2948 Some larger devices will work, since they are actually multi-chip
2949 modules with two smaller chips and individual chipselect lines.
2951 @section NAND Configuration Commands
2952 @cindex NAND configuration
2954 NAND chips must be declared in configuration scripts,
2955 plus some additional configuration that's done after
2956 OpenOCD has initialized.
2958 @deffn {Config Command} {nand device} controller target [configparams...]
2959 Declares a NAND device, which can be read and written to
2960 after it has been configured through @command{nand probe}.
2961 In OpenOCD, devices are single chips; this is unlike some
2962 operating systems, which may manage multiple chips as if
2963 they were a single (larger) device.
2964 In some cases, configuring a device will activate extra
2965 commands; see the controller-specific documentation.
2967 @b{NOTE:} This command is not available after OpenOCD
2968 initialization has completed. Use it in board specific
2969 configuration files, not interactively.
2972 @item @var{controller} ... identifies the controller driver
2973 associated with the NAND device being declared.
2974 @xref{NAND Driver List}.
2975 @item @var{target} ... names the target used when issuing
2976 commands to the NAND controller.
2977 @comment Actually, it's currently a controller-specific parameter...
2978 @item @var{configparams} ... controllers may support, or require,
2979 additional parameters. See the controller-specific documentation
2980 for more information.
2984 @deffn Command {nand list}
2985 Prints a one-line summary of each device declared
2986 using @command{nand device}, numbered from zero.
2987 Note that un-probed devices show no details.
2990 @deffn Command {nand probe} num
2991 Probes the specified device to determine key characteristics
2992 like its page and block sizes, and how many blocks it has.
2993 The @var{num} parameter is the value shown by @command{nand list}.
2994 You must (successfully) probe a device before you can use
2995 it with most other NAND commands.
2998 @section Erasing, Reading, Writing to NAND Flash
3000 @deffn Command {nand dump} num filename offset length [oob_option]
3001 @cindex NAND reading
3002 Reads binary data from the NAND device and writes it to the file,
3003 starting at the specified offset.
3004 The @var{num} parameter is the value shown by @command{nand list}.
3006 Use a complete path name for @var{filename}, so you don't depend
3007 on the directory used to start the OpenOCD server.
3009 The @var{offset} and @var{length} must be exact multiples of the
3010 device's page size. They describe a data region; the OOB data
3011 associated with each such page may also be accessed.
3013 @b{NOTE:} At the time this text was written, no error correction
3014 was done on the data that's read, unless raw access was disabled
3015 and the underlying NAND controller driver had a @code{read_page}
3016 method which handled that error correction.
3018 By default, only page data is saved to the specified file.
3019 Use an @var{oob_option} parameter to save OOB data:
3021 @item no oob_* parameter
3022 @*Output file holds only page data; OOB is discarded.
3023 @item @code{oob_raw}
3024 @*Output file interleaves page data and OOB data;
3025 the file will be longer than "length" by the size of the
3026 spare areas associated with each data page.
3027 Note that this kind of "raw" access is different from
3028 what's implied by @command{nand raw_access}, which just
3029 controls whether a hardware-aware access method is used.
3030 @item @code{oob_only}
3031 @*Output file has only raw OOB data, and will
3032 be smaller than "length" since it will contain only the
3033 spare areas associated with each data page.
3037 @deffn Command {nand erase} num offset length
3038 @cindex NAND erasing
3039 @cindex NAND programming
3040 Erases blocks on the specified NAND device, starting at the
3041 specified @var{offset} and continuing for @var{length} bytes.
3042 Both of those values must be exact multiples of the device's
3043 block size, and the region they specify must fit entirely in the chip.
3044 The @var{num} parameter is the value shown by @command{nand list}.
3046 @b{NOTE:} This command will try to erase bad blocks, when told
3047 to do so, which will probably invalidate the manufacturer's bad
3049 For the remainder of the current server session, @command{nand info}
3050 will still report that the block ``is'' bad.
3053 @deffn Command {nand write} num filename offset [option...]
3054 @cindex NAND writing
3055 @cindex NAND programming
3056 Writes binary data from the file into the specified NAND device,
3057 starting at the specified offset. Those pages should already
3058 have been erased; you can't change zero bits to one bits.
3059 The @var{num} parameter is the value shown by @command{nand list}.
3061 Use a complete path name for @var{filename}, so you don't depend
3062 on the directory used to start the OpenOCD server.
3064 The @var{offset} must be an exact multiple of the device's page size.
3065 All data in the file will be written, assuming it doesn't run
3066 past the end of the device.
3067 Only full pages are written, and any extra space in the last
3068 page will be filled with 0xff bytes. (That includes OOB data,
3069 if that's being written.)
3071 @b{NOTE:} At the time this text was written, bad blocks are
3072 ignored. That is, this routine will not skip bad blocks,
3073 but will instead try to write them. This can cause problems.
3075 Provide at most one @var{option} parameter. With some
3076 NAND drivers, the meanings of these parameters may change
3077 if @command{nand raw_access} was used to disable hardware ECC.
3079 @item no oob_* parameter
3080 @*File has only page data, which is written.
3081 If raw acccess is in use, the OOB area will not be written.
3082 Otherwise, if the underlying NAND controller driver has
3083 a @code{write_page} routine, that routine may write the OOB
3084 with hardware-computed ECC data.
3085 @item @code{oob_only}
3086 @*File has only raw OOB data, which is written to the OOB area.
3087 Each page's data area stays untouched. @i{This can be a dangerous
3088 option}, since it can invalidate the ECC data.
3089 You may need to force raw access to use this mode.
3090 @item @code{oob_raw}
3091 @*File interleaves data and OOB data, both of which are written
3092 If raw access is enabled, the data is written first, then the
3094 Otherwise, if the underlying NAND controller driver has
3095 a @code{write_page} routine, that routine may modify the OOB
3096 before it's written, to include hardware-computed ECC data.
3097 @item @code{oob_softecc}
3098 @*File has only page data, which is written.
3099 The OOB area is filled with 0xff, except for a standard 1-bit
3100 software ECC code stored in conventional locations.
3101 You might need to force raw access to use this mode, to prevent
3102 the underlying driver from applying hardware ECC.
3103 @item @code{oob_softecc_kw}
3104 @*File has only page data, which is written.
3105 The OOB area is filled with 0xff, except for a 4-bit software ECC
3106 specific to the boot ROM in Marvell Kirkwood SoCs.
3107 You might need to force raw access to use this mode, to prevent
3108 the underlying driver from applying hardware ECC.
3112 @section Other NAND commands
3113 @cindex NAND other commands
3115 @deffn Command {nand check_bad_blocks} [offset length]
3116 Checks for manufacturer bad block markers on the specified NAND
3117 device. If no parameters are provided, checks the whole
3118 device; otherwise, starts at the specified @var{offset} and
3119 continues for @var{length} bytes.
3120 Both of those values must be exact multiples of the device's
3121 block size, and the region they specify must fit entirely in the chip.
3122 The @var{num} parameter is the value shown by @command{nand list}.
3124 @b{NOTE:} Before using this command you should force raw access
3125 with @command{nand raw_access enable} to ensure that the underlying
3126 driver will not try to apply hardware ECC.
3129 @deffn Command {nand info} num
3130 The @var{num} parameter is the value shown by @command{nand list}.
3131 This prints the one-line summary from "nand list", plus for
3132 devices which have been probed this also prints any known
3133 status for each block.
3136 @deffn Command {nand raw_access} num <enable|disable>
3137 Sets or clears an flag affecting how page I/O is done.
3138 The @var{num} parameter is the value shown by @command{nand list}.
3140 This flag is cleared (disabled) by default, but changing that
3141 value won't affect all NAND devices. The key factor is whether
3142 the underlying driver provides @code{read_page} or @code{write_page}
3143 methods. If it doesn't provide those methods, the setting of
3144 this flag is irrelevant; all access is effectively ``raw''.
3146 When those methods exist, they are normally used when reading
3147 data (@command{nand dump} or reading bad block markers) or
3148 writing it (@command{nand write}). However, enabling
3149 raw access (setting the flag) prevents use of those methods,
3150 bypassing hardware ECC logic.
