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\input texinfo @c -*-texinfo-*-
@c %**start of header
@setfilename openocd.info
@settitle OpenOCD User's Guide
@dircategory Development
@direntry
* OpenOCD: (openocd). OpenOCD User's Guide
@end direntry
@paragraphindent 0
@c %**end of header
@include version.texi
@copying
This User's Guide documents
release @value{VERSION},
dated @value{UPDATED},
of the Open On-Chip Debugger (OpenOCD).
@itemize @bullet
@item Copyright @copyright{} 2008-2022 The OpenOCD Project
@item Copyright @copyright{} 2007-2008 Spencer Oliver @email{spen@@spen-soft.co.uk}
@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
@quotation
Permission is granted to copy, distribute and/or modify this document
under the terms of the GNU Free Documentation License, Version 1.2 or
any later version published by the Free Software Foundation; with no
Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts. A
copy of the license is included in the section entitled ``GNU Free
Documentation License''.
@end quotation
@end copying
@titlepage
@titlefont{@emph{Open On-Chip Debugger:}}
@sp 1
@title OpenOCD User's Guide
@subtitle for release @value{VERSION}
@subtitle @value{UPDATED}
@page
@vskip 0pt plus 1filll
@insertcopying
@end titlepage
@summarycontents
@contents
@ifnottex
@node Top
@top OpenOCD User's Guide
@insertcopying
@end ifnottex
@menu
* About:: About OpenOCD
* Developers:: OpenOCD Developer Resources
* Debug Adapter Hardware:: Debug Adapter Hardware
* About Jim-Tcl:: About Jim-Tcl
* Running:: Running OpenOCD
* OpenOCD Project Setup:: OpenOCD Project Setup
* Config File Guidelines:: Config File Guidelines
* Server Configuration:: Server Configuration
* Debug Adapter Configuration:: Debug Adapter Configuration
* Reset Configuration:: Reset Configuration
* TAP Declaration:: TAP Declaration
* CPU Configuration:: CPU Configuration
* Flash Commands:: Flash Commands
* Flash Programming:: Flash Programming
* PLD/FPGA Commands:: PLD/FPGA Commands
* General Commands:: General Commands
* Architecture and Core Commands:: Architecture and Core Commands
* JTAG Commands:: JTAG Commands
* Boundary Scan Commands:: Boundary Scan Commands
* Utility Commands:: Utility Commands
* GDB and OpenOCD:: Using GDB and OpenOCD
* Tcl Scripting API:: Tcl Scripting API
* FAQ:: Frequently Asked Questions
* Tcl Crash Course:: Tcl Crash Course
* License:: GNU Free Documentation License
@comment DO NOT use the plain word ``Index'', reason: CYGWIN filename
@comment case issue with ``Index.html'' and ``index.html''
@comment Occurs when creating ``--html --no-split'' output
@comment This fix is based on: http://sourceware.org/ml/binutils/2006-05/msg00215.html
* OpenOCD Concept Index:: Concept Index
* Command and Driver Index:: Command and Driver Index
@end menu
@node About
@unnumbered About
@cindex about
OpenOCD was created by Dominic Rath as part of a 2005 diploma thesis written
at the University of Applied Sciences Augsburg (@uref{http://www.hs-augsburg.de}).
Since that time, the project has grown into an active open-source project,
supported by a diverse community of software and hardware developers from
around the world.
@section What is OpenOCD?
@cindex TAP
@cindex JTAG
The Open On-Chip Debugger (OpenOCD) aims to provide debugging,
in-system programming and boundary-scan testing for embedded target
devices.
It does so with the assistance of a @dfn{debug adapter}, which is
a small hardware module which helps provide the right kind of
electrical signaling to the target being debugged. These are
required since the debug host (on which OpenOCD runs) won't
usually have native support for such signaling, or the connector
needed to hook up to the target.
Such debug adapters support one or more @dfn{transport} protocols,
each of which involves different electrical signaling (and uses
different messaging protocols on top of that signaling). There
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
may generically be called @dfn{hardware interface dongles}.
