David Brownell <david-b@pacbell.net>:

[openocd.git] / doc / openocd.texi

\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 The OpenOCD Project
@item Copyright @copyright{} 2007-2008 Spencer Oliver @email{spen@@spen-soft.co.uk}
@item Copyright @copyright{} 2008 Oyvind Harboe @email{oyvind.harboe@@zylin.com}
@item Copyright @copyright{} 2008 Duane Ellis @email{openocd@@duaneellis.com}
@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, with no Front-Cover Texts, and with 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 Developers
* Building OpenOCD::                 Building OpenOCD From SVN
* JTAG Hardware Dongles::            JTAG Hardware Dongles
* Running::                          Running OpenOCD
* Simple Configuration Files::       Simple Configuration Files
* Config File Guidelines::           Config File Guidelines
* About JIM-Tcl::                    About JIM-Tcl
* Daemon Configuration::             Daemon Configuration
* Interface - Dongle Configuration:: Interface - Dongle Configuration
* Reset Configuration::              Reset Configuration
* TAP Creation::                     TAP Creation
* CPU Configuration::                CPU Configuration
* Flash Commands::                   Flash Commands
* NAND Flash Commands::              NAND Flash Commands
* General Commands::                 General Commands
* Architecture and Core Commands::   Architecture and Core Commands
* JTAG Commands::                    JTAG Commands
* Sample Scripts::                   Sample Target Scripts
* TFTP::                             TFTP
* GDB and OpenOCD::                  Using GDB and OpenOCD
* Tcl Scripting API::                Tcl Scripting API
* Upgrading::                        Deprecated/Removed Commands
* Target Library::                   Target Library
* 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 diploma thesis written at the
University of Applied Sciences Augsburg (@uref{http://www.fh-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?

The Open On-Chip Debugger (OpenOCD) aims to provide debugging,
in-system programming and boundary-scan testing for embedded target
devices.

@b{JTAG:} OpenOCD uses a ``hardware interface dongle'' to communicate
with the 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.

@b{Dongles:} OpenOCD currently supports many types of hardware dongles: USB
based, parallel port based, and other standalone boxes that run
OpenOCD internally. @xref{JTAG Hardware Dongles}.

@b{GDB Debug:} It allows ARM7 (ARM7TDMI and ARM720t), ARM9 (ARM920T,
ARM922T, ARM926EJ--S, ARM966E--S), XScale (PXA25x, IXP42x) and
Cortex-M3 (Stellaris LM3 and ST STM32) based cores to be
debugged via the GDB protocol.

@b{Flash Programing:} Flash writing is supported for external CFI
compatible NOR flashes (Intel and AMD/Spansion command set) and several
internal flashes (LPC2000, AT91SAM7, STR7x, STR9x, LM3, and
STM32x). Preliminary support for various NAND flash controllers
(LPC3180, Orion, S3C24xx, more) controller is included.

@section OpenOCD Web Site

The OpenOCD web site provides the latest public news from the community:

@uref{http://openocd.berlios.de/web/}

@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 irregularly at:

@uref{http://openocd.berlios.de/doc/}

PDF form is likewise published at:

@uref{http://openocd.berlios.de/doc/pdf/}

@section OpenOCD User's Forum

There is an OpenOCD forum (phpBB) hosted by SparkFun:

@uref{http://forum.sparkfun.com/viewforum.php?f=18}


@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 Subversion Repository

The ``Building From Source'' section provides instructions to retrieve
and and build the latest version of the OpenOCD source code.
@xref{Building OpenOCD}.

Developers that want to contribute patches to the OpenOCD system are
@b{strongly} encouraged to base their work off of the most recent trunk
revision.  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 development of the 0.2.0 release, 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.berlios.de/doc/doxygen/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 in the top of the repository trunk.

@section OpenOCD Developer Mailing List

The OpenOCD Developer Mailing List provides the primary means of
communication between developers:

@uref{https://lists.berlios.de/mailman/listinfo/openocd-development}

All drivers developers are enouraged to also subscribe to the list of
SVN commits to keep pace with the ongoing changes:

@uref{https://lists.berlios.de/mailman/listinfo/openocd-svn}


@node Building OpenOCD
@chapter Building OpenOCD
@cindex building

@section Pre-Built Tools
If you are interested in getting actual work done rather than building
OpenOCD, then check if your interface supplier provides binaries for
you. Chances are that that binary is from some SVN version that is more
stable than SVN trunk where bleeding edge development takes place.

@section Packagers Please Read!

You are a @b{PACKAGER} of OpenOCD if you

@enumerate
@item @b{Sell dongles} and include pre-built binaries
@item @b{Supply tools} i.e.: A complete development solution
@item @b{Supply IDEs} like Eclipse, or RHIDE, etc.
@item @b{Build packages} i.e.: RPM files, or DEB files for a Linux Distro
@end enumerate

As a @b{PACKAGER}, you will experience first reports of most issues.
When you fix those problems for your users, your solution may help
prevent hundreds (if not thousands) of other questions from other users.

