@section OpenOCD IRC
Support can also be found on irc:
-@uref{irc://irc.freenode.net/openocd}
+@uref{irc://irc.libera.chat/openocd}
@node Developers
@chapter OpenOCD Developer Resources
@enumerate
@item @b{Transport} Does it support the kind of communication that you need?
-OpenOCD focusses mostly on JTAG. Your version may also support
+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.
The driver uses a signal abstraction to enable Tcl configuration files to
define outputs for one or several FTDI GPIO. These outputs can then be
-controlled using the @command{ftdi_set_signal} command. Special signal names
+controlled using the @command{ftdi set_signal} command. Special signal names
are reserved for nTRST, nSRST and LED (for blink) so that they, if defined,
will be used for their customary purpose. Inputs can be read using the
-@command{ftdi_get_signal} command.
+@command{ftdi get_signal} command.
To support SWD, a signal named SWD_EN must be defined. It is set to 1 when the
SWD protocol is selected. When set, the adapter should route the SWDIO pin to
These interfaces have several commands, used to configure the driver
before initializing the JTAG scan chain:
-@deffn {Config Command} {ftdi_vid_pid} [vid pid]+
+@deffn {Config Command} {ftdi vid_pid} [vid pid]+
The vendor ID and product ID of the adapter. Up to eight
[@var{vid}, @var{pid}] pairs may be given, e.g.
@example
-ftdi_vid_pid 0x0403 0xcff8 0x15ba 0x0003
+ftdi vid_pid 0x0403 0xcff8 0x15ba 0x0003
@end example
@end deffn
-@deffn {Config Command} {ftdi_device_desc} description
+@deffn {Config Command} {ftdi device_desc} description
Provides the USB device description (the @emph{iProduct string})
of the adapter. If not specified, the device description is ignored
during device selection.
@end deffn
-@deffn {Config Command} {ftdi_serial} serial-number
+@deffn {Config Command} {ftdi serial} serial-number
Specifies the @var{serial-number} of the adapter to use,
in case the vendor provides unique IDs and more than one adapter
is connected to the host.
and are not restricted to containing only decimal digits.)
@end deffn
-@deffn {Config Command} {ftdi_location} <bus>-<port>[.<port>]...
-@emph{DEPRECATED -- avoid using this.
-Use the command @ref{adapter_usb_location,,adapter usb location} instead.}
-
-Specifies the physical USB port of the adapter to use. The path
-roots at @var{bus} and walks down the physical ports, with each
-@var{port} option specifying a deeper level in the bus topology, the last
-@var{port} denoting where the target adapter is actually plugged.
-The USB bus topology can be queried with the command @emph{lsusb -t}.
-
-This command is only available if your libusb1 is at least version 1.0.16.
-@end deffn
-
-@deffn {Config Command} {ftdi_channel} channel
+@deffn {Config Command} {ftdi channel} channel
Selects the channel of the FTDI device to use for MPSSE operations. Most
adapters use the default, channel 0, but there are exceptions.
@end deffn
-@deffn {Config Command} {ftdi_layout_init} data direction
+@deffn {Config Command} {ftdi layout_init} data direction
Specifies the initial values of the FTDI GPIO data and direction registers.
Each value is a 16-bit number corresponding to the concatenation of the high
and low FTDI GPIO registers. The values should be selected based on the
and initially asserted reset signals.
@end deffn
-@deffn {Config Command} {ftdi_layout_signal} name [@option{-data}|@option{-ndata} data_mask] [@option{-input}|@option{-ninput} input_mask] [@option{-oe}|@option{-noe} oe_mask] [@option{-alias}|@option{-nalias} name]
+@deffn {Command} {ftdi layout_signal} name [@option{-data}|@option{-ndata} data_mask] [@option{-input}|@option{-ninput} input_mask] [@option{-oe}|@option{-noe} oe_mask] [@option{-alias}|@option{-nalias} name]
Creates a signal with the specified @var{name}, controlled by one or more FTDI
GPIO pins via a range of possible buffer connections. The masks are FTDI GPIO
register bitmasks to tell the driver the connection and type of the output
The @option{-oe} (or @option{-noe}) option tells where the output-enable (or
not-output-enable) input to the output buffer is connected. The options
@option{-input} and @option{-ninput} specify the bitmask for pins to be read
-with the method @command{ftdi_get_signal}.
