OpenOCD 0.4.0 User's Guide: On-Chip Debugger Manual

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"Openocd 0.4.0 使用手册（英文）" OpenOCD（Open On-Chip Debugger）是一个开源的芯片级调试工具，主要应用于嵌入式系统的开发和调试。0.4.0 版本的手册是2010年2月21日发布的，由多个贡献者共同编撰，包括OpenOCD项目、Spencer Oliver、Oyvind Harboe、Duane Ellis以及David Brownell等。这个文档遵循GNU Free Documentation License 1.2或更高版本的条款，允许自由复制、分发和修改。手册内容涵盖了多个方面，旨在帮助用户理解和使用OpenOCD进行调试工作： 1. **关于OpenOCD**：这部分介绍了OpenOCD的基本概念，它是一个用于JTAG（Joint Test Action Group）和SWD（Serial Wire Debug）协议的软件，可以连接到目标设备进行调试、编程和测试。 2. **OpenOCD开发者资源**：这部分可能包含了一些对于开发者有用的资源，比如开发环境的搭建、代码贡献指南以及调试工具的使用等。 3. **JTAG硬件适配器**：JTAG硬件dongles是连接主机和目标设备的物理接口，手册会解释如何选择和使用这些适配器。 4. **关于JIM-Tcl**：JIM（JTAG In-Memory）是OpenOCD中的一个JTAG接口实现，而Tcl是一种脚本语言，这部分可能会讲述如何通过Tcl脚本来控制和扩展OpenOCD的功能。 5. **运行OpenOCD**：这部分会详细介绍如何启动和配置OpenOCD，包括命令行参数和选项的使用。 6. **OpenOCD项目设置**：这部分将指导用户如何配置OpenOCD项目，包括选择目标处理器、设定调试端口等。 7. **配置文件指南**：OpenOCD的配置文件是其核心，这部分会讲解配置文件的结构、语法和最佳实践。 8. **守护进程配置**：OpenOCD可以以守护进程模式运行，提供持续的服务，这部分可能会涉及如何启动和管理OpenOCD守护进程。 9. **接口与适配器配置**：详细说明了如何配置OpenOCD来支持不同的硬件接口和适配器，以便连接不同的目标设备。 10. **复位配置**：在调试过程中，复位功能非常重要，这部分会讲解如何配置OpenOCD以控制目标设备的复位操作。 11. **TAP声明**：TAP（Test Access Port）是JTAG协议的一部分，这部分可能涉及如何在OpenOCD中定义和使用TAP。 12. **CPU配置**：根据目标设备的CPU类型，用户需要正确配置OpenOCD以适应不同的指令集和调试特性。手册中的每个章节都是OpenOCD使用过程中的关键部分，对于嵌入式开发者来说，理解和掌握这些内容将有助于他们更有效地进行硬件调试和软件开发。虽然这份文档是英文版，但它是OpenOCD官方提供的详细指南，对于学习和掌握OpenOCD的操作流程至关重要。

Chapter 3: About JIM-Tcl 8

3 About JIM-Tcl

OpenOCD includes a small “Tcl Interpreter” known as JIM-Tcl. This programming lan-

guage provides a simple and extensible command interpreter.

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, http://jim.berlios.de.

• JIM vs. Tcl

JIM-TCL is a stripped down version of the well known Tcl language, which can be

found here: 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.

• Missing Features

Our practice has been: Add/clone the real Tcl feature if/when needed. We welcome

JIM Tcl improvements, not bloat.

• Scripts

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.

• Commands

At the OpenOCD telnet command line (or via the GDB mon 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 ‘startup.tcl’ ﬁle internal to the server.

• Historical Note

JIM-Tcl was introduced to OpenOCD in spring 2008.

• Need a crash course in Tcl?

See Chapter 23 [Tcl Crash Course], page 111.

Chapter 4: Running 9

4 Running

Properly installing OpenOCD sets up your operating system to grant it access to the JTAG

adapters. On Linux, this usually involves installing a ﬁle in ‘/etc/udev/rules.d,’ so

OpenOCD has permissions. MS-Windows needs complex and confusing driver conﬁguration

for every peripheral. Such issues are unique to each operating system, and are not detailed

in this User’s Guide.