Some development boards also integrate them directly, which may
let the development board connect directly to the debug
host over USB (and sometimes also to power it over USB).
For example, a @dfn{JTAG Adapter} supports JTAG
signaling, and is used to communicate
with JTAG (IEEE 1149.1) compliant TAPs on your target board.
A @dfn{TAP} is a ``Test Access Port'', a module which processes
special instructions and data. TAPs are daisy-chained within and
between chips and boards. JTAG supports debugging and boundary
scan operations.
There are also @dfn{SWD Adapters} that support Serial Wire Debug (SWD)
signaling to communicate with some newer ARM cores, as well as debug
adapters which support both JTAG and SWD transports. SWD supports only
debugging, whereas JTAG also supports boundary scan operations.
For some chips, there are also @dfn{Programming Adapters} supporting
special transports used only to write code to flash memory, without
support for on-chip debugging or boundary scan.
(At this writing, OpenOCD does not support such non-debug adapters.)
@b{Dongles:} OpenOCD currently supports many types of hardware dongles:
USB-based, parallel port-based, and other standalone boxes that run
OpenOCD internally. @xref{Debug Adapter Hardware}.
@b{GDB Debug:} It allows ARM7 (ARM7TDMI and ARM720t), ARM9 (ARM920T,
ARM922T, ARM926EJ--S, ARM966E--S), XScale (PXA25x, IXP42x), Cortex-M3
(Stellaris LM3, STMicroelectronics STM32 and Energy Micro EFM32) and
Intel Quark (x10xx) based cores to be debugged via the GDB protocol.
@b{Flash Programming:} Flash writing is supported for external
CFI-compatible NOR flashes (Intel and AMD/Spansion command set) and several
internal flashes (LPC1700, LPC1800, LPC2000, LPC4300, AT91SAM7, AT91SAM3U,
STR7x, STR9x, LM3, STM32x and EFM32). Preliminary support for various NAND flash
controllers (LPC3180, Orion, S3C24xx, more) is included.
@section OpenOCD Web Site
The OpenOCD web site provides the latest public news from the community:
@uref{http://openocd.org/}
@section Latest User's Guide:
The user's guide you are now reading may not be the latest one
available. A version for more recent code may be available.
Its HTML form is published regularly at:
@uref{http://openocd.org/doc/html/index.html}
PDF form is likewise published at:
@uref{http://openocd.org/doc/pdf/openocd.pdf}
@section OpenOCD User's Forum
There is an OpenOCD forum (phpBB) hosted by SparkFun,
which might be helpful to you. Note that if you want
anything to come to the attention of developers, you
should post it to the OpenOCD Developer Mailing List
instead of this forum.
@uref{http://forum.sparkfun.com/viewforum.php?f=18}
@section OpenOCD User's Mailing List
The OpenOCD User Mailing List provides the primary means of
communication between users:
@uref{https://lists.sourceforge.net/mailman/listinfo/openocd-user}
@section OpenOCD IRC
Support can also be found on irc:
@uref{irc://irc.libera.chat/openocd}
@node Developers
@chapter OpenOCD Developer Resources
@cindex developers
If you are interested in improving the state of OpenOCD's debugging and
testing support, new contributions will be welcome. Motivated developers
can produce new target, flash or interface drivers, improve the
documentation, as well as more conventional bug fixes and enhancements.
The resources in this chapter are available for developers wishing to explore
or expand the OpenOCD source code.
@section OpenOCD Git Repository
During the 0.3.x release cycle, OpenOCD switched from Subversion to
a Git repository hosted at SourceForge. The repository URL is:
@uref{git://git.code.sf.net/p/openocd/code}
or via http
@uref{http://git.code.sf.net/p/openocd/code}
You may prefer to use a mirror and the HTTP protocol:
@uref{http://repo.or.cz/r/openocd.git}
With standard Git tools, use @command{git clone} to initialize
a local repository, and @command{git pull} to update it.