+with the method @command{ftdi get_signal}.
Both @var{data_mask} and @var{oe_mask} need not be specified. For example, a
simple open-collector transistor driver would be specified with @option{-oe}
@var{name}.
@end deffn
-@deffn {Command} {ftdi_set_signal} name @option{0}|@option{1}|@option{z}
+@deffn {Command} {ftdi set_signal} name @option{0}|@option{1}|@option{z}
Set a previously defined signal to the specified level.
@itemize @minus
@item @option{0}, drive low
@end itemize
@end deffn
-@deffn {Command} {ftdi_get_signal} name
+@deffn {Command} {ftdi get_signal} name
Get the value of a previously defined signal.
@end deffn
-@deffn {Command} {ftdi_tdo_sample_edge} @option{rising}|@option{falling}
+@deffn {Command} {ftdi tdo_sample_edge} @option{rising}|@option{falling}
Configure TCK edge at which the adapter samples the value of the TDO signal
Due to signal propagation delays, sampling TDO on rising TCK can become quite
See @file{interface/raspberrypi-native.cfg} for a sample config and
pinout.
+@deffn {Config Command} {bcm2835gpio_jtag_nums} @var{tck} @var{tms} @var{tdi} @var{tdo}
+Set JTAG transport GPIO numbers for TCK, TMS, TDI, and TDO (in that order).
+Must be specified to enable JTAG transport. These pins can also be specified
+individually.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_tck_num} @var{tck}
+Set TCK GPIO number. Must be specified to enable JTAG transport. Can also be
+specified using the configuration command bcm2835gpio_jtag_nums.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_tms_num} @var{tms}
+Set TMS GPIO number. Must be specified to enable JTAG transport. Can also be
+specified using the configuration command bcm2835gpio_jtag_nums.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_tdo_num} @var{tdo}
+Set TDO GPIO number. Must be specified to enable JTAG transport. Can also be
+specified using the configuration command bcm2835gpio_jtag_nums.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_tdi_num} @var{tdi}
+Set TDI GPIO number. Must be specified to enable JTAG transport. Can also be
+specified using the configuration command bcm2835gpio_jtag_nums.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_swd_nums} @var{swclk} @var{swdio}
+Set SWD transport GPIO numbers for SWCLK and SWDIO (in that order). Must be
+specified to enable SWD transport. These pins can also be specified individually.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_swclk_num} @var{swclk}
+Set SWCLK GPIO number. Must be specified to enable SWD transport. Can also be
+specified using the configuration command bcm2835gpio_swd_nums.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_swdio_num} @var{swdio}
+Set SWDIO GPIO number. Must be specified to enable SWD transport. Can also be
+specified using the configuration command bcm2835gpio_swd_nums.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_swdio_dir_num} @var{swdio} @var{dir}
+Set SWDIO direction control pin GPIO number. If specified, this pin can be used
+to control the direction of an external buffer on the SWDIO pin (set=output
+mode, clear=input mode). If not specified, this feature is disabled.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_srst_num} @var{srst}
+Set SRST GPIO number. Must be specified to enable SRST.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_trst_num} @var{trst}
+Set TRST GPIO number. Must be specified to enable TRST.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_speed_coeffs} @var{speed_coeff} @var{speed_offset}
+Set SPEED_COEFF and SPEED_OFFSET for delay calculations. If unspecified,
+speed_coeff defaults to 113714, and speed_offset defaults to 28.
+@end deffn
+
+@deffn {Config Command} {bcm2835gpio_peripheral_base} @var{base}
+Set the peripheral base register address to access GPIOs. For the RPi1, use
+0x20000000. For RPi2 and RPi3, use 0x3F000000. For RPi4, use 0xFE000000. A full
+list can be found in the
+@uref{https://www.raspberrypi.org/documentation/hardware/raspberrypi/peripheral_addresses.md, official guide}.