If something does not work for you, please work to inform the OpenOCD
developers know how to improve the system or documentation to avoid
future problems, and follow-up to help us ensure the issue will be fully
resolved in our future releases.

That said, the OpenOCD developers would also like you to follow a few
suggestions:

@enumerate
@item @b{Always build with printer ports enabled.}
@item @b{Try to use LIBFTDI + LIBUSB where possible. You cover more bases.}
@end enumerate

@itemize @bullet
@item @b{Why YES to LIBFTDI + LIBUSB?}
@itemize @bullet
@item @b{LESS} work - libusb perhaps already there
@item @b{LESS} work - identical code, multiple platforms
@item @b{MORE} dongles are supported
@item @b{MORE} platforms are supported
@item @b{MORE} complete solution
@end itemize
@item @b{Why not LIBFTDI + LIBUSB} (i.e.: ftd2xx instead)?
@itemize @bullet
@item @b{LESS} speed - some say it is slower
@item @b{LESS} complex to distribute (external dependencies)
@end itemize
@end itemize

@section Building From Source

You can download the current SVN version with an SVN client of your choice from the
following repositories:

 @uref{svn://svn.berlios.de/openocd/trunk}

or

 @uref{http://svn.berlios.de/svnroot/repos/openocd/trunk}

Using the SVN command line client, you can use the following command to fetch the
latest version (make sure there is no (non-svn) directory called "openocd" in the
current directory):

@example
 svn checkout svn://svn.berlios.de/openocd/trunk openocd
@end example

If you prefer GIT based tools, the @command{git-svn} package works too:

@example
 git svn clone -s svn://svn.berlios.de/openocd
@end example

Building OpenOCD from a repository requires a recent version of the
GNU autotools (autoconf >= 2.59 and automake >= 1.9).
For building on Windows,
you have to use Cygwin. Make sure that your @env{PATH} environment variable contains no
other locations with Unix utils (like UnxUtils) - these can't handle the Cygwin
paths, resulting in obscure dependency errors (This is an observation I've gathered
from the logs of one user - correct me if I'm wrong).

You further need the appropriate driver files, if you want to build support for
a FTDI FT2232 based interface:

@itemize @bullet
@item @b{ftdi2232} libftdi (@uref{http://www.intra2net.com/opensource/ftdi/})
@item @b{ftd2xx} libftd2xx (@uref{http://www.ftdichip.com/Drivers/D2XX.htm})
@item When using the Amontec JTAGkey, you have to get the drivers from the Amontec
homepage (@uref{http://www.amontec.com}). The JTAGkey uses a non-standard VID/PID.
@end itemize

libftdi is supported under Windows. Do not use versions earlier than 0.14.

In general, the D2XX driver provides superior performance (several times as fast),
but has the draw-back of being binary-only - though that isn't that bad, as it isn't
a kernel module, only a user space library.

To build OpenOCD (on both Linux and Cygwin), use the following commands:

@example
 ./bootstrap 
@end example

Bootstrap generates the configure script, and prepares building on your system.

@example
 ./configure [options, see below]
@end example

Configure generates the Makefiles used to build OpenOCD.

@example
 make 
 make install
@end example

Make builds OpenOCD, and places the final executable in ./src/, the last step, ``make install'' is optional.

The configure script takes several options, specifying which JTAG interfaces
should be included (among other things):

@itemize @bullet
@item
@option{--enable-parport} - Enable building the PC parallel port driver.
@item
@option{--enable-parport_ppdev} - Enable use of ppdev (/dev/parportN) for parport.
@item
@option{--enable-parport_giveio} - Enable use of giveio for parport instead of ioperm.
@item
@option{--enable-amtjtagaccel} - Enable building the Amontec JTAG-Accelerator driver.
@item
@option{--enable-ecosboard} - Enable building support for eCosBoard based JTAG debugger.
@item
@option{--enable-ioutil} - Enable ioutil functions - useful for standalone OpenOCD implementations.
@item
@option{--enable-httpd} - Enable builtin httpd server - useful for standalone OpenOCD implementations.
@item
@option{--enable-ep93xx} - Enable building support for EP93xx based SBCs.
@item
@option{--enable-at91rm9200} - Enable building support for AT91RM9200 based SBCs.
@item
@option{--enable-gw16012} - Enable building support for the Gateworks GW16012 JTAG programmer.
@item
@option{--enable-ft2232_ftd2xx} - Numerous USB type ARM JTAG dongles use the FT2232C chip from this FTDICHIP.COM chip (closed source).
@item
@option{--enable-ft2232_libftdi} - An open source (free) alternative to FTDICHIP.COM ftd2xx solution (Linux, MacOS, Cygwin).
@item
@option{--with-ftd2xx-win32-zipdir=PATH} - If using FTDICHIP.COM ft2232c driver,
give the directory where the Win32 FTDICHIP.COM 'CDM' driver zip file was unpacked.
@item
@option{--with-ftd2xx-linux-tardir=PATH} - If using FTDICHIP.COM ft2232c driver
on Linux, give the directory where the Linux driver's TAR.GZ file was unpacked.
@item
@option{--with-ftd2xx-lib=shared|static} - Linux only. Default: static. Specifies how the FTDICHIP.COM libftd2xx driver should be linked. Note: 'static' only works in conjunction with @option{--with-ftd2xx-linux-tardir}. The 'shared' value is supported (12/26/2008), however you must manually install the required header files and shared libraries in an appropriate place. This uses ``libusb'' internally.
@item
@option{--enable-presto_libftdi} - Enable building support for ASIX Presto programmer using the libftdi driver.
@item
@option{--enable-presto_ftd2xx} - Enable building support for ASIX Presto programmer using the FTD2XX driver.
@item
@option{--enable-usbprog} - Enable building support for the USBprog JTAG programmer.
@item
@option{--enable-oocd_trace} - Enable building support for the OpenOCD+trace ETM capture device.
@item
@option{--enable-jlink} - Enable building support for the Segger J-Link JTAG programmer.
@item
@option{--enable-vsllink} - Enable building support for the Versaloon-Link JTAG programmer.
@item
@option{--enable-rlink} - Enable building support for the Raisonance RLink JTAG programmer.
@item
@option{--enable-arm-jtag-ew} - Enable building support for the Olimex ARM-JTAG-EW programmer.
@item
@option{--enable-dummy} - Enable building the dummy port driver.
@end itemize

