@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 current version
-supports only JTAG as a transport, but other virtual transports, like DAP are planned.
+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
@* 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
the hardware can support.
@end deffn
+@anchor{adapter gpio}
+@deffn {Config Command} {adapter gpio [ @
+ @option{tdo} | @option{tdi} | @option{tms} | @option{tck} | @option{trst} | @
+ @option{swdio} | @option{swdio_dir} | @option{swclk} | @option{srst} | @
+ @option{led} @
+ [ @
+ gpio_number | @option{-chip} chip_number | @
+ @option{-active-high} | @option{-active-low} | @
+ @option{-push-pull} | @option{-open-drain} | @option{-open-source} | @
+ @option{-pull-none} | @option{-pull-up} | @option{-pull-down} | @
+ @option{-init-inactive} | @option{-init-active} | @option{-init-input} @
+ ] ]}
+
+Define the GPIO mapping that the adapter will use. The following signals can be
+defined:
+
+@itemize @minus
+@item @option{tdo}, @option{tdi}, @option{tms}, @option{tck}, @option{trst}:
+JTAG transport signals
+@item @option{swdio}, @option{swclk}: SWD transport signals
+@item @option{swdio_dir}: optional swdio buffer control signal
+@item @option{srst}: system reset signal
+@item @option{led}: optional activity led
+
+@end itemize
+Some adapters require that the GPIO chip number is set in addition to the GPIO
+number. The configuration options enable signals to be defined as active-high or
+active-low. The output drive mode can be set to push-pull, open-drain or
+open-source. Most adapters will have to emulate open-drain or open-source drive
+modes by switching between an input and output. Input and output signals can be
+instructed to use a pull-up or pull-down resistor, assuming it is supported by
+the adaptor driver and hardware. The initial state of outputs may also be set,
+"active" state means 1 for active-high outputs and 0 for active-low outputs.
+Bidirectional signals may also be initialized as an input. If the swdio signal
+is buffered the buffer direction can be controlled with the swdio_dir signal;
+the active state means that the buffer should be set as an output with respect
+to the adapter. The command options are cumulative with later commands able to
+override settings defined by earlier ones. The two commands @command{gpio led 7
+-active-high} and @command{gpio led -chip 1 -active-low} sent sequentially are
+equivalent to issuing the single command @command{gpio led 7 -chip 1
+-active-low}. It is not permissible to set the drive mode or initial state for
+signals which are inputs. The drive mode for the srst and trst signals must be
+set with the @command{adapter reset_config} command. It is not permissible to
+set the initial state of swdio_dir as it is derived from the initial state of
+swdio. The command @command{adapter gpio} prints the current configuration for
+all GPIOs while the command @command{adapter gpio gpio_name} prints the current
+configuration for gpio_name. Not all adapters support this generic GPIO mapping,
+some require their own commands to define the GPIOs used. Adapters that support
+the generic mapping may not support all of the listed options.
+@end deffn
@deffn {Command} {adapter name}
Returns the name of the debug adapter driver being used.
@end deffn
+@deffn {Interface Driver} {esp_usb_jtag}
+Espressif JTAG driver to communicate with ESP32-C3, ESP32-S3 chips and ESP USB Bridge board using OpenOCD.
+These chips have built-in JTAG circuitry and can be debugged without any additional hardware.
+Only an USB cable connected to the D+/D- pins is necessary.
+
+@deffn {Config Command} {espusbjtag tdo}
+Returns the current state of the TDO line
+@end deffn
+
+@deffn {Config Command} {espusbjtag setio} setio
+Manually set the status of the output lines with the order of (tdi tms tck trst srst)
+@example
+espusbjtag setio 0 1 0 1 0
+@end example
+@end deffn
+
+@deffn {Config Command} {espusbjtag vid_pid} vid_pid
+Set vendor ID and product ID for the ESP usb jtag driver
+@example
+espusbjtag vid_pid 0x303a 0x1001
+@end example
+@end deffn
+
+@deffn {Config Command} {espusbjtag caps_descriptor} caps_descriptor
+Set the jtag descriptor to read capabilities of ESP usb jtag driver
+@example
+espusbjtag caps_descriptor 0x2000
+@end example
+@end deffn
+
+@deffn {Config Command} {espusbjtag chip_id} chip_id
+Set chip id to transfer to the ESP USB bridge board
+@example
+espusbjtag chip_id 1
+@end example
+@end deffn
+
+@end deffn
@section Transport Configuration
@cindex Transport
for TCL scripting.
@end deffn
-@deffn {Command} {dap info} [num]
+@deffn {Command} {dap info} [@var{num}|@option{root}]
Displays the ROM table for MEM-AP @var{num},
defaulting to the currently selected AP of the currently selected target.
+On ADIv5 DAP @var{num} is the numeric index of the AP.
+On ADIv6 DAP @var{num} is the base address of the AP.
+With ADIv6 only, @option{root} specifies the root ROM table.
@end deffn
@deffn {Command} {dap init}
The following commands exist as subcommands of DAP instances:
-@deffn {Command} {$dap_name info} [num]
+@deffn {Command} {$dap_name info} [@var{num}|@option{root}]
Displays the ROM table for MEM-AP @var{num},
defaulting to the currently selected AP.
+On ADIv5 DAP @var{num} is the numeric index of the AP.
+On ADIv6 DAP @var{num} is the base address of the AP.