+@end deffn
+
@end deffn
@deffn {Interface Driver} {imx_gpio}
@end deffn
+@deffn {Interface Driver} {buspirate}
+
+This driver is for the Bus Pirate (see @url{http://dangerousprototypes.com/docs/Bus_Pirate}) and compatible devices.
+It uses a simple data protocol over a serial port connection.
+
+Most hardware development boards have a UART, a real serial port, or a virtual USB serial device, so this driver
+allows you to start building your own JTAG adapter without the complexity of a custom USB connection.
+
+@deffn {Config Command} {buspirate_port} serial_port
+Specify the serial port's filename. For example:
+@example
+buspirate_port /dev/ttyUSB0
+@end example
+@end deffn
+
+@deffn {Config Command} {buspirate_speed} (normal|fast)
+Set the communication speed to 115k (normal) or 1M (fast). For example:
+@example
+buspirate_mode normal
+@end example
+@end deffn
+
+@deffn {Config Command} {buspirate_mode} (normal|open-drain)
+Set the Bus Pirate output mode.
+@itemize @minus
+@item In normal mode (push/pull), do not enable the pull-ups, and do not connect I/O header pin VPU to JTAG VREF.
+@item In open drain mode, you will then need to enable the pull-ups.
+@end itemize
+For example:
+@example
+buspirate_mode normal
+@end example
+@end deffn
+
+@deffn {Config Command} {buspirate_pullup} (0|1)
+Whether to connect (1) or not (0) the I/O header pin VPU (JTAG VREF)
+to the pull-up/pull-down resistors on MOSI (JTAG TDI), CLK (JTAG TCK), MISO (JTAG TDO) and CS (JTAG TMS).
+For example:
+@example
+buspirate_pullup 0
+@end example
+@end deffn
+
+@deffn {Config Command} {buspirate_vreg} (0|1)
+Whether to enable (1) or disable (0) the built-in voltage regulator,
+which can be used to supply power to a test circuit through
+I/O header pins +3V3 and +5V. For example:
+@example
+buspirate_vreg 0
+@end example
+@end deffn
+
+@deffn {Command} {buspirate_led} (0|1)
+Turns the Bus Pirate's LED on (1) or off (0). For example:
+@end deffn
+@example
+buspirate_led 1
+@end example
+
+@end deffn
+
+
@section Transport Configuration
@cindex Transport
As noted earlier, depending on the version of OpenOCD you use,
useful for working with non-CPU hardware behind an AP or during development of
support for new CPUs.
It's possible to connect a GDB client to this target (the GDB port has to be
-specified, @xref{gdbportoverride,,option -gdb-port}), and a fake ARM core will
+specified, @xref{gdbportoverride,,option -gdb-port}.), and a fake ARM core will
be emulated to comply to GDB remote protocol.
@item @code{mips_m4k} -- a MIPS core.
@item @code{mips_mips64} -- a MIPS64 core.
@var{rtos_type} can be one of @option{auto}, @option{eCos},
@option{ThreadX}, @option{FreeRTOS}, @option{linux}, @option{ChibiOS},
@option{embKernel}, @option{mqx}, @option{uCOS-III}, @option{nuttx},
-@option{RIOT}
+@option{RIOT}, @option{Zephyr}
@xref{gdbrtossupport,,RTOS Support}.
@item @code{-defer-examine} -- skip target examination at initial JTAG chain
@deffn {Command} {$target_name array2mem} arrayname width address count
@deffnx {Command} {$target_name mem2array} arrayname width address count
These provide an efficient script-oriented interface to memory.
-The @code{array2mem} primitive writes bytes, halfwords, or words;
-while @code{mem2array} reads them.
+The @code{array2mem} primitive writes bytes, halfwords, words
+or double-words; while @code{mem2array} reads them.
In both cases, the TCL side uses an array, and
the target side uses raw memory.