Then later you will invoke the OpenOCD server, with various options to tell it how each

debug session should work. The ‘--help’ option shows:

bash$ openocd --help

--help | -h display this help

--version | -v display OpenOCD version

--file | -f use configuration file <name>

--search | -s dir to search for config files and scripts

--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

If you don’t give any ‘-f’ or ‘-c’ options, OpenOCD tries to read the conﬁguration ﬁle

‘openocd.cfg’. To specify one or more diﬀerent conﬁguration ﬁles, use ‘-f’ options. For

example:

openocd -f config1.cfg -f config2.cfg -f config3.cfg

Conﬁguration ﬁles and scripts are searched for in

1. the current directory,

2. any search dir speciﬁed on the command line using the ‘-s’ option,

3. ‘$HOME/.openocd’ (not on Windows),

4. the site wide script library ‘$pkgdatadir/site’ and

5. the OpenOCD-supplied script library ‘$pkgdatadir/scripts’.

The ﬁrst found ﬁle with a matching ﬁle name will be used.

Note: Don’t try to use conﬁguration script names or paths which include the

"#" character. That character begins Tcl comments.

4.1 Simple setup, no customization

In the best case, you can use two scripts from one of the script libraries, hook up your JTAG

adapter, and start the server ... and your JTAG setup will just work "out of the box".

Always try to start by reusing those scripts, but assume you’ll need more customization

even if this works. See Chapter 5 [OpenOCD Project Setup], page 11.

If you ﬁnd a script for your JTAG adapter, and for your board or target, you may be able

to hook up your JTAG adapter then start the server like:

openocd -f interface/ADAPTER.cfg -f board/MYBOARD.cfg

You might also need to conﬁgure which reset signals are present, using ‘-c ’reset_config

trst_and_srst’’ or something similar. If all goes well you’ll see output something like

Chapter 4: Running 10

Open On-Chip Debugger 0.4.0 (2010-01-14-15:06)

For bug reports, read

http://openocd.berlios.de/doc/doxygen/bugs.html

Info : JTAG tap: lm3s.cpu tap/device found: 0x3ba00477

(mfg: 0x23b, part: 0xba00, ver: 0x3)

Seeing that "tap/device found" message, and no warnings, means the JTAG communication

is working. That’s a key milestone, but you’ll probably need more project-speciﬁc setup.

4.2 What OpenOCD does as it starts

OpenOCD starts by processing the conﬁguration commands provided on the command line

or, if there were no ‘-c command’ or ‘-f file.cfg’ options given, in ‘openocd.cfg’. See

[Conﬁguration Stage], page 27. At the end of the conﬁguration stage it veriﬁes the JTAG

scan chain deﬁned using those commands; your conﬁguration should ensure that this always

succeeds. Normally, OpenOCD then starts running as a daemon. Alternatively, commands

may be used to terminate the conﬁguration stage early, perform work (such as updating

some ﬂash memory), and then shut down without acting as a daemon.

Once OpenOCD starts running as a daemon, it waits for connections from clients (Telnet,

GDB, Other) and processes the commands issued through those channels.

If you are having problems, you can enable internal debug messages via the ‘-d’ option.

Also it is possible to interleave JIM-Tcl commands w/conﬁg scripts using the ‘-c’ command

line switch.

To enable debug output (when reporting problems or working on OpenOCD itself), use

the ‘-d’ command line switch. This sets the ‘debug_level’ to "3", outputting the most

information, including debug messages. The default setting is "2", outputting only infor-

mational messages, warnings and errors. You can also change this setting from within a

telnet or gdb session using debug_level <n> (see [debug level], page 78).

You can redirect all output from the daemon to a ﬁle using the ‘-l <logfile>’ switch.

For details on the ‘-p’ option. See [Connecting to GDB], page 101.

Note! OpenOCD will launch the GDB & telnet server even if it can not establish a connec-

tion with the target. In general, it is possible for the JTAG controller to be unresponsive

until the target is set up correctly via e.g. GDB monitor commands in a GDB init script.

Chapter 5: OpenOCD Project Setup 11

5 OpenOCD Project Setup

To use OpenOCD with your development projects, you need to do more than just connecting

the JTAG adapter hardware (dongle) to your development board and then starting the

OpenOCD server. You also need to conﬁgure that server so that it knows about that

adapter and board, and helps your work. You may also want to connect OpenOCD to

GDB, possibly using Eclipse or some other GUI.

5.1 Hooking up the JTAG Adapter

Today’s most common case is a dongle with a JTAG cable on one side (such as a ribbon

cable with a 10-pin or 20-pin IDC connector) and a USB cable on the other. Instead of

USB, some cables use Ethernet; older ones may use a PC parallel port, or even a serial port.