There are also gitweb pages letting you browse the repository
with a web browser, or download arbitrary snapshots without
needing a Git client:
@uref{http://repo.or.cz/w/openocd.git}
The @file{README} file contains the instructions for building the project
from the repository or a snapshot.
Developers that want to contribute patches to the OpenOCD system are
@b{strongly} encouraged to work against mainline.
Patches created against older versions may require additional
work from their submitter in order to be updated for newer releases.
@section Doxygen Developer Manual
During the 0.2.x release cycle, the OpenOCD project began
providing a Doxygen reference manual. This document contains more
technical information about the software internals, development
processes, and similar documentation:
@uref{http://openocd.org/doc/doxygen/html/index.html}
This document is a work-in-progress, but contributions would be welcome
to fill in the gaps. All of the source files are provided in-tree,
listed in the Doxyfile configuration at the top of the source tree.
@section Gerrit Review System
All changes in the OpenOCD Git repository go through the web-based Gerrit
Code Review System:
@uref{https://review.openocd.org/}
After a one-time registration and repository setup, anyone can push commits
from their local Git repository directly into Gerrit.
All users and developers are encouraged to review, test, discuss and vote
for changes in Gerrit. The feedback provides the basis for a maintainer to
eventually submit the change to the main Git repository.
The @file{HACKING} file, also available as the Patch Guide in the Doxygen
Developer Manual, contains basic information about how to connect a
repository to Gerrit, prepare and push patches. Patch authors are expected to
maintain their changes while they're in Gerrit, respond to feedback and if
necessary rework and push improved versions of the change.
@section OpenOCD Developer Mailing List
The OpenOCD Developer Mailing List provides the primary means of
communication between developers:
@uref{https://lists.sourceforge.net/mailman/listinfo/openocd-devel}
@section OpenOCD Bug Tracker
The OpenOCD Bug Tracker is hosted on SourceForge:
@uref{http://bugs.openocd.org/}
@node Debug Adapter Hardware
@chapter Debug Adapter Hardware
@cindex dongles
@cindex FTDI
@cindex wiggler
@cindex printer port
@cindex USB Adapter
@cindex RTCK
Defined: @b{dongle}: A small device that plugs into a computer and serves as
an adapter .... [snip]
In the OpenOCD case, this generally refers to @b{a small adapter} that
attaches to your computer via USB or the parallel port.
@section Choosing a Dongle
There are several things you should keep in mind when choosing a dongle.
@enumerate
@item @b{Transport} Does it support the kind of communication that you need?
OpenOCD focuses mostly on JTAG. Your version may also support
other ways to communicate with target devices.
@item @b{Voltage} What voltage is your target - 1.8, 2.8, 3.3, or 5V?
Does your dongle support it? You might need a level converter.
@item @b{Pinout} What pinout does your target board use?
Does your dongle support it? You may be able to use jumper
wires, or an "octopus" connector, to convert pinouts.
@item @b{Connection} Does your computer have the USB, parallel, or
Ethernet port needed?
@item @b{RTCK} Do you expect to use it with ARM chips and boards with
RTCK support (also known as ``adaptive clocking'')?
@end enumerate
@section USB FT2232 Based
There are many USB JTAG dongles on the market, many of them based
on a chip from ``Future Technology Devices International'' (FTDI)
known as the FTDI FT2232; this is a USB full speed (12 Mbps) chip.
See: @url{http://www.ftdichip.com} for more information.
In summer 2009, USB high speed (480 Mbps) versions of these FTDI
chips started to become available in JTAG adapters. Around 2012, a new
variant appeared - FT232H - this is a single-channel version of FT2232H.
(Adapters using those high speed FT2232H or FT232H chips may support adaptive
clocking.)
The FT2232 chips are flexible enough to support some other
transport options, such as SWD or the SPI variants used to
program some chips. They have two communications channels,
and one can be used for a UART adapter at the same time the
other one is used to provide a debug adapter.
