@itemize @bullet
@item Copyright @copyright{} 2008 The OpenOCD Project
@item Copyright @copyright{} 2007-2008 Spencer Oliver @email{spen@@spen-soft.co.uk}
-@item Copyright @copyright{} 2008 Oyvind Harboe @email{oyvind.harboe@@zylin.com}
+@item Copyright @copyright{} 2008-2010 Oyvind Harboe @email{oyvind.harboe@@zylin.com}
@item Copyright @copyright{} 2008 Duane Ellis @email{openocd@@duaneellis.com}
@item Copyright @copyright{} 2009-2010 David Brownell
@end itemize
* About:: About OpenOCD
* Developers:: OpenOCD Developer Resources
* Debug Adapter Hardware:: Debug Adapter Hardware
-* About JIM-Tcl:: About JIM-Tcl
+* About Jim-Tcl:: About Jim-Tcl
* Running:: Running OpenOCD
* OpenOCD Project Setup:: OpenOCD Project Setup
* Config File Guidelines:: Config File Guidelines
are many types of debug adapter, and little uniformity in what
they are called. (There are also product naming differences.)
-These adapters are sometimes packaged as discrete dongles. which
+These adapters are sometimes packaged as discrete dongles, which
may generically be called @dfn{hardware interface dongles}.
Some development boards also integrate them directly, which may
let the development board can be directly connected to the debug
other one is used to provide a debug adapter.
Also, some development boards integrate an FT2232 chip to serve as
-a built-in low coast debug adapter and usb-to-serial solution.
+a built-in low cost debug adapter and usb-to-serial solution.
@itemize @bullet
@item @b{usbjtag}
@end itemize
-@node About JIM-Tcl
-@chapter About JIM-Tcl
-@cindex JIM Tcl
+@node About Jim-Tcl
+@chapter About Jim-Tcl
+@cindex Jim-Tcl
@cindex tcl
-OpenOCD includes a small ``Tcl Interpreter'' known as JIM-Tcl.
+OpenOCD uses a small ``Tcl Interpreter'' known as Jim-Tcl.
This programming language provides a simple and extensible
command interpreter.
-All commands presented in this Guide are extensions to JIM-Tcl.
+All commands presented in this Guide are extensions to Jim-Tcl.
You can use them as simple commands, without needing to learn
much of anything about Tcl.
Alternatively, can write Tcl programs with them.
-You can learn more about JIM at its website, @url{http://jim.berlios.de}.
+You can learn more about Jim at its website, @url{http://jim.berlios.de}.
+There is an active and responsive community, get on the mailing list
+if you have any questions. Jim-Tcl maintainers also lurk on the
+OpenOCD mailing list.
@itemize @bullet
-@item @b{JIM vs. Tcl}
-@* JIM-TCL is a stripped down version of the well known Tcl language,
-which can be found here: @url{http://www.tcl.tk}. JIM-Tcl has far
-fewer features. JIM-Tcl is a single .C file and a single .H file and
+@item @b{Jim vs. Tcl}
+@* Jim-Tcl is a stripped down version of the well known Tcl language,
+which can be found here: @url{http://www.tcl.tk}. Jim-Tcl has far
+fewer features. Jim-Tcl is a single .C file and a single .H file and
implements the basic Tcl command set. In contrast: Tcl 8.6 is a
-4.2 MB .zip file containing 1540 files.
+4.2 MB .zip file containing 1540 files.
@item @b{Missing Features}
@* Our practice has been: Add/clone the real Tcl feature if/when
-needed. We welcome JIM Tcl improvements, not bloat.
+needed. We welcome Jim-Tcl improvements, not bloat. Also there
+are a large number of optional Jim-Tcl features that are not
+enabled in OpenOCD.
@item @b{Scripts}
-@* OpenOCD configuration scripts are JIM Tcl Scripts. OpenOCD's
+@* OpenOCD configuration scripts are Jim-Tcl Scripts. OpenOCD's
command interpreter today is a mixture of (newer)
-JIM-Tcl commands, and (older) the orginal command interpreter.
+Jim-Tcl commands, and (older) the orginal command interpreter.
@item @b{Commands}
-@* At the OpenOCD telnet command line (or via the GDB mon command) one
+@* At the OpenOCD telnet command line (or via the GDB monitor command) one
can type a Tcl for() loop, set variables, etc.
Some of the commands documented in this guide are implemented
as Tcl scripts, from a @file{startup.tcl} file internal to the server.
@item @b{Historical Note}
-@* JIM-Tcl was introduced to OpenOCD in spring 2008.