1. Start with power to your target board turned oﬀ, and nothing connected to your JTAG

adapter. If you’re particularly paranoid, unplug power to the board. It’s important to

have the ground signal properly set up, unless you are using a JTAG adapter which

provides galvanic isolation between the target board and the debugging host.

2. Be sure it’s the right kind of JTAG connector. If your dongle has a 20-pin ARM

connector, you need some kind of adapter (or octopus, see below) to hook it up to

boards using 14-pin or 10-pin connectors ... or to 20-pin connectors which don’t use

ARM’s pinout.

In the same vein, make sure the voltage levels are compatible. Not all JTAG adapters

have the level shifters needed to work with 1.2 Volt boards.

3. Be certain the cable is properly oriented or you might damage your board. In most

cases there are only two possible ways to connect the cable. Connect the JTAG cable

from your adapter to the board. Be sure it’s ﬁrmly connected.

In the best case, the connector is keyed to physically prevent you from inserting it

wrong. This is most often done using a slot on the board’s male connector housing,

which must match a key on the JTAG cable’s female connector. If there’s no housing,

then you must look carefully and make sure pin 1 on the cable hooks up to pin 1 on

the board. Ribbon cables are frequently all grey except for a wire on one edge, which

is red. The red wire is pin 1.

Sometimes dongles provide cables where one end is an “octopus” of color coded single-

wire connectors, instead of a connector block. These are great when converting from

one JTAG pinout to another, but are tedious to set up. Use these with connector

pinout diagrams to help you match up the adapter signals to the right board pins.

4. Connect the adapter’s other end once the JTAG cable is connected. A USB, parallel,

or serial port connector will go to the host which you are using to run OpenOCD. For

Ethernet, consult the documentation and your network administrator.

For USB based JTAG adapters you have an easy sanity check at this point: does the

host operating system see the JTAG adapter? If that host is an MS-Windows host,

you’ll need to install a driver before OpenOCD works.

5. Connect the adapter’s power supply, if needed. This step is primarily for non-USB

adapters, but sometimes USB adapters need extra power.

6. Power up the target board. Unless you just let the magic smoke escape, you’re now

ready to set up the OpenOCD server so you can use JTAG to work with that board.

Chapter 5: OpenOCD Project Setup 12

Talk with the OpenOCD server using telnet (telnet localhost 4444 on many systems) or

GDB. See Chapter 20 [GDB and OpenOCD], page 101.

5.2 Project Directory

There are many ways you can conﬁgure OpenOCD and start it up.

A simple way to organize them all involves keeping a single directory for your work with

a given board. When you start OpenOCD from that directory, it searches there ﬁrst for

conﬁguration ﬁles, scripts, ﬁles accessed through semihosting, and for code you upload to

the target board. It is also the natural place to write ﬁles, such as log ﬁles and data you

download from the board.

5.3 Conﬁguration Basics

There are two basic ways of conﬁguring OpenOCD, and a variety of ways you can mix them.

Think of the diﬀerence as just being how you start the server:

• Many ‘-f file’ or ‘-c command’ options on the command line

• No options, but a user conﬁg ﬁle in the current directory named ‘openocd.cfg’

Here is an example ‘openocd.cfg’ ﬁle for a setup using a Signalyzer FT2232-based JTAG

adapter to talk to a board with an Atmel AT91SAM7X256 microcontroller:

source [find interface/signalyzer.cfg]

# GDB can also flash my flash!

gdb_memory_map enable

gdb_flash_program enable

source [find target/sam7x256.cfg]

Here is the command line equivalent of that conﬁguration:

openocd -f interface/signalyzer.cfg \

-c "gdb_memory_map enable" \

-c "gdb_flash_program enable" \

-f target/sam7x256.cfg

You could wrap such long command lines in shell scripts, each supporting a diﬀerent devel-

opment task. One might re-ﬂash the board with a speciﬁc ﬁrmware version. Another might

set up a particular debugging or run-time environment.

Important: At this writing (October 2009) the command line method has prob-

lems with how it treats variables. For example, after ‘-c "set VAR value"’, or

doing the same in a script, the variable VAR will have no value that can be

tested in a later script.

Here we will focus on the simpler solution: one user conﬁg ﬁle, including basic conﬁguration

plus any TCL procedures to simplify your work.

5.4 User Conﬁg Files

A user conﬁguration ﬁle ties together all the parts of a project in one place. One of the

following will match your situation best:

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