Difference between revisions of "BeagleBoardOpenOCD"
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=Starting OpenOCD= | =Starting OpenOCD= | ||
− | OpenOCD runtime is controlled by several [http://openocd.berlios.de/doc/Simple-Configuration-Files.html#Simple-Configuration-Files configuration files]. OpenOCD comes with basic configuration files for BeagleBoard (board/ti_beagleboard.cfg) and OMAP3 (target/omap3530.cfg). | + | OpenOCD runtime is controlled by several [http://openocd.berlios.de/doc/Simple-Configuration-Files.html#Simple-Configuration-Files configuration files]. OpenOCD comes with basic configuration files for BeagleBoard (''board/ti_beagleboard.cfg'') and OMAP3 (''target/omap3530.cfg''). |
Assuming that you use Flyswatter is switched on (attached to USB), you can now start OpenOCD with: | Assuming that you use Flyswatter is switched on (attached to USB), you can now start OpenOCD with: | ||
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This should result in | This should result in | ||
− | > ''openocd -s lib/openocd/ -f interface/flyswatter.cfg -f board/ti_beagleboard.cfg'' | + | > '''openocd -s lib/openocd/ -f interface/flyswatter.cfg -f board/ti_beagleboard.cfg''' |
Open On-Chip Debugger 1.0 (2009-03-11-20:36) svn:1409 | Open On-Chip Debugger 1.0 (2009-03-11-20:36) svn:1409 |
Revision as of 13:10, 11 March 2009
This page is about how to use open source OpenOCD JTAG software with BeagleBoard. With this, it will be possible to have OMAP3 JTAG debug using cheap JTAG hardware, e.g. Flyswatter.
As of March 2009, OpenOCD has basic support for OMAP3 on Beagle Board, but still lacks ARM Cortex A8 support. This is work in progress. Status:
- You need at least OpenOCD revision 1409 (using svn)
- Starting with this revision, basic OMAP3 support is added. This does mean, that OpenOCD is able to configure scan chain correctly to access ARM TAP ("JTAG controller").
- Next step is to add ARM Cortex A8 support, i.e. ARM Cortex A8 awareness to OpenOCD
Contents
Build OpenOCD
OpenOCD build instructions describe how to build OpenOCD. For questions you can use OpenOCD Mailing list.
Get OpenOCD code via svn:
> svn checkout svn://svn.berlios.de/openocd/trunk openocd
For Flyswatter you additionally need libftd2xx or libFTDI. While libFTDI is available in source, libftd2xx is supposed to be 50% faster than libFTDI. The libtfd2xx binaries are available booth as shared library or linkable archive.
If you downloaded OpenOCD svn and have libftd2xx or libFTDI, build OpenOCD (assuming you extracted/built FTDI library already):
> cd openocd > ./bootstrap > ./configure --enable-ft2232_ftd2xx --with-ftd2xx-linux-tardir=<path_to>/libftd2xx0.4.16 --prefix=/home/user/bin/openOCD or (depending which FTDI library you use, see above) > ./configure --enable-ft2232_libftdi --prefix=/home/user/bin/openOCD > make > make install
Note: By default (make & make install) only .info documentation is installed. You can get PDF or HTML documentation by
make pdf
or
make html
Resulting documentation can be found in openocd/doc, then.
Note: If you like to save some disk space and don't plan to debug OpenOCD binary itself, you can strip this (remove unneeded debug symbols):
> cd <openocd_install_dir>/bin > strip openocd
(e.g. with OpenOCD 1.0 this reduced binary size from ~3MB to ~700kB)
Note: If you don't have libftdi in standard path, you might like to extend library search path:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<path_to>/lib
if you e.g. get
> ./openocd ./openocd: error while loading shared libraries: libftdi.so.1: cannot open shared object file: No such file or directory
Starting OpenOCD
OpenOCD runtime is controlled by several configuration files. OpenOCD comes with basic configuration files for BeagleBoard (board/ti_beagleboard.cfg) and OMAP3 (target/omap3530.cfg).
Assuming that you use Flyswatter is switched on (attached to USB), you can now start OpenOCD with:
openocd -s <path_to_config_files> // e.g. <path_of_openocd_install_dir>/lib/openocd -f <path_to_jtag_interface> -f <path_to_beagle_config>
This should result in
> openocd -s lib/openocd/ -f interface/flyswatter.cfg -f board/ti_beagleboard.cfg Open On-Chip Debugger 1.0 (2009-03-11-20:36) svn:1409 BUGS? Read http://svn.berlios.de/svnroot/repos/openocd/trunk/BUGS $URL: svn://svn.berlios.de/openocd/trunk/src/openocd.c $ jtag_speed: 1 Warn : JTAG command queued, while TRST is low (TAP in reset) current endstate: IDLE Info : JTAG tap: omap3.jrc tap/device found: 0x0b7ae02f (Manufacturer: 0x017, Part: 0xb7ae, Version: 0x0) Info : JTAG Tap/device matched Warn : no telnet port specified, using default port 4444 Warn : no gdb ports allocated as no target has been specified Warn : no tcl port specified, using default port 6666
This shows that your (Flyswatter) JTAG dongle basically works and that you are able to see OMAP3 JRC. OpenOCD now runs as deamon.