@itemize
@item @var{arrayname} ... is the name of an array variable
-@item @var{width} ... is 8/16/32 - indicating the memory access size
+@item @var{width} ... is 8/16/32/64 - indicating the memory access size
@item @var{address} ... is the target memory address
@item @var{count} ... is the number of elements to process
@end itemize
'flash probe @var{bank_id}' is executed.
Normal OpenOCD commands like @command{mdw} can be used to display the flash content,
-but only after proper controller initialization as decribed above. However,
+but only after proper controller initialization as described above. However,
due to a silicon bug in some devices, attempting to access the very last word
should be avoided.
@end deffn
@end deffn
+@deffn {Flash Driver} {rp2040}
+Supports RP2040 "Raspberry Pi Pico" microcontroller.
+RP2040 is a dual-core device with two CM0+ cores. Both cores share the same
+Flash/RAM/MMIO address space. Non-volatile storage is achieved with an
+external QSPI flash; a Boot ROM provides helper functions.
+
+@example
+flash bank $_FLASHNAME rp2040_flash $_FLASHBASE $_FLASHSIZE 1 32 $_TARGETNAME
+@end example
+@end deffn
+
@deffn {Flash Driver} {sim3x}
All members of the SiM3 microcontroller family from Silicon Laboratories
include internal flash and use ARM Cortex-M3 cores. It supports both JTAG
@deffn {Flash Driver} {stm32f1x}
All members of the STM32F0, STM32F1 and STM32F3 microcontroller families
-from STMicroelectronics include internal flash and use ARM Cortex-M0/M3/M4 cores.
+from STMicroelectronics and all members of the GD32F1x0 and GD32F3x0 microcontroller
+families from GigaDevice include internal flash and use ARM Cortex-M0/M3/M4 cores.
The driver automatically recognizes a number of these chips using
the chip identification register, and autoconfigures itself.
@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"
@deffn {Command} {arc get-reg-field} reg-name field-name
Returns value of bit-field in a register. Register must be ``struct'' register
-type, @xref{add-reg-type-struct} command definition.
+type, @xref{add-reg-type-struct}. command definition.
@end deffn
@deffn {Command} {arc set-reg-exists} reg-names...
probably will not be usable with other XSVF tools.
+@section IPDBG: JTAG-Host server
+@cindex IPDBG JTAG-Host server
+@cindex IPDBG
+
+IPDBG is a set of tools to debug IP-Cores. It comprises, among others, a logic analyzer and an arbitrary
+waveform generator. These are synthesize-able hardware descriptions of
+logic circuits in addition to software for control, visualization and further analysis.
+In a session using JTAG for its transport protocol, OpenOCD supports the function
+of a JTAG-Host. The JTAG-Host is needed to connect the circuit over JTAG to the
+control-software. For more details see @url{http://ipdbg.org}.
+
+@deffn {Command} {ipdbg} [@option{-start|-stop}] @option{-tap @var{tapname}} @option{-hub @var{ir_value} [@var{dr_length}]} [@option{-port @var{number}}] [@option{-tool @var{number}}] [@option{-vir [@var{vir_value} [@var{length} [@var{instr_code}]]]}]
+Starts or stops a IPDBG JTAG-Host server. Arguments can be specified in any order.
+
+Command options:
+@itemize @bullet
+@item @option{-start|-stop} starts or stops a IPDBG JTAG-Host server (default: start).
+@item @option{-tap @var{tapname}} targeting the TAP @var{tapname}.
+@item @option{-hub @var{ir_value}} states that the JTAG hub is
+reachable with dr-scans while the JTAG instruction register has the value @var{ir_value}.
+@item @option{-port @var{number}} tcp port number where the JTAG-Host is listening.
+@item @option{-tool @var{number}} number of the tool/feature. These corresponds to the ports "data_(up/down)_(0..6)" at the JtagHub.