3151 @i{This can be a dangerous option}, since writing blocks
3152 with the wrong ECC data can cause them to be marked as bad.
3155 @section NAND Drivers, Options, and Commands
3156 @anchor{NAND Driver List}
3157 As noted above, the @command{nand device} command allows
3158 driver-specific options and behaviors.
3159 Some controllers also activate controller-specific commands.
3161 @deffn {NAND Driver} davinci
3162 This driver handles the NAND controllers found on DaVinci family
3163 chips from Texas Instruments.
3164 It takes three extra parameters:
3165 address of the NAND chip;
3166 hardware ECC mode to use (hwecc1, hwecc4, hwecc4_infix);
3167 address of the AEMIF controller on this processor.
3169 nand device davinci dm355.arm 0x02000000 hwecc4 0x01e10000
3171 All DaVinci processors support the single-bit ECC hardware,
3172 and newer ones also support the four-bit ECC hardware.
3173 The @code{write_page} and @code{read_page} methods are used
3174 to implement those ECC modes, unless they are disabled using
3175 the @command{nand raw_access} command.
3178 @deffn {NAND Driver} lpc3180
3179 These controllers require an extra @command{nand device}
3180 parameter: the clock rate used by the controller.
3181 @deffn Command {lpc3180 select} num [mlc|slc]
3182 Configures use of the MLC or SLC controller mode.
3183 MLC implies use of hardware ECC.
3184 The @var{num} parameter is the value shown by @command{nand list}.
3187 At this writing, this driver includes @code{write_page}
3188 and @code{read_page} methods. Using @command{nand raw_access}
3189 to disable those methods will prevent use of hardware ECC
3190 in the MLC controller mode, but won't change SLC behavior.
3192 @comment current lpc3180 code won't issue 5-byte address cycles
3194 @deffn {NAND Driver} orion
3195 These controllers require an extra @command{nand device}
3196 parameter: the address of the controller.
3198 nand device orion 0xd8000000
3200 These controllers don't define any specialized commands.
3201 At this writing, their drivers don't include @code{write_page}
3202 or @code{read_page} methods, so @command{nand raw_access} won't
3203 change any behavior.
3206 @deffn {NAND Driver} s3c2410
3207 @deffnx {NAND Driver} s3c2412
3208 @deffnx {NAND Driver} s3c2440
3209 @deffnx {NAND Driver} s3c2443
3210 These S3C24xx family controllers don't have any special
3211 @command{nand device} options, and don't define any
3212 specialized commands.
3213 At this writing, their drivers don't include @code{write_page}
3214 or @code{read_page} methods, so @command{nand raw_access} won't
3215 change any behavior.
3218 @node General Commands
3219 @chapter General Commands
3222 The commands documented in this chapter here are common commands that
3223 you, as a human, may want to type and see the output of. Configuration type
3224 commands are documented elsewhere.
3228 @item @b{Source Of Commands}
3229 @* OpenOCD commands can occur in a configuration script (discussed
3230 elsewhere) or typed manually by a human or supplied programatically,
3231 or via one of several TCP/IP Ports.
3233 @item @b{From the human}
3234 @* A human should interact with the telnet interface (default port: 4444)
3235 or via GDB (default port 3333).
3237 To issue commands from within a GDB session, use the @option{monitor}
3238 command, e.g. use @option{monitor poll} to issue the @option{poll}
3239 command. All output is relayed through the GDB session.
3241 @item @b{Machine Interface}
3242 The Tcl interface's intent is to be a machine interface. The default Tcl
3247 @section Daemon Commands
3249 @subsection sleep [@var{msec}]
3251 @*Wait for n milliseconds before resuming. Useful in connection with script files
3252 (@var{script} command and @var{target_script} configuration).
3254 @subsection shutdown
3256 @*Close the OpenOCD daemon, disconnecting all clients (GDB, telnet, other).
3258 @subsection debug_level [@var{n}]
3260 @anchor{debug_level}
3261 @*Display or adjust debug level to n<0-3>
3263 @subsection fast [@var{enable|disable}]
3265 @*Default disabled. Set default behaviour of OpenOCD to be "fast and dangerous". For instance ARM7/9 DCC memory
3266 downloads and fast memory access will work if the JTAG interface isn't too fast and
3267 the core doesn't run at a too low frequency. Note that this option only changes the default
3268 and that the indvidual options, like DCC memory downloads, can be enabled and disabled
3271 The target specific "dangerous" optimisation tweaking options may come and go
3272 as more robust and user friendly ways are found to ensure maximum throughput
3273 and robustness with a minimum of configuration.
3275 Typically the "fast enable" is specified first on the command line:
3278 openocd -c "fast enable" -c "interface dummy" -f target/str710.cfg
3281 @subsection echo <@var{message}>
3283 @*Output message to stdio. e.g. echo "Programming - please wait"
3285 @subsection log_output <@var{file}>
3287 @*Redirect logging to <file> (default: stderr)
3289 @subsection script <@var{file}>
3291 @*Execute commands from <file>
3292 See also: ``source [find FILENAME]''
3294 @section Target state handling
3295 @subsection power <@var{on}|@var{off}>
3297 @*Turn power switch to target on/off.
3298 No arguments: print status.
3299 Not all interfaces support this.
3301 @subsection reg [@option{#}|@option{name}] [value]
3303 @*Access a single register by its number[@option{#}] or by its [@option{name}].
3304 No arguments: list all available registers for the current target.
3305 Number or name argument: display a register.
3306 Number or name and value arguments: set register value.
3308 @subsection poll [@option{on}|@option{off}]
3310 @*Poll the target for its current state. If the target is in debug mode, architecture
3311 specific information about the current state is printed. An optional parameter
3312 allows continuous polling to be enabled and disabled.
3314 @subsection halt [@option{ms}]
3316 @*Send a halt request to the target and wait for it to halt for up to [@option{ms}] milliseconds.
3317 Default [@option{ms}] is 5 seconds if no arg given.
3318 Optional arg @option{ms} is a timeout in milliseconds. Using 0 as the [@option{ms}]
3319 will stop OpenOCD from waiting.
3321 @subsection wait_halt [@option{ms}]
3323 @*Wait for the target to enter debug mode. Optional [@option{ms}] is
3324 a timeout in milliseconds. Default [@option{ms}] is 5 seconds if no
3327 @subsection resume [@var{address}]
3329 @*Resume the target at its current code position, or at an optional address.
3330 OpenOCD will wait 5 seconds for the target to resume.
3332 @subsection step [@var{address}]
3334 @*Single-step the target at its current code position, or at an optional address.
3336 @anchor{Reset Command}
3337 @subsection reset [@option{run}|@option{halt}|@option{init}]
3339 @*Perform a hard-reset. The optional parameter specifies what should
3340 happen after the reset.
3341 If there is no parameter, a @command{reset run} is executed.
3342 The other options will not work on all systems.
3343 @xref{Reset Configuration}.
3347 @*Let the target run.
3350 @*Immediately halt the target (works only with certain configurations).
3353 @*Immediately halt the target, and execute the reset script (works only with certain
3357 @subsection soft_reset_halt
3359 @*Requesting target halt and executing a soft reset. This is often used
3360 when a target cannot be reset and halted. The target, after reset is
3361 released begins to execute code. OpenOCD attempts to stop the CPU and
3362 then sets the program counter back to the reset vector. Unfortunately
3363 the code that was executed may have left the hardware in an unknown
3367 @section Memory access commands
3368 @anchor{Memory access}
3370 display available RAM memory.
3371 @subsection Memory peek/poke type commands
3372 These commands allow accesses of a specific size to the memory
3373 system. Often these are used to configure the current target in some
3374 special way. For example - one may need to write certian values to the
3375 SDRAM controller to enable SDRAM.
3378 @item To change the current target see the ``targets'' (plural) command
3379 @item In system level scripts these commands are deprecated, please use the TARGET object versions.