Controlling OpenOCD
Once OpenOCD runs as daemon like above, you can connect using telnet or GDB
telnet
Connect to OpenOCD daemon. Assuming you do it on your local machine, open a second terminal window and do (assuming port 4444 as configured in above openocd.cfg):
> telnet localhost 4444 Trying 127.0.0.1... Connected to localhost. Escape character is '^]'. Open On-Chip Debugger >
This should give you
Info: accepting 'telnet' connection from 0
in window where OpenOCD daemon is started.
At OpenOCDs telnet prompt you can now issue OpenOCD commands. E.g. help should result in
> help cpu <name> - prints out target options and a comment on CPU which matches name debug_level adjust debug level <0-3> drscan execute DR scan <device> <num_bits> <value> <num_bits1> <value2> ... endstate finish JTAG operations in <tap_state> exit exit telnet session fast fast <enable/disable> - place at beginning of config files. Sets defaults to fast and dangerous. fast_load loads active fast load image to current target - mainly for profiling purposes fast_load_image same args as load_image, image stored in memory - mainly for profiling purposes find <file> - print full path to file according to OpenOCD search rules ft2232_device_desc the USB device description of the FTDI FT2232 device ft2232_latency set the FT2232 latency timer to a new value ft2232_layout the layout of the FT2232 GPIO signals used to control output-enables and reset signals ft2232_serial the serial number of the FTDI FT2232 device ft2232_vid_pid the vendor ID and product ID of the FTDI FT2232 device gdb_breakpoint_override hard/soft/disabled - force breakpoint type for gdb 'break' commands.The raison d'etre for this option is to support GDB GUI's without a hard/soft breakpoint concept where the default OpenOCD behaviour is not sufficient gdb_detach gdb_flash_program enable or disable flash program gdb_memory_map enable or disable memory map gdb_port daemon configuration command gdb_port gdb_report_data_abort enable or disable report data help Tcl implementation of help command init initializes target and servers - nop on subsequent invocations interface try to configure interface irscan execute IR scan <device> <instr> [dev2] [instr2] ... jtag perform jtag tap actions jtag_device jtag_device <ir_length> <ir_expected> <ir_mask> jtag_khz same as jtag_speed, except it takes maximum khz as arguments. 0 KHz = RTCK. jtag_nsrst_delay jtag_nsrst_delay <ms> - delay after deasserting srst in ms jtag_ntrst_delay jtag_ntrst_delay <ms> - delay after deasserting trst in ms jtag_rclk fallback_speed_khz - set JTAG speed to RCLK or use fallback speed jtag_reset toggle reset lines <trst> <srst> jtag_speed set jtag speed (if supported) log_output redirect logging to <file> (default: stderr) ocd_array2mem convert a TCL array to memory locations and write the values ocd_flash_banks return information about the flash banks ocd_mem2array read memory and return as a TCL array for script processing power_restore Overridable procedure run when power restore is detected. Runs 'reset init' by default. production <serialnumber> - Runs production procedure. Throws exception if procedure failed. Prints progress messages. Implement this procedure in the target script. production Runs test procedure. Throws exception if procedure failed. Prints progress messages. Implement in target script. production_info Displays information on production procedure for target script. Implement this procedure in target script. profile profiling samples the CPU PC reset_config runtest move to Run-Test/Idle, and execute <num_cycles> scan_chain print current scan chain configuration script <filename> - filename of OpenOCD script (tcl) to run shutdown shut the server down sleep <n> [busy] - sleep for n milliseconds. "busy" means busy wait srst_deasserted Overridable procedure run when srst deassert is detected. Runs 'reset init' by default. target configure target targets change the current command line target (one parameter) or lists targets (with no parameter) tcl_port port on which to listen for incoming TCL syntax telnet_port port on which to listen for incoming telnet connections verify_ircapture verify value captured during Capture-IR <enable|disable> version show OpenOCD version virt2phys translate a virtual address into a physical address xsvf run xsvf <file> flash bank flash bank <driver> <base> <size> <chip_width> <bus_width> <target> [driver_options ...] mflash bank mflash bank <soc> <base> <chip_width> <bus_width> <RST pin> <WP pin> <DPD pin> <target #> nand device pld device
Now, we can try to print recent OMAP3 scan chain configuration and enable Cortex-A8 manually (by configuring JRC):
> scan_chain TapName | Enabled | IdCode Expected IrLen IrCap IrMask Instr ---|--------------------|---------|------------|------------|------|------|------|--------- 0 | omap3530.jrc | Y | 0x0b7ae02f | 0x0b7ae02f | 0x06 | 0x01 | 0x0f | 0x3f 1 | omap3530.cpu | n | 0x00000000 | 0xffffffff | 0x04 | 0x01 | 0x00 | 0x0f > jtag tapenable omap3530.cpu Enabling Cortex-A8 @ OMAP3 Cortex-A8 @ OMAP3 enabled 1 > scan_chain TapName | Enabled | IdCode Expected IrLen IrCap IrMask Instr ---|--------------------|---------|------------|------------|------|------|------|--------- 0 | omap3530.jrc | Y | 0x0b7ae02f | 0x0b7ae02f | 0x06 | 0x01 | 0x0f | 0x3f 1 | omap3530.cpu | Y | 0x00000000 | 0xffffffff | 0x04 | 0x01 | 0x00 | 0x0f
GDB
tbd.