+@item @option{-vir [@var{vir_value} [@var{length} [@var{instr_code}]]]} On some devices, the user data-register is only reachable if there is a
+specific value in a second dr. This second dr is called vir (virtual ir). With this parameter given, the IPDBG satisfies this condition prior an
+access to the IPDBG-Hub. The value shifted into the vir is given by the first parameter @var{vir_value} (default: 0x11). The second
+parameter @var{length} is the length of the vir data register (default: 5). With the @var{instr_code} (default: 0x00e) parameter the ir value to
+shift data through vir can be configured.
+@end itemize
+@end deffn
+
+Examples:
+@example
+ipdbg -start -tap xc6s.tap -hub 0x02 -port 4242 -tool 4
+@end example
+Starts a server listening on tcp-port 4242 which connects to tool 4.
+The connection is through the TAP of a Xilinx Spartan 6 on USER1 instruction (tested with a papillion pro board).
+
+@example
+ipdbg -start -tap 10m50.tap -hub 0x00C -vir -port 60000 -tool 1
+@end example
+Starts a server listening on tcp-port 60000 which connects to tool 1 (data_up_1/data_down_1).
+The connection is through the TAP of a Intel MAX10 virtual jtag component (sld_instance_index is 0; sld_ir_width is smaller than 5).
+
@node Utility Commands
@chapter Utility Commands
@cindex Utility Commands
@item @option{nuttx}
@item @option{RIOT}
@item @option{hwthread} (This is not an actual RTOS. @xref{usingopenocdsmpwithgdb,,Using OpenOCD SMP with GDB}.)
+@item @option{Zephyr}
@end itemize
Before an RTOS can be detected, it must export certain symbols; otherwise, it cannot
sched_threads, sched_num_threads, sched_active_pid, max_threads,
_tcb_name_offset.
@end raggedright
+@item Zephyr symbols
+_kernel, _kernel_openocd_offsets, _kernel_openocd_size_t_size
@end table
For most RTOS supported the above symbols will be exported by default. However for
-some, eg. FreeRTOS and uC/OS-III, extra steps must be taken.
+some, eg. FreeRTOS, uC/OS-III and Zephyr, extra steps must be taken.
+
+Zephyr must be compiled with the DEBUG_THREAD_INFO option. This will generate some symbols
+with information needed in order to build the list of threads.
-These RTOSes may require additional OpenOCD-specific file to be linked
+FreeRTOS and uC/OS-III RTOSes may require additional OpenOCD-specific file to be linked
along with the project:
@table @code
@section Internal low-level Commands
-By "low-level," we mean commands that a human would typically not
+By "low-level", we mean commands that a human would typically not
invoke directly.
@itemize @bullet
@file{startup.tcl} "unknown" proc will translate this into a Tcl proc
called "flash_banks".
-@section OpenOCD specific Global Variables
-
-Real Tcl has ::tcl_platform(), and platform::identify, and many other
-variables. JimTCL, as implemented in OpenOCD creates $ocd_HOSTOS which
-holds one of the following values:
-
-@itemize @bullet
-@item @b{cygwin} Running under Cygwin
-@item @b{darwin} Darwin (Mac-OS) is the underlying operating system.
-@item @b{freebsd} Running under FreeBSD
-@item @b{openbsd} Running under OpenBSD
-@item @b{netbsd} Running under NetBSD
-@item @b{linux} Linux is the underlying operating system
-@item @b{mingw32} Running under MingW32
-@item @b{winxx} Built using Microsoft Visual Studio
-@item @b{ecos} Running under eCos
-@item @b{other} Unknown, none of the above.
-@end itemize
-
-Note: 'winxx' was chosen because today (March-2009) no distinction is made between Win32 and Win64.
-
-@quotation Note
-We should add support for a variable like Tcl variable
-@code{tcl_platform(platform)}, it should be called
-@code{jim_platform} (because it
-is jim, not real tcl).
-@end quotation
-
@section Tcl RPC server
@cindex RPC
remember to pop them off when the ISR is done.
@b{Also note:} If you have a multi-threaded operating system, they
-often do not @b{in the intrest of saving memory} waste these few
+often do not @b{in the interest of saving memory} waste these few
bytes. Painful...
projects / fw / openocd / blobdiff