Also, some development boards integrate an FT2232 chip to serve as
a built-in low-cost debug adapter and USB-to-serial solution.
@itemize @bullet
@item @b{usbjtag}
@* Link @url{http://elk.informatik.fh-augsburg.de/hhweb/doc/openocd/usbjtag/usbjtag.html}
@item @b{jtagkey}
@* See: @url{http://www.amontec.com/jtagkey.shtml}
@item @b{jtagkey2}
@* See: @url{http://www.amontec.com/jtagkey2.shtml}
@item @b{oocdlink}
@* See: @url{http://www.oocdlink.com} By Joern Kaipf
@item @b{signalyzer}
@* See: @url{http://www.signalyzer.com}
@item @b{Stellaris Eval Boards}
@* See: @url{http://www.ti.com} - The Stellaris eval boards
bundle FT2232-based JTAG and SWD support, which can be used to debug
the Stellaris chips. Using separate JTAG adapters is optional.
These boards can also be used in a "pass through" mode as JTAG adapters
to other target boards, disabling the Stellaris chip.
@item @b{TI/Luminary ICDI}
@* See: @url{http://www.ti.com} - TI/Luminary In-Circuit Debug
Interface (ICDI) Boards are included in Stellaris LM3S9B9x
Evaluation Kits. Like the non-detachable FT2232 support on the other
Stellaris eval boards, they can be used to debug other target boards.
@item @b{olimex-jtag}
@* See: @url{http://www.olimex.com}
@item @b{Flyswatter/Flyswatter2}
@* See: @url{http://www.tincantools.com}
@item @b{turtelizer2}
@* See:
@uref{http://www.ethernut.de/en/hardware/turtelizer/index.html, Turtelizer 2}, or
@url{http://www.ethernut.de}
@item @b{comstick}
@* Link: @url{http://www.hitex.com/index.php?id=383}
@item @b{stm32stick}
@* Link @url{http://www.hitex.com/stm32-stick}
@item @b{axm0432_jtag}
@* Axiom AXM-0432 Link @url{http://www.axman.com} - NOTE: This JTAG does not appear
to be available anymore as of April 2012.
@item @b{cortino}
@* Link @url{http://www.hitex.com/index.php?id=cortino}
@item @b{dlp-usb1232h}
@* Link @url{http://www.dlpdesign.com/usb/usb1232h.shtml}
@item @b{digilent-hs1}
@* Link @url{http://www.digilentinc.com/Products/Detail.cfm?Prod=JTAG-HS1}
@item @b{opendous}
@* Link @url{http://code.google.com/p/opendous/wiki/JTAG} FT2232H-based
(OpenHardware).
@item @b{JTAG-lock-pick Tiny 2}
@* Link @url{http://www.distortec.com/jtag-lock-pick-tiny-2} FT232H-based
@item @b{GW16042}
@* Link: @url{https://www.gateworks.com/} FT2232H-based
@end itemize
@section USB-JTAG / Altera USB-Blaster compatibles
These devices also show up as FTDI devices, but are not
protocol-compatible with the FT2232 devices. They are, however,
protocol-compatible among themselves. USB-JTAG devices typically consist
of a FT245 followed by a CPLD that understands a particular protocol,
or emulates this protocol using some other hardware.
They may appear under different USB VID/PID depending on the particular
product. The driver can be configured to search for any VID/PID pair
(see the section on driver commands).
@itemize
@item @b{USB-JTAG} Kolja Waschk's USB Blaster-compatible adapter
@* Link: @url{http://ixo-jtag.sourceforge.net/}
@item @b{Altera USB-Blaster}
@* Link: @url{http://www.altera.com/literature/ug/ug_usb_blstr.pdf}
@end itemize
@section USB J-Link based
There are several OEM versions of the SEGGER @b{J-Link} adapter. It is
an example of a microcontroller based JTAG adapter, it uses an
AT91SAM764 internally.