3383 @item @b{mdw} <@var{addr}> [@var{count}]
3385 @*display memory words (32bit)
3386 @item @b{mdh} <@var{addr}> [@var{count}]
3388 @*display memory half-words (16bit)
3389 @item @b{mdb} <@var{addr}> [@var{count}]
3391 @*display memory bytes (8bit)
3392 @item @b{mww} <@var{addr}> <@var{value}>
3394 @*write memory word (32bit)
3395 @item @b{mwh} <@var{addr}> <@var{value}>
3397 @*write memory half-word (16bit)
3398 @item @b{mwb} <@var{addr}> <@var{value}>
3400 @*write memory byte (8bit)
3403 @section Image loading commands
3404 @anchor{Image access}
3405 @subsection load_image
3406 @b{load_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
3409 @*Load image <@var{file}> to target memory at <@var{address}>
3410 @subsection fast_load_image
3411 @b{fast_load_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
3412 @cindex fast_load_image
3413 @anchor{fast_load_image}
3414 @*Normally you should be using @b{load_image} or GDB load. However, for
3415 testing purposes or when I/O overhead is significant(OpenOCD running on an embedded
3416 host), storing the image in memory and uploading the image to the target
3417 can be a way to upload e.g. multiple debug sessions when the binary does not change.
3418 Arguments are the same as @b{load_image}, but the image is stored in OpenOCD host
3419 memory, i.e. does not affect target. This approach is also useful when profiling
3420 target programming performance as I/O and target programming can easily be profiled
3422 @subsection fast_load
3426 @*Loads an image stored in memory by @b{fast_load_image} to the current target. Must be preceeded by fast_load_image.
3427 @subsection dump_image
3428 @b{dump_image} <@var{file}> <@var{address}> <@var{size}>
3431 @*Dump <@var{size}> bytes of target memory starting at <@var{address}> to a
3432 (binary) <@var{file}>.
3433 @subsection verify_image
3434 @b{verify_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
3435 @cindex verify_image
3436 @*Verify <@var{file}> against target memory starting at <@var{address}>.
3437 This will first attempt a comparison using a CRC checksum, if this fails it will try a binary compare.
3440 @section Breakpoint commands
3441 @cindex Breakpoint commands
3443 @item @b{bp} <@var{addr}> <@var{len}> [@var{hw}]
3445 @*set breakpoint <address> <length> [hw]
3446 @item @b{rbp} <@var{addr}>
3448 @*remove breakpoint <adress>
3449 @item @b{wp} <@var{addr}> <@var{len}> <@var{r}|@var{w}|@var{a}> [@var{value}] [@var{mask}]
3451 @*set watchpoint <address> <length> <r/w/a> [value] [mask]
3452 @item @b{rwp} <@var{addr}>
3454 @*remove watchpoint <adress>
3457 @section Misc Commands
3458 @cindex Other Target Commands
3460 @item @b{profile} <@var{seconds}> <@var{gmon.out}>
3462 Profiling samples the CPU's program counter as quickly as possible, which is useful for non-intrusive stochastic profiling.
3466 @section Target Specific Commands
3467 @cindex Target Specific Commands
3470 @section Architecture Specific Commands
3471 @cindex Architecture Specific Commands
3473 @subsection ARMV4/5 specific commands
3474 @cindex ARMV4/5 specific commands
3476 These commands are specific to ARM architecture v4 and v5, like all ARM7/9 systems
3477 or Intel XScale (XScale isn't supported yet).
3479 @item @b{armv4_5 reg}
3481 @*Display a list of all banked core registers, fetching the current value from every
3482 core mode if necessary. OpenOCD versions before rev. 60 didn't fetch the current
3484 @item @b{armv4_5 core_mode} [@var{arm}|@var{thumb}]
3485 @cindex armv4_5 core_mode
3486 @*Displays the core_mode, optionally changing it to either ARM or Thumb mode.
3487 The target is resumed in the currently set @option{core_mode}.
3490 @subsection ARM7/9 specific commands
3491 @cindex ARM7/9 specific commands
3493 These commands are specific to ARM7 and ARM9 targets, like ARM7TDMI, ARM720t,
3494 ARM920T or ARM926EJ-S.
3496 @item @b{arm7_9 dbgrq} <@var{enable}|@var{disable}>
3497 @cindex arm7_9 dbgrq
3498 @*Enable use of the DBGRQ bit to force entry into debug mode. This should be
3499 safe for all but ARM7TDMI--S cores (like Philips LPC).
3500 @item @b{arm7_9 fast_memory_access} <@var{enable}|@var{disable}>
3501 @cindex arm7_9 fast_memory_access
3502 @anchor{arm7_9 fast_memory_access}
3503 @*Allow OpenOCD to read and write memory without checking completion of
3504 the operation. This provides a huge speed increase, especially with USB JTAG
3505 cables (FT2232), but might be unsafe if used with targets running at very low
3506 speeds, like the 32kHz startup clock of an AT91RM9200.
3507 @item @b{arm7_9 dcc_downloads} <@var{enable}|@var{disable}>
3508 @cindex arm7_9 dcc_downloads
3509 @*Enable the use of the debug communications channel (DCC) to write larger (>128 byte)
3510 amounts of memory. DCC downloads offer a huge speed increase, but might be potentially
3511 unsafe, especially with targets running at very low speeds. This command was introduced
3512 with OpenOCD rev. 60, and requires a few bytes of working area.
3515 @subsection ARM720T specific commands
3516 @cindex ARM720T specific commands
3519 @item @b{arm720t cp15} <@var{num}> [@var{value}]
3520 @cindex arm720t cp15
3521 @*display/modify cp15 register <@option{num}> [@option{value}].
3522 @item @b{arm720t md<bhw>_phys} <@var{addr}> [@var{count}]
3523 @cindex arm720t md<bhw>_phys
3524 @*Display memory at physical address addr.
3525 @item @b{arm720t mw<bhw>_phys} <@var{addr}> <@var{value}>
3526 @cindex arm720t mw<bhw>_phys
3527 @*Write memory at physical address addr.
3528 @item @b{arm720t virt2phys} <@var{va}>
3529 @cindex arm720t virt2phys
3530 @*Translate a virtual address to a physical address.
3533 @subsection ARM9TDMI specific commands
3534 @cindex ARM9TDMI specific commands
3537 @item @b{arm9tdmi vector_catch} <@var{all}|@var{none}>
3538 @cindex arm9tdmi vector_catch
3539 @*Catch arm9 interrupt vectors, can be @option{all} @option{none} or any of the following:
3540 @option{reset} @option{undef} @option{swi} @option{pabt} @option{dabt} @option{reserved}
3541 @option{irq} @option{fiq}.
3543 Can also be used on other ARM9 based cores such as ARM966, ARM920T and ARM926EJ-S.
3546 @subsection ARM966E specific commands
3547 @cindex ARM966E specific commands
3550 @item @b{arm966e cp15} <@var{num}> [@var{value}]
3551 @cindex arm966e cp15
3552 @*display/modify cp15 register <@option{num}> [@option{value}].
3555 @subsection ARM920T specific commands
3556 @cindex ARM920T specific commands
3559 @item @b{arm920t cp15} <@var{num}> [@var{value}]
3560 @cindex arm920t cp15
3561 @*display/modify cp15 register <@option{num}> [@option{value}].
3562 @item @b{arm920t cp15i} <@var{num}> [@var{value}] [@var{address}]
3563 @cindex arm920t cp15i
3564 @*display/modify cp15 (interpreted access) <@option{opcode}> [@option{value}] [@option{address}]
3565 @item @b{arm920t cache_info}
3566 @cindex arm920t cache_info
3567 @*Print information about the caches found. This allows to see whether your target
3568 is an ARM920T (2x16kByte cache) or ARM922T (2x8kByte cache).
3569 @item @b{arm920t md<bhw>_phys} <@var{addr}> [@var{count}]
3570 @cindex arm920t md<bhw>_phys
3571 @*Display memory at physical address addr.
3572 @item @b{arm920t mw<bhw>_phys} <@var{addr}> <@var{value}>
3573 @cindex arm920t mw<bhw>_phys
3574 @*Write memory at physical address addr.
3575 @item @b{arm920t read_cache} <@var{filename}>
3576 @cindex arm920t read_cache
3577 @*Dump the content of ICache and DCache to a file.
3578 @item @b{arm920t read_mmu} <@var{filename}>
3579 @cindex arm920t read_mmu
3580 @*Dump the content of the ITLB and DTLB to a file.