+@* Jim-Tcl was introduced to OpenOCD in spring 2008. Fall 2010,
+before OpenOCD 0.5 release OpenOCD switched to using Jim Tcl
+as a git submodule, which greatly simplified upgrading Jim Tcl
+to benefit from new features and bugfixes in Jim Tcl.
@item @b{Need a crash course in Tcl?}
@*@xref{Tcl Crash Course}.
--debug | -d set debug level <0-3>
--log_output | -l redirect log output to file <name>
--command | -c run <command>
---pipe | -p use pipes when talking to gdb
@end verbatim
If you don't give any @option{-f} or @option{-c} options,
If you are having problems, you can enable internal debug messages via
the @option{-d} option.
-Also it is possible to interleave JIM-Tcl commands w/config scripts using the
+Also it is possible to interleave Jim-Tcl commands w/config scripts using the
@option{-c} command line switch.
To enable debug output (when reporting problems or working on OpenOCD
board and target config files communicate is by following a
convention on how to use certain variables.
-The full Tcl/Tk language supports ``namespaces'', but JIM-Tcl does not.
+The full Tcl/Tk language supports ``namespaces'', but Jim-Tcl does not.
Thus the rule we follow in OpenOCD is this: Variables that begin with
a leading underscore are temporary in nature, and can be modified and
used at will within a target configuration file.
@deffn {Command} gdb_port [number]
@cindex GDB server
-Specify or query the first port used for incoming GDB connections.
-The GDB port for the
-first target will be gdb_port, the second target will listen on gdb_port + 1, and so on.
+Normally gdb listens to a TCP/IP port, but GDB can also
+communicate via pipes(stdin/out or named pipes). The name
+"gdb_port" stuck because it covers probably more than 90% of
+the normal use cases.
+
+No arguments reports GDB port. "pipe" means listen to stdin
+output to stdout, an integer is base port number, "disable"
+disables the gdb server.
+
+When using "pipe", also use log_output to redirect the log
+output to a file so as not to flood the stdin/out pipes.
+
+The -p/--pipe option is deprecated and a warning is printed
+as it is equivalent to passing in -c "gdb_port pipe; log_output openocd.log".
+
+Any other string is interpreted as named pipe to listen to.
+Output pipe is the same name as input pipe, but with 'o' appended,
+e.g. /var/gdb, /var/gdbo.
+
+The GDB port for the first target will be the base port, the
+second target will listen on gdb_port + 1, and so on.
When not specified during the configuration stage,
the port @var{number} defaults to 3333.
-When specified as zero, GDB remote access ports are not activated.
@end deffn
@deffn {Command} tcl_port [number]
Intended as a machine interface.
When not specified during the configuration stage,
the port @var{number} defaults to 6666.
-When specified as zero, this port is not activated.
+
@end deffn
@deffn {Command} telnet_port [number]
List the debug adapter drivers that have been built into
the running copy of OpenOCD.
@end deffn
+@deffn Command {interface transports} transport_name+
+Specifies the transports supported by this debug adapter.
+The adapter driver builds-in similar knowledge; use this only
+when external configuration (such as jumpering) changes what
+the hardware can support.
+@end deffn
+
+
@deffn Command {adapter_name}
Returns the name of the debug adapter driver being used.
Currently, only one @var{vid}, @var{pid} pair may be given, e.g. for
Altera USB-Blaster (default):
@example
-ft2232_vid_pid 0x09FB 0x6001
+usb_blaster_vid_pid 0x09FB 0x6001
@end example
The following VID/PID is for Kolja Waschk's USB JTAG:
@example
-ft2232_vid_pid 0x16C0 0x06AD
+usb_blaster_vid_pid 0x16C0 0x06AD
@end example
@end deffn
@deffn {Interface Driver} {ZY1000}
This is the Zylin ZY1000 JTAG debugger.
+@end deffn
@quotation Note
This defines some driver-specific commands,
No arguments: print status.
@end deffn
+@section Transport Configuration
+@cindex Transport
+As noted earlier, depending on the version of OpenOCD you use,
+and the debug adapter you are using,
+several transports may be available to
+communicate with debug targets (or perhaps to program flash memory).
+@deffn Command {transport list}
+displays the names of the transports supported by this
+version of OpenOCD.
@end deffn
+@deffn Command {transport select} transport_name
+Select which of the supported transports to use in this OpenOCD session.
+The transport must be supported by the debug adapter hardware and by the
+version of OPenOCD you are using (including the adapter's driver).
+No arguments: returns name of session's selected transport.