@itemize @bullet
@item @b{SEGGER J-Link}
@* Link: @url{http://www.segger.com/jlink.html}
@item @b{Atmel SAM-ICE} (Only works with Atmel chips!)
@* Link: @url{http://www.atmel.com/tools/atmelsam-ice.aspx}
@item @b{IAR J-Link}
@end itemize
@section USB RLINK based
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.
@itemize @bullet
@item @b{Raisonance RLink}
@* Link: @url{https://www.raisonance.com/rlink.html}
@item @b{STM32 Primer}
@* Link: @url{http://www.stm32circle.com/resources/stm32primer.php}
@item @b{STM32 Primer2}
@* Link: @url{http://www.stm32circle.com/resources/stm32primer2.php}
@end itemize
@section USB ST-LINK based
STMicroelectronics has an adapter called @b{ST-LINK}.
They only work with STMicroelectronics chips, notably STM32 and STM8.
@itemize @bullet
@item @b{ST-LINK}
@* This is available standalone and as part of some kits, eg. STM32VLDISCOVERY.
@* Link: @url{http://www.st.com/internet/evalboard/product/219866.jsp}
@item @b{ST-LINK/V2}
@* This is available standalone and as part of some kits, eg. STM32F4DISCOVERY.
@* Link: @url{http://www.st.com/internet/evalboard/product/251168.jsp}
@item @b{STLINK-V3}
@* This is available standalone and as part of some kits.
@* Link: @url{http://www.st.com/stlink-v3}
@item @b{STLINK-V3PWR}
@* This is available standalone.
Beside the debugger functionality, the probe includes a SMU (source
measurement unit) aimed at analyzing power consumption during code
execution. The SMU is not supported by OpenOCD.
@* Link: @url{http://www.st.com/stlink-v3pwr}
@end itemize
For info the original ST-LINK enumerates using the mass storage usb class; however,
its implementation is completely broken. The result is this causes issues under Linux.
The simplest solution is to get Linux to ignore the ST-LINK using one of the following methods:
@itemize @bullet
@item modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:i
@item add "options usb-storage quirks=483:3744:i" to /etc/modprobe.conf
@end itemize
@section USB TI/Stellaris ICDI based
Texas Instruments has an adapter called @b{ICDI}.
It is not to be confused with the FTDI based adapters that were originally fitted to their
evaluation boards. This is the adapter fitted to the Stellaris LaunchPad.
@section USB Nuvoton Nu-Link
Nuvoton has an adapter called @b{Nu-Link}.
It is available either as stand-alone dongle and embedded on development boards.
It supports SWD, serial port bridge and mass storage for firmware update.
Both Nu-Link v1 and v2 are supported.
@section USB CMSIS-DAP based
ARM has released a interface standard called CMSIS-DAP that simplifies connecting
debuggers to ARM Cortex based targets @url{http://www.keil.com/support/man/docs/dapdebug/dapdebug_introduction.htm}.
@section USB Other
@itemize @bullet
@item @b{USBprog}
@* Link: @url{http://shop.embedded-projects.net/} - which uses an Atmel MEGA32 and a UBN9604
@item @b{USB - Presto}
@* Link: @url{http://tools.asix.net/prg_presto.htm}
@item @b{Versaloon-Link}
@* Link: @url{http://www.versaloon.com}
@item @b{ARM-JTAG-EW}
@* Link: @url{http://www.olimex.com/dev/arm-jtag-ew.html}
@item @b{angie}
@* Link: @url{https://nanoxplore.org/}
@item @b{Buspirate}
@* Link: @url{http://dangerousprototypes.com/bus-pirate-manual/}
@item @b{opendous}
@* Link: @url{http://code.google.com/p/opendous-jtag/} - which uses an AT90USB162
@item @b{estick}
@* Link: @url{http://code.google.com/p/estick-jtag/}
@item @b{Keil ULINK v1}
@* Link: @url{http://www.keil.com/ulink1/}
@item @b{TI XDS110 Debug Probe}
@* Link: @url{https://software-dl.ti.com/ccs/esd/documents/xdsdebugprobes/emu_xds110.html}
@* Link: @url{https://software-dl.ti.com/ccs/esd/documents/xdsdebugprobes/emu_xds_software_package_download.html#xds110-support-utilities}
@end itemize
@section IBM PC Parallel Printer Port Based
The two well-known ``JTAG Parallel Ports'' cables are the Xilinx DLC5
and the Macraigor Wiggler. There are many clones and variations of
these on the market.