3581 @item @b{arm920t virt2phys} <@var{va}>
3582 @cindex arm920t virt2phys
3583 @*Translate a virtual address to a physical address.
3586 @subsection ARM926EJ-S specific commands
3587 @cindex ARM926EJ-S specific commands
3590 @item @b{arm926ejs cp15} <@var{num}> [@var{value}]
3591 @cindex arm926ejs cp15
3592 @*display/modify cp15 register <@option{num}> [@option{value}].
3593 @item @b{arm926ejs cache_info}
3594 @cindex arm926ejs cache_info
3595 @*Print information about the caches found.
3596 @item @b{arm926ejs md<bhw>_phys} <@var{addr}> [@var{count}]
3597 @cindex arm926ejs md<bhw>_phys
3598 @*Display memory at physical address addr.
3599 @item @b{arm926ejs mw<bhw>_phys} <@var{addr}> <@var{value}>
3600 @cindex arm926ejs mw<bhw>_phys
3601 @*Write memory at physical address addr.
3602 @item @b{arm926ejs virt2phys} <@var{va}>
3603 @cindex arm926ejs virt2phys
3604 @*Translate a virtual address to a physical address.
3607 @subsection CORTEX_M3 specific commands
3608 @cindex CORTEX_M3 specific commands
3611 @item @b{cortex_m3 maskisr} <@var{on}|@var{off}>
3612 @cindex cortex_m3 maskisr
3613 @*Enable masking (disabling) interrupts during target step/resume.
3617 @section Debug commands
3618 @cindex Debug commands
3619 The following commands give direct access to the core, and are most likely
3620 only useful while debugging OpenOCD.
3622 @item @b{arm7_9 write_xpsr} <@var{32-bit value}> <@option{0=cpsr}, @option{1=spsr}>
3623 @cindex arm7_9 write_xpsr
3624 @*Immediately write either the current program status register (CPSR) or the saved
3625 program status register (SPSR), without changing the register cache (as displayed
3626 by the @option{reg} and @option{armv4_5 reg} commands).
3627 @item @b{arm7_9 write_xpsr_im8} <@var{8-bit value}> <@var{rotate 4-bit}>
3628 <@var{0=cpsr},@var{1=spsr}>
3629 @cindex arm7_9 write_xpsr_im8
3630 @*Write the 8-bit value rotated right by 2*rotate bits, using an immediate write
3631 operation (similar to @option{write_xpsr}).
3632 @item @b{arm7_9 write_core_reg} <@var{num}> <@var{mode}> <@var{value}>
3633 @cindex arm7_9 write_core_reg
3634 @*Write a core register, without changing the register cache (as displayed by the
3635 @option{reg} and @option{armv4_5 reg} commands). The <@var{mode}> argument takes the
3636 encoding of the [M4:M0] bits of the PSR.
3639 @section Target Requests
3640 @cindex Target Requests
3641 OpenOCD can handle certain target requests, currently debugmsg are only supported for arm7_9 and cortex_m3.
3642 See libdcc in the contrib dir for more details.
3644 @item @b{target_request debugmsgs} <@var{enable}|@var{disable}|@var{charmsg}>
3645 @cindex target_request debugmsgs
3646 @*Enable/disable target debugmsgs requests. debugmsgs enable messages to be sent to the debugger while the target is running. @var{charmsg} receives messages if Linux kernel ``Kernel low-level debugging via EmbeddedICE DCC channel'' option is enabled.
3650 @chapter JTAG Commands
3651 @cindex JTAG Commands
3652 Generally most people will not use the bulk of these commands. They
3653 are mostly used by the OpenOCD developers or those who need to
3654 directly manipulate the JTAG taps.
3656 In general these commands control JTAG taps at a very low level. For
3657 example if you need to control a JTAG Route Controller (i.e.: the
3658 OMAP3530 on the Beagle Board has one) you might use these commands in
3659 a script or an event procedure.
3663 @item @b{scan_chain}
3665 @*Print current scan chain configuration.
3666 @item @b{jtag_reset} <@var{trst}> <@var{srst}>
3668 @*Toggle reset lines.
3669 @item @b{endstate} <@var{tap_state}>
3671 @*Finish JTAG operations in <@var{tap_state}>.
3672 @item @b{runtest} <@var{num_cycles}>
3674 @*Move to Run-Test/Idle, and execute <@var{num_cycles}>
3675 @item @b{statemove} [@var{tap_state}]
3677 @*Move to current endstate or [@var{tap_state}]
3678 @item @b{irscan} <@var{device}> <@var{instr}> [@var{dev2}] [@var{instr2}] ...
3680 @*Execute IR scan <@var{device}> <@var{instr}> [@var{dev2}] [@var{instr2}] ...
3681 @item @b{drscan} <@var{device}> [@var{dev2}] [@var{var2}] ...
3683 @*Execute DR scan <@var{device}> [@var{dev2}] [@var{var2}] ...
3684 @item @b{verify_ircapture} <@option{enable}|@option{disable}>
3685 @cindex verify_ircapture
3686 @*Verify value captured during Capture-IR. Default is enabled.
3687 @item @b{var} <@var{name}> [@var{num_fields}|@var{del}] [@var{size1}] ...
3689 @*Allocate, display or delete variable <@var{name}> [@var{num_fields}|@var{del}] [@var{size1}] ...
3690 @item @b{field} <@var{var}> <@var{field}> [@var{value}|@var{flip}]
3692 Display/modify variable field <@var{var}> <@var{field}> [@var{value}|@var{flip}].
3697 Available tap_states are:
3737 If OpenOCD runs on an embedded host(as ZY1000 does), then TFTP can
3738 be used to access files on PCs (either the developer's PC or some other PC).
3740 The way this works on the ZY1000 is to prefix a filename by
3741 "/tftp/ip/" and append the TFTP path on the TFTP
3742 server (tftpd). For example,
3745 load_image /tftp/10.0.0.96/c:\temp\abc.elf
3748 will load c:\temp\abc.elf from the developer pc (10.0.0.96) into memory as
3749 if the file was hosted on the embedded host.
3751 In order to achieve decent performance, you must choose a TFTP server
3752 that supports a packet size bigger than the default packet size (512 bytes). There
3753 are numerous TFTP servers out there (free and commercial) and you will have to do
3754 a bit of googling to find something that fits your requirements.
3756 @node Sample Scripts
3757 @chapter Sample Scripts
3760 This page shows how to use the Target Library.
3762 The configuration script can be divided into the following sections:
3764 @item Daemon configuration
3766 @item JTAG scan chain
3767 @item Target configuration
3768 @item Flash configuration
3771 Detailed information about each section can be found at OpenOCD configuration.
3773 @section AT91R40008 example
3774 @cindex AT91R40008 example
3775 To start OpenOCD with a target script for the AT91R40008 CPU and reset
3776 the CPU upon startup of the OpenOCD daemon.
3778 openocd -f interface/parport.cfg -f target/at91r40008.cfg \
3779 -c "init" -c "reset"
3783 @node GDB and OpenOCD
3784 @chapter GDB and OpenOCD
3786 OpenOCD complies with the remote gdbserver protocol, and as such can be used
3787 to debug remote targets.
3789 @section Connecting to GDB
3790 @cindex Connecting to GDB
3791 @anchor{Connecting to GDB}
3792 Use GDB 6.7 or newer with OpenOCD if you run into trouble. For
3793 instance GDB 6.3 has a known bug that produces bogus memory access
3794 errors, which has since been fixed: look up 1836 in
3795 @url{http://sourceware.org/cgi-bin/gnatsweb.pl?database=gdb}
3797 OpenOCD can communicate with GDB in two ways:
3801 A socket (TCP/IP) connection is typically started as follows:
3803 target remote localhost:3333
3805 This would cause GDB to connect to the gdbserver on the local pc using port 3333.
3807 A pipe connection is typically started as follows:
3809 target remote | openocd --pipe
3811 This would cause GDB to run OpenOCD and communicate using pipes (stdin/stdout).
3812 Using this method has the advantage of GDB starting/stopping OpenOCD for the debug
3816 To list the available OpenOCD commands type @command{monitor help} on the
3819 OpenOCD supports the gdb @option{qSupported} packet, this enables information
3820 to be sent by the GDB remote server (i.e. OpenOCD) to GDB. Typical information includes
3821 packet size and the device's memory map.