GDB ARM
To debug an ARM target with GNU debugger (GDB), you need a GDB understanding ARM processor. If your ARM cross compilation tool chain doesn't include a GDB, you can easily build it your self.
- Download latest GDB sources. OpenOCD docu recommends to use GDB 6.7 or newer. Here, we use GDB 6.8 which is the recent version while writing this.
- Extract, configure and build GDB for ARM. Afterwards remove temporary stuff. Options are:
- <path_where_ARM_gdb_shall_be_installed_to> : Directory where you want to install the resulting tool to. E.g. /home/user/arm-gdb/
- <ARM_toolchain_prefix> : The prefix of your ARM GCC toolchain, e.g. arm-linux or arm-none-linux-gnueabi (CodeSourcery tool chain).
> tar xfj gdb-6.8.tar.bz2 > mkdir build-gdb > cd build-gdb/ build-gdb > ../gdb-6.8/configure --prefix=<path_where_ARM_gdb_shall_be_installed_to> --target=<ARM_toolchain_prefix> i686-pc-linux-gnu build-gdb > make -j4 build-gdb > make install build-gdb > cd .. > rm -rf gdb-6.8 build-gdb > export PATH=$PATH:<path_where_ARM_gdb_shall_be_installed_to>/bin
Test:
bin> ./arm-none-linux-gnueabi-gdb GNU gdb 6.8 Copyright (C) 2008 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "--host=i686-pc-linux-gnu --target=arm-none-linux-gnueabi". (gdb)
Appendix - OpenOCD JTAG bring up technology background
- Regarding EMU0/EMU1 pins on BeagleBoard, pulling both pins down does currently not make Cortex-A8 CPU accessible. Only one TAP is visible (ICEPick). Therefore OpenOCD will not be able to validate the scan chain. The documentation for the control of EMU0/EMU1 is very misleading:
0 0 ICEPick + default TAP(s) 0 1 ICEPick Reserved 1 0 ICEPick Wait-in-reset 1 1 ICEPick Default condition NOTES: ICEPick is always in the scan chain Default TAPs are the ARM and the ETB
This table is identical to the Davinci documentation, with one BIG difference:
- The OMAP3xx has NO default TAP (ARM or ETB taps) which means that the configuration of EMU0-L/EMU1-L doesn't add ARM to scan chain (above table is wrong, though).
Note: If you use BeagleBoard Adapter Kit with Flyswatter, make sure you plug the JTAG adapter the correct way. There are several possible ways, though. See connection picture how to do it the right way (in contrast to the picture EMU0 & EMU1 jumpers at JTAG adapter should be both at 1-2 position (touching J2)).
- The OMAP3xx uses a TAP router, it needs to be programmed with the information about available TAPS first, before ARM is accessible. Once the DAP has been added to the TAP router, via a programming sequence, the ARM core can be accessed.
- TI has a good presentation describing the functionality of the ICEPick TAP Router (or generically refered to as JTAG Route Controller or JRC). The ICEPick jtag device ID is 0x0b73b02f (Manufacturer: 0x017, Part: 0xb73b, Version: 0x0) and is the same as the Davinci series.
- ICEPICK IR length is 6
- ARM IR length is 4
- ICEPICK ID code is at DR 0x4 32bit length: 0x0B7AE02F
- ARM ID code is at DR 0xE 32bit length: 0x0B6D602F
- If above basics work, additionally MMU, cache support and some include files for A8 might be added to OpenOCD.