Note that parallel ports are becoming much less common, so if you
have the choice you should probably avoid these adapters in favor
of USB-based ones.
@itemize @bullet
@item @b{Wiggler} - There are many clones of this.
@* Link: @url{http://www.macraigor.com/wiggler.htm}
@item @b{DLC5} - From XILINX - There are many clones of this
@* Link: Search the web for: ``XILINX DLC5'' - it is no longer
produced, PDF schematics are easily found and it is easy to make.
@item @b{Amontec - JTAG Accelerator}
@* Link: @url{http://www.amontec.com/jtag_accelerator.shtml}
@item @b{Wiggler2}
@* Link: @url{http://www.ccac.rwth-aachen.de/~michaels/index.php/hardware/armjtag}
@item @b{Wiggler_ntrst_inverted}
@* Yet another variation - See the source code, src/jtag/parport.c
@item @b{old_amt_wiggler}
@* Unknown - probably not on the market today
@item @b{arm-jtag}
@* Link: Most likely @url{http://www.olimex.com/dev/arm-jtag.html} [another wiggler clone]
@item @b{chameleon}
@* Link: @url{http://www.amontec.com/chameleon.shtml}
@item @b{Triton}
@* Unknown.
@item @b{Lattice}
@* ispDownload from Lattice Semiconductor
@url{http://www.latticesemi.com/lit/docs/@/devtools/dlcable.pdf}
@item @b{flashlink}
@* From STMicroelectronics;
@* Link: @url{http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATA_BRIEF/DM00039500.pdf}
@end itemize
@section Other...
@itemize @bullet
@item @b{ep93xx}
@* An EP93xx based Linux machine using the GPIO pins directly.
@item @b{at91rm9200}
@* Like the EP93xx - but an ATMEL AT91RM9200 based solution using the GPIO pins on the chip.
@item @b{bcm2835gpio}
@* A BCM2835-based board (e.g. Raspberry Pi) using the GPIO pins of the expansion header.
@item @b{imx_gpio}
@* A NXP i.MX-based board (e.g. Wandboard) using the GPIO pins (should work on any i.MX processor).
@item @b{am335xgpio}
@* A Texas Instruments AM335x-based board (e.g. BeagleBone Black) using the GPIO pins of the expansion headers.
@item @b{jtag_vpi}
@* A JTAG driver acting as a client for the JTAG VPI server interface.
@* Link: @url{http://github.com/fjullien/jtag_vpi}
@item @b{vdebug}
@* A driver for Cadence virtual Debug Interface to emulated or simulated targets.
It implements a client connecting to the vdebug server, which in turn communicates
with the emulated or simulated RTL model through a transactor. The driver supports
JTAG and DAP-level transports.
@item @b{jtag_dpi}
@* A JTAG driver acting as a client for the SystemVerilog Direct Programming
Interface (DPI) for JTAG devices. DPI allows OpenOCD to connect to the JTAG
interface of a hardware model written in SystemVerilog, for example, on an
emulation model of target hardware.
@item @b{xlnx_pcie_xvc}
@* A JTAG driver exposing Xilinx Virtual Cable over PCI Express to OpenOCD as JTAG/SWD interface.
@item @b{linuxgpiod}
@* A bitbang JTAG driver using Linux GPIO through library libgpiod.
@item @b{sysfsgpio}
@* A bitbang JTAG driver using Linux legacy sysfs GPIO.