3823 Previous versions of OpenOCD required the following GDB options to increase
3824 the packet size and speed up GDB communication:
3826 set remote memory-write-packet-size 1024
3827 set remote memory-write-packet-size fixed
3828 set remote memory-read-packet-size 1024
3829 set remote memory-read-packet-size fixed
3831 This is now handled in the @option{qSupported} PacketSize and should not be required.
3833 @section Programming using GDB
3834 @cindex Programming using GDB
3836 By default the target memory map is sent to GDB. This can be disabled by
3837 the following OpenOCD configuration option:
3839 gdb_memory_map disable
3841 For this to function correctly a valid flash configuration must also be set
3842 in OpenOCD. For faster performance you should also configure a valid
3845 Informing GDB of the memory map of the target will enable GDB to protect any
3846 flash areas of the target and use hardware breakpoints by default. This means
3847 that the OpenOCD option @command{gdb_breakpoint_override} is not required when
3848 using a memory map. @xref{gdb_breakpoint_override}.
3850 To view the configured memory map in GDB, use the GDB command @option{info mem}
3851 All other unassigned addresses within GDB are treated as RAM.
3853 GDB 6.8 and higher set any memory area not in the memory map as inaccessible.
3854 This can be changed to the old behaviour by using the following GDB command
3856 set mem inaccessible-by-default off
3859 If @command{gdb_flash_program enable} is also used, GDB will be able to
3860 program any flash memory using the vFlash interface.
3862 GDB will look at the target memory map when a load command is given, if any
3863 areas to be programmed lie within the target flash area the vFlash packets
3866 If the target needs configuring before GDB programming, an event
3867 script can be executed:
3869 $_TARGETNAME configure -event EVENTNAME BODY
3872 To verify any flash programming the GDB command @option{compare-sections}
3875 @node Tcl Scripting API
3876 @chapter Tcl Scripting API
3877 @cindex Tcl Scripting API
3881 The commands are stateless. E.g. the telnet command line has a concept
3882 of currently active target, the Tcl API proc's take this sort of state
3883 information as an argument to each proc.
3885 There are three main types of return values: single value, name value
3886 pair list and lists.
3888 Name value pair. The proc 'foo' below returns a name/value pair
3894 > set foo(you) Oyvind
3895 > set foo(mouse) Micky
3896 > set foo(duck) Donald
3904 me Duane you Oyvind mouse Micky duck Donald
3906 Thus, to get the names of the associative array is easy:
3908 foreach { name value } [set foo] {
3909 puts "Name: $name, Value: $value"
3913 Lists returned must be relatively small. Otherwise a range
3914 should be passed in to the proc in question.
3916 @section Internal low-level Commands
3918 By low-level, the intent is a human would not directly use these commands.
3920 Low-level commands are (should be) prefixed with "ocd_", e.g.
3921 @command{ocd_flash_banks}
3922 is the low level API upon which @command{flash banks} is implemented.
3925 @item @b{ocd_mem2array} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>
3927 Read memory and return as a Tcl array for script processing
3928 @item @b{ocd_array2mem} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>
3930 Convert a Tcl array to memory locations and write the values
3931 @item @b{ocd_flash_banks} <@var{driver}> <@var{base}> <@var{size}> <@var{chip_width}> <@var{bus_width}> <@var{target}> [@option{driver options} ...]
3933 Return information about the flash banks
3936 OpenOCD commands can consist of two words, e.g. "flash banks". The
3937 startup.tcl "unknown" proc will translate this into a Tcl proc
3938 called "flash_banks".
3940 @section OpenOCD specific Global Variables
3944 Real Tcl has ::tcl_platform(), and platform::identify, and many other
3945 variables. JimTCL, as implemented in OpenOCD creates $HostOS which
3946 holds one of the following values:
3949 @item @b{winxx} Built using Microsoft Visual Studio
3950 @item @b{linux} Linux is the underlying operating sytem
3951 @item @b{darwin} Darwin (mac-os) is the underlying operating sytem.
3952 @item @b{cygwin} Running under Cygwin
3953 @item @b{mingw32} Running under MingW32
3954 @item @b{other} Unknown, none of the above.
3957 Note: 'winxx' was choosen because today (March-2009) no distinction is made between Win32 and Win64.
3960 We should add support for a variable like Tcl variable
3961 @code{tcl_platform(platform)}, it should be called
3962 @code{jim_platform} (because it
3963 is jim, not real tcl).
3967 @chapter Deprecated/Removed Commands
3968 @cindex Deprecated/Removed Commands
3969 Certain OpenOCD commands have been deprecated/removed during the various revisions.
3972 @item @b{arm7_9 fast_writes}
3973 @cindex arm7_9 fast_writes
3974 @*Use @command{arm7_9 fast_memory_access} instead.
3975 @xref{arm7_9 fast_memory_access}.
3976 @item @b{arm7_9 force_hw_bkpts}
3977 @cindex arm7_9 force_hw_bkpts
3978 @*Use @command{gdb_breakpoint_override} instead. Note that GDB will use hardware breakpoints
3979 for flash if the GDB memory map has been set up(default when flash is declared in
3980 target configuration). @xref{gdb_breakpoint_override}.
3981 @item @b{arm7_9 sw_bkpts}
3982 @cindex arm7_9 sw_bkpts
3983 @*On by default. @xref{gdb_breakpoint_override}.
3984 @item @b{daemon_startup}
3985 @cindex daemon_startup
3986 @*this config option has been removed, simply adding @option{init} and @option{reset halt} to
3987 the end of your config script will give the same behaviour as using @option{daemon_startup reset}
3988 and @option{target cortex_m3 little reset_halt 0}.
3989 @item @b{dump_binary}
3991 @*use @option{dump_image} command with same args. @xref{dump_image}.
3992 @item @b{flash erase}
3994 @*use @option{flash erase_sector} command with same args. @xref{flash erase_sector}.
3995 @item @b{flash write}
3997 @*use @option{flash write_bank} command with same args. @xref{flash write_bank}.
3998 @item @b{flash write_binary}
3999 @cindex flash write_binary
4000 @*use @option{flash write_bank} command with same args. @xref{flash write_bank}.
4001 @item @b{flash auto_erase}
4002 @cindex flash auto_erase
4003 @*use @option{flash write_image} command passing @option{erase} as the first parameter. @xref{flash write_image}.
4005 @item @b{jtag_speed} value
4006 @*@xref{JTAG Speed}.
4007 Usually, a value of zero means maximum
4008 speed. The actual effect of this option depends on the JTAG interface used.
4010 @item wiggler: maximum speed / @var{number}
4011 @item ft2232: 6MHz / (@var{number}+1)
4012 @item amt jtagaccel: 8 / 2**@var{number}
4013 @item jlink: maximum speed in kHz (0-12000), 0 will use RTCK
4014 @item rlink: 24MHz / @var{number}, but only for certain values of @var{number}
4015 @comment end speed list.
4018 @item @b{load_binary}
4020 @*use @option{load_image} command with same args. @xref{load_image}.
4021 @item @b{run_and_halt_time}
4022 @cindex run_and_halt_time
4023 @*This command has been removed for simpler reset behaviour, it can be simulated with the
4030 @item @b{target} <@var{type}> <@var{endian}> <@var{jtag-position}>
4032 @*use the create subcommand of @option{target}.
4033 @item @b{target_script} <@var{target#}> <@var{eventname}> <@var{scriptname}>
4034 @cindex target_script
4035 @*use <@var{target_name}> configure -event <@var{eventname}> "script <@var{scriptname}>"
4036 @item @b{working_area}
4037 @cindex working_area
4038 @*use the @option{configure} subcommand of @option{target} to set the work-area-virt, work-area-phy, work-area-size, and work-area-backup properties of the target.