+@end deffn
+
+@subsection JTAG Transport
+@cindex JTAG
+JTAG is the original transport supported by OpenOCD, and most
+of the OpenOCD commands support it.
+JTAG transports expose a chain of one or more Test Access Points (TAPs),
+each of which must be explicitly declared.
+JTAG supports both debugging and boundary scan testing.
+Flash programming support is built on top of debug support.
+@subsection SWD Transport
+@cindex SWD
+@cindex Serial Wire Debug
+SWD (Serial Wire Debug) is an ARM-specific transport which exposes one
+Debug Access Point (DAP, which must be explicitly declared.
+(SWD uses fewer signal wires than JTAG.)
+SWD is debug-oriented, and does not support boundary scan testing.
+Flash programming support is built on top of debug support.
+(Some processors support both JTAG and SWD.)
+@deffn Command {swd newdap} ...
+Declares a single DAP which uses SWD transport.
+Parameters are currently the same as "jtag newtap" but this is
+expected to change.
+@end deffn
+@deffn Command {swd wcr trn prescale}
+Updates TRN (turnaraound delay) and prescaling.fields of the
+Wire Control Register (WCR).
+No parameters: displays current settings.
+@end deffn
+
+@subsection SPI Transport
+@cindex SPI
+@cindex Serial Peripheral Interface
+The Serial Peripheral Interface (SPI) is a general purpose transport
+which uses four wire signaling. Some processors use it as part of a
+solution for flash programming.
+
@anchor{JTAG Speed}
@section JTAG Speed
JTAG clock setup is part of system setup.
@item @code{arm11} -- this is a generation of ARMv6 cores
@item @code{arm720t} -- this is an ARMv4 core with an MMU
@item @code{arm7tdmi} -- this is an ARMv4 core
-@item @code{arm920t} -- this is an ARMv5 core with an MMU
+@item @code{arm920t} -- this is an ARMv4 core with an MMU
@item @code{arm926ejs} -- this is an ARMv5 core with an MMU
@item @code{arm966e} -- this is an ARMv5 core
@item @code{arm9tdmi} -- this is an ARMv4 core
mychip.cpu configure -event gdb-attach my_attach_proc
mychip.cpu configure -event gdb-attach @{
echo "Reset..."
- reset halt
+ # To make flash probe and gdb load to flash work we need a reset init.
+ reset init
@}
@end example
@* Currently not used (goal: when JTAG examine starts)
@end ignore
@item @b{gdb-attach}
-@* When GDB connects
+@* When GDB connects. This is before any communication with the target, so this
+can be used to set up the target so it is possible to probe flash. Probing flash
+is necessary during gdb connect if gdb load is to write the image to flash. Another
+use of the flash memory map is for GDB to automatically hardware/software breakpoints
+depending on whether the breakpoint is in RAM or read only memory.
@item @b{gdb-detach}
@* When GDB disconnects
@item @b{gdb-end}
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn
-@deffn Command {flash erase_address} [@option{pad}] address length
+@deffn Command {flash erase_address} [@option{pad}] [@option{unlock}] address length
Erase sectors starting at @var{address} for @var{length} bytes.
Unless @option{pad} is specified, @math{address} must begin a
flash sector, and @math{address + length - 1} must end a sector.
the specified length must stay within that bank.
As a special case, when @var{length} is zero and @var{address} is
the start of the bank, the whole flash is erased.
+If @option{unlock} is specified, then the flash is unprotected
+before erase starts.
@end deffn
@deffn Command {flash fillw} address word length
@deffn Command {flash info} num
Print info about flash bank @var{num}
The @var{num} parameter is a value shown by @command{flash banks}.
-The information includes per-sector protect status, which may be
-incorrect (outdated) unless you first issue a
-@command{flash protect_check num} command.
+This command will first query the hardware, it does not print cached
+and possibly stale information.
@end deffn
@anchor{flash protect}
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn
-@deffn Command {flash protect_check} num
-Check protection state of sectors in flash bank @var{num}.
-The @var{num} parameter is a value shown by @command{flash banks}.
-@comment @option{flash erase_sector} using the same syntax.
-This updates the protection information displayed by @option{flash info}.
-(Code execution may have invalidated any state records kept by OpenOCD.)
-@end deffn
-
@anchor{Flash Driver List}
@section Flash Driver List
As noted above, the @command{flash bank} command requires a driver name,
@c "cfi part_id" disabled
@end deffn
+@deffn {Flash Driver} stmsmi
+@cindex STMicroelectronics Serial Memory Interface
+@cindex SMI
+@cindex stmsmi
+Some devices form STMicroelectronics (e.g. STR75x MCU family,
+SPEAr MPU family) include a proprietary
+``Serial Memory Interface'' (SMI) controller able to drive external
+SPI flash devices.