This is deprecated from Linux v5.3; prefer using @b{linuxgpiod}.
@item @b{esp_usb_jtag}
@* A JTAG driver to communicate with builtin debug modules of Espressif ESP32-C3 and ESP32-S3 chips using OpenOCD.
@end itemize
@node About Jim-Tcl
@chapter About Jim-Tcl
@cindex Jim-Tcl
@cindex 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.
You can use them as simple commands, without needing to learn
much of anything about Tcl.
Alternatively, you can write Tcl programs with them.
You can learn more about Jim at its website, @url{http://jim.tcl.tk}.
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 several dozens of .C files and .H files and
implements the basic Tcl command set. In contrast: Tcl 8.6 is a
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. 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
command interpreter today is a mixture of (newer)
Jim-Tcl commands, and the (older) original command interpreter.
@item @b{Commands}
@* 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. 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}.
@end itemize
@node Running
@chapter Running
@cindex command line options
@cindex logfile
@cindex directory search
Properly installing OpenOCD sets up your operating system to grant it access
to the debug adapters. On Linux, this usually involves installing a file
in @file{/etc/udev/rules.d,} so OpenOCD has permissions. An example rules file
that works for many common adapters is shipped with OpenOCD in the
@file{contrib} directory. 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 @option{--help} option shows:
@verbatim
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 to 3
| -d<n> set debug level to <level>
--log_output | -l redirect log output to file <name>
--command | -c run <command>
@end verbatim
If you don't give any @option{-f} or @option{-c} options,
OpenOCD tries to read the configuration file @file{openocd.cfg}.
To specify one or more different
configuration files, use @option{-f} options. For example:
@example
openocd -f config1.cfg -f config2.cfg -f config3.cfg
@end example
Configuration files and scripts are searched for in
@enumerate
@item the current directory,
@item any search dir specified on the command line using the @option{-s} option,
@item any search dir specified using the @command{add_script_search_dir} command,
@item a directory in the @env{OPENOCD_SCRIPTS} environment variable (if set),
@item @file{%APPDATA%/OpenOCD} (only on Windows),
@item @file{$HOME/Library/Preferences/org.openocd} (only on Darwin),
@item @file{$XDG_CONFIG_HOME/openocd} (@env{$XDG_CONFIG_HOME} defaults to @file{$HOME/.config}),
@item @file{$HOME/.openocd},
@item the site wide script library @file{$pkgdatadir/site} and
@item the OpenOCD-supplied script library @file{$pkgdatadir/scripts}.
@end enumerate
The first found file with a matching file name will be used.
@quotation Note
Don't try to use configuration script names or paths which
include the "#" character. That character begins Tcl comments.
@end quotation
@section 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. @xref{OpenOCD Project Setup}.
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 with some variation of one of the following:
@example
openocd -f interface/ADAPTER.cfg -f board/MYBOARD.cfg
openocd -f interface/ftdi/ADAPTER.cfg -f board/MYBOARD.cfg
@end example
You might also need to configure which reset signals are present,
using @option{-c 'reset_config trst_and_srst'} or something similar.
If all goes well you'll see output something like
@example
Open On-Chip Debugger 0.4.0 (2010-01-14-15:06)
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : JTAG tap: lm3s.cpu tap/device found: 0x3ba00477
(mfg: 0x23b, part: 0xba00, ver: 0x3)
@end example
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.
@section What OpenOCD does as it starts
OpenOCD starts by processing the configuration commands provided
on the command line or, if there were no @option{-c command} or
@option{-f file.cfg} options given, in @file{openocd.cfg}.
@xref{configurationstage,,Configuration Stage}.
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 server.
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 server.
Once OpenOCD starts running as a server, it waits for connections from
clients (Telnet, GDB, RPC) and processes the commands issued through
those channels.
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
@option{-c} command line switch.