4045 @item @b{RTCK, also known as: Adaptive Clocking - What is it?}
4048 @cindex adaptive clocking
4051 In digital circuit design it is often refered to as ``clock
4052 synchronisation'' the JTAG interface uses one clock (TCK or TCLK)
4053 operating at some speed, your target is operating at another. The two
4054 clocks are not synchronised, they are ``asynchronous''
4056 In order for the two to work together they must be synchronised. Otherwise
4057 the two systems will get out of sync with each other and nothing will
4058 work. There are 2 basic options:
4061 Use a special circuit.
4063 One clock must be some multiple slower than the other.
4066 @b{Does this really matter?} For some chips and some situations, this
4067 is a non-issue (i.e.: A 500MHz ARM926) but for others - for example some
4068 Atmel SAM7 and SAM9 chips start operation from reset at 32kHz -
4069 program/enable the oscillators and eventually the main clock. It is in
4070 those critical times you must slow the JTAG clock to sometimes 1 to
4073 Imagine debugging a 500MHz ARM926 hand held battery powered device
4074 that ``deep sleeps'' at 32kHz between every keystroke. It can be
4077 @b{Solution #1 - A special circuit}
4079 In order to make use of this, your JTAG dongle must support the RTCK
4080 feature. Not all dongles support this - keep reading!
4082 The RTCK signal often found in some ARM chips is used to help with
4083 this problem. ARM has a good description of the problem described at
4084 this link: @url{http://www.arm.com/support/faqdev/4170.html} [checked
4085 28/nov/2008]. Link title: ``How does the JTAG synchronisation logic
4086 work? / how does adaptive clocking work?''.
4088 The nice thing about adaptive clocking is that ``battery powered hand
4089 held device example'' - the adaptiveness works perfectly all the
4090 time. One can set a break point or halt the system in the deep power
4091 down code, slow step out until the system speeds up.
4093 @b{Solution #2 - Always works - but may be slower}
4095 Often this is a perfectly acceptable solution.
4097 In most simple terms: Often the JTAG clock must be 1/10 to 1/12 of
4098 the target clock speed. But what that ``magic division'' is varies
4099 depending on the chips on your board. @b{ARM rule of thumb} Most ARM
4100 based systems require an 8:1 division. @b{Xilinx rule of thumb} is
4101 1/12 the clock speed.
4103 Note: Many FTDI2232C based JTAG dongles are limited to 6MHz.
4105 You can still debug the 'low power' situations - you just need to
4106 manually adjust the clock speed at every step. While painful and
4107 tedious, it is not always practical.
4109 It is however easy to ``code your way around it'' - i.e.: Cheat a little,
4110 have a special debug mode in your application that does a ``high power
4111 sleep''. If you are careful - 98% of your problems can be debugged
4114 To set the JTAG frequency use the command:
4122 @item @b{Win32 Pathnames} Why don't backslashes work in Windows paths?
4124 OpenOCD uses Tcl and a backslash is an escape char. Use @{ and @}
4125 around Windows filenames.
4138 @item @b{Missing: cygwin1.dll} OpenOCD complains about a missing cygwin1.dll.
4140 Make sure you have Cygwin installed, or at least a version of OpenOCD that
4141 claims to come with all the necessary DLLs. When using Cygwin, try launching
4142 OpenOCD from the Cygwin shell.
4144 @item @b{Breakpoint Issue} I'm trying to set a breakpoint using GDB (or a frontend like Insight or
4145 Eclipse), but OpenOCD complains that "Info: arm7_9_common.c:213
4146 arm7_9_add_breakpoint(): sw breakpoint requested, but software breakpoints not enabled".
4148 GDB issues software breakpoints when a normal breakpoint is requested, or to implement
4149 source-line single-stepping. On ARMv4T systems, like ARM7TDMI, ARM720T or ARM920T,
4150 software breakpoints consume one of the two available hardware breakpoints.
4152 @item @b{LPC2000 Flash} When erasing or writing LPC2000 on-chip flash, the operation fails at random.
4154 Make sure the core frequency specified in the @option{flash lpc2000} line matches the
4155 clock at the time you're programming the flash. If you've specified the crystal's
4156 frequency, make sure the PLL is disabled. If you've specified the full core speed
4157 (e.g. 60MHz), make sure the PLL is enabled.
4159 @item @b{Amontec Chameleon} When debugging using an Amontec Chameleon in its JTAG Accelerator configuration,
4160 I keep getting "Error: amt_jtagaccel.c:184 amt_wait_scan_busy(): amt_jtagaccel timed
4161 out while waiting for end of scan, rtck was disabled".
4163 Make sure your PC's parallel port operates in EPP mode. You might have to try several
4164 settings in your PC BIOS (ECP, EPP, and different versions of those).
4166 @item @b{Data Aborts} When debugging with OpenOCD and GDB (plain GDB, Insight, or Eclipse),
4167 I get lots of "Error: arm7_9_common.c:1771 arm7_9_read_memory():
4168 memory read caused data abort".
4170 The errors are non-fatal, and are the result of GDB trying to trace stack frames
4171 beyond the last valid frame. It might be possible to prevent this by setting up
4172 a proper "initial" stack frame, if you happen to know what exactly has to
4173 be done, feel free to add this here.
4175 @b{Simple:} In your startup code - push 8 registers of zeros onto the
4176 stack before calling main(). What GDB is doing is ``climbing'' the run
4177 time stack by reading various values on the stack using the standard
4178 call frame for the target. GDB keeps going - until one of 2 things
4179 happen @b{#1} an invalid frame is found, or @b{#2} some huge number of
4180 stackframes have been processed. By pushing zeros on the stack, GDB
4183 @b{Debugging Interrupt Service Routines} - In your ISR before you call
4184 your C code, do the same - artifically push some zeros onto the stack,
4185 remember to pop them off when the ISR is done.
4187 @b{Also note:} If you have a multi-threaded operating system, they
4188 often do not @b{in the intrest of saving memory} waste these few
4192 @item @b{JTAG Reset Config} I get the following message in the OpenOCD console (or log file):
4193 "Warning: arm7_9_common.c:679 arm7_9_assert_reset(): srst resets test logic, too".
4195 This warning doesn't indicate any serious problem, as long as you don't want to
4196 debug your core right out of reset. Your .cfg file specified @option{jtag_reset
4197 trst_and_srst srst_pulls_trst} to tell OpenOCD that either your board,
4198 your debugger or your target uC (e.g. LPC2000) can't assert the two reset signals
4199 independently. With this setup, it's not possible to halt the core right out of
4200 reset, everything else should work fine.
4202 @item @b{USB Power} When using OpenOCD in conjunction with Amontec JTAGkey and the Yagarto
4203 toolchain (Eclipse, arm-elf-gcc, arm-elf-gdb), the debugging seems to be
4204 unstable. When single-stepping over large blocks of code, GDB and OpenOCD
4205 quit with an error message. Is there a stability issue with OpenOCD?
4207 No, this is not a stability issue concerning OpenOCD. Most users have solved
4208 this issue by simply using a self-powered USB hub, which they connect their
4209 Amontec JTAGkey to. Apparently, some computers do not provide a USB power
4210 supply stable enough for the Amontec JTAGkey to be operated.
4212 @b{Laptops running on battery have this problem too...}
4214 @item @b{USB Power} When using the Amontec JTAGkey, sometimes OpenOCD crashes with the
4215 following error messages: "Error: ft2232.c:201 ft2232_read(): FT_Read returned:
4216 4" and "Error: ft2232.c:365 ft2232_send_and_recv(): couldn't read from FT2232".
4217 What does that mean and what might be the reason for this?
4219 First of all, the reason might be the USB power supply. Try using a self-powered
4220 hub instead of a direct connection to your computer. Secondly, the error code 4
4221 corresponds to an FT_IO_ERROR, which means that the driver for the FTDI USB
4222 chip ran into some sort of error - this points us to a USB problem.
4224 @item @b{GDB Disconnects} When using the Amontec JTAGkey, sometimes OpenOCD crashes with the following
4225 error message: "Error: gdb_server.c:101 gdb_get_char(): read: 10054".
4226 What does that mean and what might be the reason for this?
4228 Error code 10054 corresponds to WSAECONNRESET, which means that the debugger (GDB)
4229 has closed the connection to OpenOCD. This might be a GDB issue.