+Depending on specific device and board configuration, up to 4 external
+flash devices can be connected.
+
+SMI makes the flash content directly accessible in the CPU address
+space; each external device is mapped in a memory bank.
+CPU can directly read data, execute code and boot from SMI banks.
+Normal OpenOCD commands like @command{mdw} can be used to display
+the flash content.
+
+The setup command only requires the @var{base} parameter in order
+to identify the memory bank.
+All other parameters are ignored. Additional information, like
+flash size, are detected automatically.
+
+@example
+flash bank $_FLASHNAME stmsmi 0xf8000000 0 0 0 $_TARGETNAME
+@end example
+
+@end deffn
+
@subsection Internal Flash (Microcontrollers)
@deffn {Flash Driver} aduc702x
@end deffn
@end deffn
+@deffn {Flash Driver} virtual
+This is a special driver that maps a previously defined bank to another
+address. All bank settings will be copied from the master physical bank.
+
+The @var{virtual} driver defines one mandatory parameters,
+
+@itemize
+@item @var{master_bank} The bank that this virtual address refers to.
+@end itemize
+
+So in the following example addresses 0xbfc00000 and 0x9fc00000 refer to
+the flash bank defined at address 0x1fc00000. Any cmds executed on
+the virtual banks are actually performed on the physical banks.
+@example
+flash bank $_FLASHNAME pic32mx 0x1fc00000 0 0 0 $_TARGETNAME
+flash bank vbank0 virtual 0xbfc00000 0 0 0 $_TARGETNAME $_FLASHNAME
+flash bank vbank1 virtual 0x9fc00000 0 0 0 $_TARGETNAME $_FLASHNAME
+@end example
+@end deffn
+
@subsection str9xpec driver
@cindex str9xpec
@section Other NAND commands
@cindex NAND other commands
-@deffn Command {nand check_bad_blocks} [offset length]
+@deffn Command {nand check_bad_blocks} num [offset length]
Checks for manufacturer bad block markers on the specified NAND
device. If no parameters are provided, checks the whole
device; otherwise, starts at the specified @var{offset} and
@xref{Running}.
@end deffn
-@deffn Command fast (@option{enable}|@option{disable})
-Default disabled.
-Set default behaviour of OpenOCD to be "fast and dangerous".
-
-At this writing, this only affects the defaults for two ARM7/ARM9 parameters:
-fast memory access, and DCC downloads. Those parameters may still be
-individually overridden.
-
-The target specific "dangerous" optimisation tweaking options may come and go
-as more robust and user friendly ways are found to ensure maximum throughput
-and robustness with a minimum of configuration.
-
-Typically the "fast enable" is specified first on the command line:
-
-@example
-openocd -c "fast enable" -c "interface dummy" -f target/str710.cfg
-@end example
-@end deffn
-
-@deffn Command echo message
+@deffn Command echo [-n] message
Logs a message at "user" priority.
Output @var{message} to stdout.
+Option "-n" suppresses trailing newline.
@example
echo "Downloading kernel -- please wait"
@end example
@end deffn
@anchor{load_image}
-@deffn Command {load_image} filename address [@option{bin}|@option{ihex}|@option{elf}]
-Load image from file @var{filename} to target memory at @var{address}.
+@deffn Command {load_image} filename address [[@option{bin}|@option{ihex}|@option{elf}] @option{min_addr} @option{max_length}]
+Load image from file @var{filename} to target memory offset by @var{address} from its load address.
The file format may optionally be specified
-(@option{bin}, @option{ihex}, or @option{elf})
+(@option{bin}, @option{ihex}, or @option{elf}).
+In addition the following arguments may be specifed:
+@var{min_addr} - ignore data below @var{min_addr} (this is w.r.t. to the target's load address + @var{address})
+@var{max_length} - maximum number of bytes to load.
+@example
+proc load_image_bin @{fname foffset address length @} @{
+ # Load data from fname filename at foffset offset to
+ # target at address. Load at most length bytes.
+ load_image $fname [expr $address - $foffset] bin $address $length
+@}
+@end example
@end deffn
@deffn Command {test_image} filename [address [@option{bin}|@option{ihex}|@option{elf}]]
mini-IC is marked valid, which makes the CPU fetch all exception
handlers from the mini-IC, ignoring the code in RAM.