To enable debug output (when reporting problems or working on OpenOCD
itself), use the @option{-d} command line switch. This sets the
@option{debug_level} to "3", outputting the most information,
including debug messages. The default setting is "2", outputting only
informational messages, warnings and errors. You can also change this
setting from within a telnet or gdb session using @command{debug_level<n>}
(@pxref{debuglevel,,debug_level}).
You can redirect all output from the server to a file using the
@option{-l <logfile>} switch.
Note! OpenOCD will launch the GDB & telnet server even if it can not
establish a connection 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.
@node OpenOCD Project Setup
@chapter OpenOCD Project Setup
To use OpenOCD with your development projects, you need to do more than
just connect the JTAG adapter hardware (dongle) to your development board
and start the OpenOCD server.
You also need to configure your OpenOCD server so that it knows
about your adapter and board, and helps your work.
You may also want to connect OpenOCD to GDB, possibly
using Eclipse or some other GUI.
@section 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 dongles use Ethernet;
older ones may use a PC parallel port, or even a serial port.
@enumerate
@item @emph{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.
@item @emph{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.
@item @emph{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.
@item @emph{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 you're running
Linux, try the @command{lsusb} command. If that host is an
MS-Windows host, you'll need to install a driver before OpenOCD works.
@item @emph{Connect the adapter's power supply, if needed.}
This step is primarily for non-USB adapters,
but sometimes USB adapters need extra power.
@item @emph{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.
@end enumerate
Talk with the OpenOCD server using
telnet (@code{telnet localhost 4444} on many systems) or GDB.
@xref{GDB and OpenOCD}.
@section 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.
@section 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:
@itemize
@item Many @option{-f file} or @option{-c command} options on the command line
@item No options, but a @dfn{user config file}
in the current directory named @file{openocd.cfg}
@end itemize
Here is an example @file{openocd.cfg} file for a setup
using a Signalyzer FT2232-based JTAG adapter to talk to
a board with an Atmel AT91SAM7X256 microcontroller:
@example
source [find interface/ftdi/signalyzer.cfg]
# GDB can also flash my flash!
gdb memory_map enable
gdb flash_program enable
source [find target/sam7x256.cfg]
@end example
Here is the command line equivalent of that configuration:
@example
openocd -f interface/ftdi/signalyzer.cfg \
-c "gdb memory_map enable" \
-c "gdb flash_program enable" \
-f target/sam7x256.cfg
@end example
You could wrap such long command lines in shell scripts,
each supporting a different development task.
One might re-flash the board with a specific firmware version.
Another might set up a particular debugging or run-time environment.
@quotation Important
At this writing (October 2009) the command line method has
problems with how it treats variables.
For example, after @option{-c "set VAR value"}, or doing the
same in a script, the variable @var{VAR} will have no value
that can be tested in a later script.
@end quotation
Here we will focus on the simpler solution: one user config
file, including basic configuration plus any TCL procedures
to simplify your work.
@section User Config Files
@cindex config file, user
@cindex user config file
@cindex config file, overview
A user configuration file ties together all the parts of a project
in one place.
One of the following will match your situation best:
@itemize
@item Ideally almost everything comes from configuration files
provided by someone else.
For example, OpenOCD distributes a @file{scripts} directory
(probably in @file{/usr/share/openocd/scripts} on Linux).
Board and tool vendors can provide these too, as can individual
user sites; the @option{-s} command line option lets you say
where to find these files. (@xref{Running}.)
The AT91SAM7X256 example above works this way.
Three main types of non-user configuration file each have their
own subdirectory in the @file{scripts} directory:
@enumerate
@item @b{interface} -- one for each different debug adapter;
@item @b{board} -- one for each different board
@item @b{target} -- the chips which integrate CPUs and other JTAG TAPs
@end enumerate
Best case: include just two files, and they handle everything else.
The first is an interface config file.
The second is board-specific, and it sets up the JTAG TAPs and
their GDB targets (by deferring to some @file{target.cfg} file),
declares all flash memory, and leaves you nothing to do except
meet your deadline:
@example