4231 @item @b{LPC2000 Flash} In the configuration file in the section where flash device configurations
4232 are described, there is a parameter for specifying the clock frequency
4233 for LPC2000 internal flash devices (e.g. @option{flash bank lpc2000
4234 0x0 0x40000 0 0 0 lpc2000_v1 14746 calc_checksum}), which must be
4235 specified in kilohertz. However, I do have a quartz crystal of a
4236 frequency that contains fractions of kilohertz (e.g. 14,745,600 Hz,
4237 i.e. 14,745.600 kHz). Is it possible to specify real numbers for the
4240 No. The clock frequency specified here must be given as an integral number.
4241 However, this clock frequency is used by the In-Application-Programming (IAP)
4242 routines of the LPC2000 family only, which seems to be very tolerant concerning
4243 the given clock frequency, so a slight difference between the specified clock
4244 frequency and the actual clock frequency will not cause any trouble.
4246 @item @b{Command Order} Do I have to keep a specific order for the commands in the configuration file?
4248 Well, yes and no. Commands can be given in arbitrary order, yet the
4249 devices listed for the JTAG scan chain must be given in the right
4250 order (jtag newdevice), with the device closest to the TDO-Pin being
4251 listed first. In general, whenever objects of the same type exist
4252 which require an index number, then these objects must be given in the
4253 right order (jtag newtap, targets and flash banks - a target
4254 references a jtag newtap and a flash bank references a target).
4256 You can use the ``scan_chain'' command to verify and display the tap order.
4258 Also, some commands can't execute until after @command{init} has been
4259 processed. Such commands include @command{nand probe} and everything
4260 else that needs to write to controller registers, perhaps for setting
4261 up DRAM and loading it with code.
4263 @item @b{JTAG Tap Order} JTAG tap order - command order
4265 Many newer devices have multiple JTAG taps. For example: ST
4266 Microsystems STM32 chips have two taps, a ``boundary scan tap'' and
4267 ``Cortex-M3'' tap. Example: The STM32 reference manual, Document ID:
4268 RM0008, Section 26.5, Figure 259, page 651/681, the ``TDI'' pin is
4269 connected to the boundary scan tap, which then connects to the
4270 Cortex-M3 tap, which then connects to the TDO pin.
4272 Thus, the proper order for the STM32 chip is: (1) The Cortex-M3, then
4273 (2) The boundary scan tap. If your board includes an additional JTAG
4274 chip in the scan chain (for example a Xilinx CPLD or FPGA) you could
4275 place it before or after the STM32 chip in the chain. For example:
4278 @item OpenOCD_TDI(output) -> STM32 TDI Pin (BS Input)
4279 @item STM32 BS TDO (output) -> STM32 Cortex-M3 TDI (input)
4280 @item STM32 Cortex-M3 TDO (output) -> SM32 TDO Pin
4281 @item STM32 TDO Pin (output) -> Xilinx TDI Pin (input)
4282 @item Xilinx TDO Pin -> OpenOCD TDO (input)
4285 The ``jtag device'' commands would thus be in the order shown below. Note:
4288 @item jtag newtap Xilinx tap -irlen ...
4289 @item jtag newtap stm32 cpu -irlen ...
4290 @item jtag newtap stm32 bs -irlen ...
4291 @item # Create the debug target and say where it is
4292 @item target create stm32.cpu -chain-position stm32.cpu ...
4296 @item @b{SYSCOMP} Sometimes my debugging session terminates with an error. When I look into the
4297 log file, I can see these error messages: Error: arm7_9_common.c:561
4298 arm7_9_execute_sys_speed(): timeout waiting for SYSCOMP
4304 @node Tcl Crash Course
4305 @chapter Tcl Crash Course
4308 Not everyone knows Tcl - this is not intended to be a replacement for
4309 learning Tcl, the intent of this chapter is to give you some idea of
4310 how the Tcl scripts work.
4312 This chapter is written with two audiences in mind. (1) OpenOCD users
4313 who need to understand a bit more of how JIM-Tcl works so they can do
4314 something useful, and (2) those that want to add a new command to
4317 @section Tcl Rule #1
4318 There is a famous joke, it goes like this:
4320 @item Rule #1: The wife is always correct
4321 @item Rule #2: If you think otherwise, See Rule #1
4324 The Tcl equal is this:
4327 @item Rule #1: Everything is a string
4328 @item Rule #2: If you think otherwise, See Rule #1
4331 As in the famous joke, the consequences of Rule #1 are profound. Once
4332 you understand Rule #1, you will understand Tcl.
4334 @section Tcl Rule #1b
4335 There is a second pair of rules.
4337 @item Rule #1: Control flow does not exist. Only commands
4338 @* For example: the classic FOR loop or IF statement is not a control
4339 flow item, they are commands, there is no such thing as control flow
4341 @item Rule #2: If you think otherwise, See Rule #1
4342 @* Actually what happens is this: There are commands that by
4343 convention, act like control flow key words in other languages. One of
4344 those commands is the word ``for'', another command is ``if''.
4347 @section Per Rule #1 - All Results are strings
4348 Every Tcl command results in a string. The word ``result'' is used
4349 deliberatly. No result is just an empty string. Remember: @i{Rule #1 -
4350 Everything is a string}
4352 @section Tcl Quoting Operators
4353 In life of a Tcl script, there are two important periods of time, the
4354 difference is subtle.
4357 @item Evaluation Time
4360 The two key items here are how ``quoted things'' work in Tcl. Tcl has
4361 three primary quoting constructs, the [square-brackets] the
4362 @{curly-braces@} and ``double-quotes''
4364 By now you should know $VARIABLES always start with a $DOLLAR
4365 sign. BTW: To set a variable, you actually use the command ``set'', as
4366 in ``set VARNAME VALUE'' much like the ancient BASIC langauge ``let x
4367 = 1'' statement, but without the equal sign.
4370 @item @b{[square-brackets]}
4371 @* @b{[square-brackets]} are command substitutions. It operates much
4372 like Unix Shell `back-ticks`. The result of a [square-bracket]
4373 operation is exactly 1 string. @i{Remember Rule #1 - Everything is a
4374 string}. These two statements are roughly identical:
4378 echo "The Date is: $X"
4381 puts "The Date is: $X"
4383 @item @b{``double-quoted-things''}
4384 @* @b{``double-quoted-things''} are just simply quoted
4385 text. $VARIABLES and [square-brackets] are expanded in place - the
4386 result however is exactly 1 string. @i{Remember Rule #1 - Everything
4390 puts "It is now \"[date]\", $x is in 1 hour"
4392 @item @b{@{Curly-Braces@}}
4393 @*@b{@{Curly-Braces@}} are magic: $VARIABLES and [square-brackets] are
4394 parsed, but are NOT expanded or executed. @{Curly-Braces@} are like
4395 'single-quote' operators in BASH shell scripts, with the added
4396 feature: @{curly-braces@} can be nested, single quotes can not. @{@{@{this is
4397 nested 3 times@}@}@} NOTE: [date] is perhaps a bad example, as of
4398 28/nov/2008, Jim/OpenOCD does not have a date command.
4401 @section Consequences of Rule 1/2/3/4
4403 The consequences of Rule 1 are profound.
4405 @subsection Tokenisation & Execution.
4407 Of course, whitespace, blank lines and #comment lines are handled in
4410 As a script is parsed, each (multi) line in the script file is
4411 tokenised and according to the quoting rules. After tokenisation, that
4412 line is immedatly executed.
4414 Multi line statements end with one or more ``still-open''
4415 @{curly-braces@} which - eventually - closes a few lines later.
4417 @subsection Command Execution
4419 Remember earlier: There are no ``control flow''
4420 statements in Tcl. Instead there are COMMANDS that simply act like
4421 control flow operators.
4423 Commands are executed like this:
4426 @item Parse the next line into (argc) and (argv[]).
4427 @item Look up (argv[0]) in a table and call its function.
4428 @item Repeat until End Of File.
4431 It sort of works like this:
4434 ReadAndParse( &argc, &argv );
4436 cmdPtr = LookupCommand( argv[0] );
4438 (*cmdPtr->Execute)( argc, argv );
4442 When the command ``proc'' is parsed (which creates a procedure
4443 function) it gets 3 parameters on the command line. @b{1} the name of
4444 the proc (function), @b{2} the list of parameters, and @b{3} the body
4445 of the function. Not the choice of words: LIST and BODY. The PROC
4446 command stores these items in a table somewhere so it can be found by
4449 @subsection The FOR command
4451 The most interesting command to look at is the FOR command. In Tcl,
4452 the FOR command is normally implemented in C. Remember, FOR is a
4453 command just like any other command.