+With ADIv6 only, @option{root} specifies the root ROM table.
@end deffn
@deffn {Command} {$dap_name apid} [num]
Displays ID register from AP @var{num}, defaulting to the currently selected AP.
+On ADIv5 DAP @var{num} is the numeric index of the AP.
+On ADIv6 DAP @var{num} is the base address of the AP.
@end deffn
@anchor{DAP subcommand apreg}
@deffn {Command} {$dap_name apreg} ap_num reg [value]
Displays content of a register @var{reg} from AP @var{ap_num}
or set a new value @var{value}.
+On ADIv5 DAP @var{ap_num} is the numeric index of the AP.
+On ADIv6 DAP @var{ap_num} is the base address of the AP.
@var{reg} is byte address of a word register, 0, 4, 8 ... 0xfc.
@end deffn
@deffn {Command} {$dap_name apsel} [num]
Select AP @var{num}, defaulting to 0.
+On ADIv5 DAP @var{num} is the numeric index of the AP.
+On ADIv6 DAP @var{num} is the base address of the AP.
@end deffn
@deffn {Command} {$dap_name dpreg} reg [value]
@deffn {Command} {$dap_name baseaddr} [num]
Displays debug base address from MEM-AP @var{num},
defaulting to the currently selected AP.
+On ADIv5 DAP @var{num} is the numeric index of the AP.
+On ADIv6 DAP @var{num} is the base address of the AP.
@end deffn
@deffn {Command} {$dap_name memaccess} [value]
Disabled by default
@end deffn
+@deffn {Config Command} {$dap_name nu_npcx_quirks} [@option{enable}]
+Set/get quirks mode for Nuvoton NPCX/NPCD MCU families
+Disabled by default
+@end deffn
@node CPU Configuration
@chapter CPU Configuration
@item @code{dsp5680xx} -- implements Freescale's 5680x DSP.
@item @code{esirisc} -- this is an EnSilica eSi-RISC core.
The current implementation supports eSi-32xx cores.
+@item @code{esp32} -- this is an Espressif SoC with dual Xtensa cores.
@item @code{esp32s2} -- this is an Espressif SoC with single Xtensa core.
+@item @code{esp32s3} -- this is an Espressif SoC with dual Xtensa cores.
@item @code{fa526} -- resembles arm920 (w/o Thumb).
@item @code{feroceon} -- resembles arm926.
@item @code{hla_target} -- a Cortex-M alternative to work with HL adapters like ST-Link.
@anchor{rtostype}
@item @code{-rtos} @var{rtos_type} -- enable rtos support for target,
-@var{rtos_type} can be one of @option{auto}, @option{eCos},
+@var{rtos_type} can be one of @option{auto}, @option{none}, @option{eCos},
@option{ThreadX}, @option{FreeRTOS}, @option{linux}, @option{ChibiOS},
@option{embKernel}, @option{mqx}, @option{uCOS-III}, @option{nuttx},
@option{RIOT}, @option{Zephyr}
scan and after a reset. A manual call to arp_examine is required to
access the target for debugging.
-@item @code{-ap-num} @var{ap_number} -- set DAP access port for target,
-@var{ap_number} is the numeric index of the DAP AP the target is connected to.
+@item @code{-ap-num} @var{ap_number} -- set DAP access port for target.
+On ADIv5 DAP @var{ap_number} is the numeric index of the DAP AP the target is connected to.
+On ADIv6 DAP @var{ap_number} is the base address of the DAP AP the target is connected to.
Use this option with systems where multiple, independent cores are connected
to separate access ports of the same DAP.
@deffn {Command} {cti create} cti_name @option{-dap} dap_name @option{-ap-num} apn @option{-baseaddr} base_address
Creates a CTI instance @var{cti_name} on the DAP instance @var{dap_name} on MEM-AP
-@var{apn}. The @var{base_address} must match the base address of the CTI
+@var{apn}.
+On ADIv5 DAP @var{apn} is the numeric index of the DAP AP the CTI is connected to.
+On ADIv6 DAP @var{apn} is the base address of the DAP AP the CTI is connected to.
+The @var{base_address} must match the base address of the CTI
on the respective MEM-AP. All arguments are mandatory. This creates a
new command @command{$cti_name} which is used for various purposes
including additional configuration.
@item @code{-dap} @var{dap_name} -- names the DAP used to access this
TPIU. @xref{dapdeclaration,,DAP declaration}, on how to create and manage DAP instances.
-@item @code{-ap-num} @var{ap_number} -- sets DAP access port for TPIU,
-@var{ap_number} is the numeric index of the DAP AP the TPIU is connected to.
+@item @code{-ap-num} @var{ap_number} -- sets DAP access port for TPIU.
+On ADIv5 DAP @var{ap_number} is the numeric index of the DAP AP the TPIU is connected to.
+On ADIv6 DAP @var{ap_number} is the base address of the DAP AP the TPIU is connected to.
@item @code{-baseaddr} @var{base_address} -- sets the TPIU @var{base_address} where
to access the TPIU in the DAP AP memory space.
@item @option{Zephyr}
@end itemize
+At any time, it's possible to drop the selected RTOS using:
+@example
+$_TARGETNAME configure -rtos none
+@end example
+
Before an RTOS can be detected, it must export certain symbols; otherwise, it cannot
be used by OpenOCD. Below is a list of the required symbols for each supported RTOS.
projects / fw / openocd / blobdiff