-OpenOCD currently does not sync the mini-IC entries with the RAM
-contents (which would fail anyway while the target is running), so
-the user must provide appropriate values using the @code{xscale
-vector_table} command.
+To address this situation, OpenOCD provides the @code{xscale
+vector_table} command, which allows the user to explicity write
+individual entries to either the high or low vector table stored in
+the mini-IC.
It is recommended to place a pc-relative indirect branch in the vector
table, and put the branch destination somewhere in memory. Doing so
.long real_fiq_handler
@end example
+Alternatively, you may choose to keep some or all of the mini-IC
+vector table entries synced with those written to memory by your
+system software. The mini-IC can not be modified while the processor
+is executing, but for each vector table entry not previously defined
+using the @code{xscale vector_table} command, OpenOCD will copy the
+value from memory to the mini-IC every time execution resumes from a
+halt. This is done for both high and low vector tables (although the
+table not in use may not be mapped to valid memory, and in this case
+that copy operation will silently fail). This means that you will
+need to briefly halt execution at some strategic point during system
+start-up; e.g., after the software has initialized the vector table,
+but before exceptions are enabled. A breakpoint can be used to
+accomplish this once the appropriate location in the start-up code has
+been identified. A watchpoint over the vector table region is helpful
+in finding the location if you're not sure. Note that the same
+situation exists any time the vector table is modified by the system
+software.
+
The debug handler must be placed somewhere in the address space using
the @code{xscale debug_handler} command. The allowed locations for the
debug handler are either (0x800 - 0x1fef800) or (0xfe000800 -
0xfffff800). The default value is 0xfe000800.
+XScale has resources to support two hardware breakpoints and two
+watchpoints. However, the following restrictions on watchpoint
+functionality apply: (1) the value and mask arguments to the @code{wp}
+command are not supported, (2) the watchpoint length must be a
+power of two and not less than four, and can not be greater than the
+watchpoint address, and (3) a watchpoint with a length greater than
+four consumes all the watchpoint hardware resources. This means that
+at any one time, you can have enabled either two watchpoints with a
+length of four, or one watchpoint with a length greater than four.
These commands are available to XScale based CPUs,
which are implementations of the ARMv5TE architecture.
This finishes by listing the current vector catch configuration.
@end deffn
+@deffn Command {cortex_m3 reset_config} (@option{srst}|@option{sysresetreq}|@option{vectreset})
+Control reset handling. The default @option{srst} is to use srst if fitted,
+otherwise fallback to @option{vectreset}.
+@itemize @minus
+@item @option{srst} use hardware srst if fitted otherwise fallback to @option{vectreset}.
+@item @option{sysresetreq} use NVIC SYSRESETREQ to reset system.
+@item @option{vectreset} use NVIC VECTRESET to reset system.
+@end itemize
+Using @option{vectreset} is a safe option for all current Cortex-M3 cores.
+This however has the disadvantage of only resetting the core, all peripherals
+are uneffected. A solution would be to use a @code{reset-init} event handler to manually reset
+the peripherals.
+@xref{Target Events}.
+@end deffn
+
@anchor{Software Debug Messages and Tracing}
@section Software Debug Messages and Tracing
@cindex Linux-ARM DCC support
@item
A pipe connection is typically started as follows:
@example
-target remote | openocd --pipe
+target remote | openocd -c "gdb_port pipe; log_output openocd.log"
@end example
This would cause GDB to run OpenOCD and communicate using pipes (stdin/stdout).
Using this method has the advantage of GDB starting/stopping OpenOCD for the debug
-session.
+session. log_output sends the log output to a file to ensure that the pipe is
+not saturated when using higher debug level outputs.
@end enumerate
To list the available OpenOCD commands type @command{monitor help} on the
is the low level API upon which @command{flash banks} is implemented.
@itemize @bullet
-@item @b{ocd_mem2array} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>
+@item @b{mem2array} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>
Read memory and return as a Tcl array for script processing
-@item @b{ocd_array2mem} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>
+@item @b{array2mem} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>
Convert a Tcl array to memory locations and write the values
@item @b{ocd_flash_banks} <@var{driver}> <@var{base}> <@var{size}> <@var{chip_width}> <@var{bus_width}> <@var{target}> [@option{driver options} ...]
how the Tcl scripts work.
This chapter is written with two audiences in mind. (1) OpenOCD users
-who need to understand a bit more of how JIM-Tcl works so they can do
+who need to understand a bit more of how Jim-Tcl works so they can do
something useful, and (2) those that want to add a new command to
OpenOCD.