4455 When the ascii text containing the FOR command is parsed, the parser
4456 produces 5 parameter strings, @i{(If in doubt: Refer to Rule #1)} they
4460 @item The ascii text 'for'
4461 @item The start text
4462 @item The test expression
4467 Sort of reminds you of ``main( int argc, char **argv )'' does it not?
4468 Remember @i{Rule #1 - Everything is a string.} The key point is this:
4469 Often many of those parameters are in @{curly-braces@} - thus the
4470 variables inside are not expanded or replaced until later.
4472 Remember that every Tcl command looks like the classic ``main( argc,
4473 argv )'' function in C. In JimTCL - they actually look like this:
4477 MyCommand( Jim_Interp *interp,
4479 Jim_Obj * const *argvs );
4482 Real Tcl is nearly identical. Although the newer versions have
4483 introduced a byte-code parser and intepreter, but at the core, it
4484 still operates in the same basic way.
4486 @subsection FOR command implementation
4488 To understand Tcl it is perhaps most helpful to see the FOR
4489 command. Remember, it is a COMMAND not a control flow structure.
4491 In Tcl there are two underlying C helper functions.
4493 Remember Rule #1 - You are a string.
4495 The @b{first} helper parses and executes commands found in an ascii
4496 string. Commands can be seperated by semicolons, or newlines. While
4497 parsing, variables are expanded via the quoting rules.
4499 The @b{second} helper evaluates an ascii string as a numerical
4500 expression and returns a value.
4502 Here is an example of how the @b{FOR} command could be
4503 implemented. The pseudo code below does not show error handling.
4505 void Execute_AsciiString( void *interp, const char *string );
4507 int Evaluate_AsciiExpression( void *interp, const char *string );
4510 MyForCommand( void *interp,
4515 SetResult( interp, "WRONG number of parameters");
4519 // argv[0] = the ascii string just like C
4521 // Execute the start statement.
4522 Execute_AsciiString( interp, argv[1] );
4526 i = Evaluate_AsciiExpression(interp, argv[2]);
4531 Execute_AsciiString( interp, argv[3] );
4533 // Execute the LOOP part
4534 Execute_AsciiString( interp, argv[4] );
4538 SetResult( interp, "" );
4543 Every other command IF, WHILE, FORMAT, PUTS, EXPR, everything works
4544 in the same basic way.
4546 @section OpenOCD Tcl Usage
4548 @subsection source and find commands
4549 @b{Where:} In many configuration files
4550 @* Example: @b{ source [find FILENAME] }
4551 @*Remember the parsing rules
4553 @item The FIND command is in square brackets.
4554 @* The FIND command is executed with the parameter FILENAME. It should
4555 find the full path to the named file. The RESULT is a string, which is
4556 substituted on the orginal command line.
4557 @item The command source is executed with the resulting filename.
4558 @* SOURCE reads a file and executes as a script.
4560 @subsection format command
4561 @b{Where:} Generally occurs in numerous places.
4562 @* Tcl has no command like @b{printf()}, instead it has @b{format}, which is really more like
4568 puts [format "The answer: %d" [expr $x * $y]]
4571 @item The SET command creates 2 variables, X and Y.
4572 @item The double [nested] EXPR command performs math
4573 @* The EXPR command produces numerical result as a string.
4575 @item The format command is executed, producing a single string
4576 @* Refer to Rule #1.
4577 @item The PUTS command outputs the text.
4579 @subsection Body or Inlined Text
4580 @b{Where:} Various TARGET scripts.
4583 proc someproc @{@} @{
4584 ... multiple lines of stuff ...
4586 $_TARGETNAME configure -event FOO someproc
4587 #2 Good - no variables
4588 $_TARGETNAME confgure -event foo "this ; that;"
4589 #3 Good Curly Braces
4590 $_TARGETNAME configure -event FOO @{
4593 #4 DANGER DANGER DANGER
4594 $_TARGETNAME configure -event foo "puts \"Time: [date]\""
4597 @item The $_TARGETNAME is an OpenOCD variable convention.
4598 @*@b{$_TARGETNAME} represents the last target created, the value changes
4599 each time a new target is created. Remember the parsing rules. When
4600 the ascii text is parsed, the @b{$_TARGETNAME} becomes a simple string,
4601 the name of the target which happens to be a TARGET (object)
4603 @item The 2nd parameter to the @option{-event} parameter is a TCBODY
4604 @*There are 4 examples:
4606 @item The TCLBODY is a simple string that happens to be a proc name
4607 @item The TCLBODY is several simple commands seperated by semicolons
4608 @item The TCLBODY is a multi-line @{curly-brace@} quoted string
4609 @item The TCLBODY is a string with variables that get expanded.
4612 In the end, when the target event FOO occurs the TCLBODY is
4613 evaluated. Method @b{#1} and @b{#2} are functionally identical. For
4614 Method @b{#3} and @b{#4} it is more interesting. What is the TCLBODY?
4616 Remember the parsing rules. In case #3, @{curly-braces@} mean the
4617 $VARS and [square-brackets] are expanded later, when the EVENT occurs,
4618 and the text is evaluated. In case #4, they are replaced before the
4619 ``Target Object Command'' is executed. This occurs at the same time
4620 $_TARGETNAME is replaced. In case #4 the date will never
4621 change. @{BTW: [date] is perhaps a bad example, as of 28/nov/2008,
4622 Jim/OpenOCD does not have a date command@}
4624 @subsection Global Variables
4625 @b{Where:} You might discover this when writing your own procs @* In
4626 simple terms: Inside a PROC, if you need to access a global variable
4627 you must say so. See also ``upvar''. Example:
4629 proc myproc @{ @} @{
4630 set y 0 #Local variable Y
4631 global x #Global variable X
4632 puts [format "X=%d, Y=%d" $x $y]
4635 @section Other Tcl Hacks
4636 @b{Dynamic variable creation}
4638 # Dynamically create a bunch of variables.
4639 for @{ set x 0 @} @{ $x < 32 @} @{ set x [expr $x + 1]@} @{
4641 set vn [format "BIT%d" $x]
4645 set $vn [expr (1 << $x)]
4648 @b{Dynamic proc/command creation}
4650 # One "X" function - 5 uart functions.
4651 foreach who @{A B C D E@}
4652 proc [format "show_uart%c" $who] @{ @} "show_UARTx $who"
4656 @node Target Library
4657 @chapter Target Library
4658 @cindex Target Library
4660 OpenOCD comes with a target configuration script library. These scripts can be
4661 used as-is or serve as a starting point.
4663 The target library is published together with the OpenOCD executable and
4664 the path to the target library is in the OpenOCD script search path.
4665 Similarly there are example scripts for configuring the JTAG interface.
4667 The command line below uses the example parport configuration script
4668 that ship with OpenOCD, then configures the str710.cfg target and
4669 finally issues the init and reset commands. The communication speed
4670 is set to 10kHz for reset and 8MHz for post reset.
4673 openocd -f interface/parport.cfg -f target/str710.cfg \
4674 -c "init" -c "reset"
4677 To list the target scripts available:
4680 $ ls /usr/local/lib/openocd/target
4682 arm7_fast.cfg lm3s6965.cfg pxa255.cfg stm32.cfg xba_revA3.cfg
4683 at91eb40a.cfg lpc2148.cfg pxa255_sst.cfg str710.cfg zy1000.cfg
4684 at91r40008.cfg lpc2294.cfg sam7s256.cfg str912.cfg
4685 at91sam9260.cfg nslu2.cfg sam7x256.cfg wi-9c.cfg
4690 @node OpenOCD Concept Index
4691 @comment DO NOT use the plain word ``Index'', reason: CYGWIN filename
4692 @comment case issue with ``Index.html'' and ``index.html''
4693 @comment Occurs when creating ``--html --no-split'' output
4694 @comment This fix is based on: http://sourceware.org/ml/binutils/2006-05/msg00215.html
4695 @unnumbered OpenOCD Concept Index
4699 @node Command and Driver Index
4700 @unnumbered Command and Driver Index