@section Parallel Port Dongles

If you want to access the parallel port using the PPDEV interface you have to specify
both the @option{--enable-parport} AND the @option{--enable-parport_ppdev} option since
the @option{--enable-parport_ppdev} option actually is an option to the parport driver
(see @uref{http://forum.sparkfun.com/viewtopic.php?t=3795} for more info).

The same is true for the @option{--enable-parport_giveio} option, you have to
use both the @option{--enable-parport} AND the @option{--enable-parport_giveio} option if you want to use giveio instead of ioperm parallel port access method.

@section FT2232C Based USB Dongles 

There are 2 methods of using the FTD2232, either (1) using the
FTDICHIP.COM closed source driver, or (2) the open (and free) driver
libftdi. Some claim the (closed) FTDICHIP.COM solution is faster.

The FTDICHIP drivers come as either a (win32) ZIP file, or a (Linux)
TAR.GZ file. You must unpack them ``some where'' convient. As of this
writing (12/26/2008) FTDICHIP does not supply means to install these
files ``in an appropriate place'' As a result, there are two
``./configure'' options that help. 

Below is an example build process:

@enumerate
@item Check out the latest version of ``openocd'' from SVN.

@item If you are using the FTDICHIP.COM driver, download
and unpack the Windows or Linux FTD2xx drivers
(@uref{http://www.ftdichip.com/Drivers/D2XX.htm}).
If you are using the libftdi driver, install that package
(e.g. @command{apt-get install libftdi} on systems with APT).

@example
/home/duane/ftd2xx.win32    => the Cygwin/Win32 ZIP file contents
/home/duane/libftd2xx0.4.16 => the Linux TAR.GZ file contents
@end example

@item Configure with options resembling the following.

@enumerate a
@item Cygwin FTDICHIP solution:
@example
./configure --prefix=/home/duane/mytools \
        --enable-ft2232_ftd2xx \
        --with-ftd2xx-win32-zipdir=/home/duane/ftd2xx.win32
@end example

@item Linux FTDICHIP solution:
@example
./configure --prefix=/home/duane/mytools \
        --enable-ft2232_ftd2xx \
        --with-ft2xx-linux-tardir=/home/duane/libftd2xx0.4.16
@end example

@item Cygwin/Linux LIBFTDI solution ... assuming that
@itemize
@item For Windows -- that the Windows port of LIBUSB is in place.
@item For Linux -- that libusb has been built/installed and is in place.
@item That libftdi has been built and installed (relies on libusb).
@end itemize

Then configure the libftdi solution like this:

@example
./configure --prefix=/home/duane/mytools \
        --enable-ft2232_libftdi
@end example
@end enumerate

@item Then just type ``make'', and perhaps ``make install''.
@end enumerate


@section Miscellaneous Configure Options

@itemize @bullet
@item
@option{--disable-option-checking} - Ignore unrecognized @option{--enable} and @option{--with} options.
@item
@option{--enable-gccwarnings} - Enable extra gcc warnings during build.
Default is enabled.
@item
@option{--enable-release} - Enable building of an OpenOCD release, generally
this is for developers. It simply omits the svn version string when the
openocd @option{-v} is executed.
@end itemize

@node JTAG Hardware Dongles
@chapter JTAG Hardware Dongles
@cindex dongles
@cindex FTDI
@cindex wiggler
@cindex zy1000
@cindex printer port
@cindex USB Adapter
@cindex rtck

Defined: @b{dongle}: A small device that plugins into a computer and serves as
an adapter .... [snip]

In the OpenOCD case, this generally refers to @b{a small adapater} one
attaches to your computer via USB or the Parallel Printer Port.  The
execption being the Zylin ZY1000 which is a small box you attach via
an ethernet cable. The Zylin ZY1000 has the advantage that it does not
require any drivers to be installed on the developer PC. It also has
a built in web interface. It supports RTCK/RCLK or adaptive clocking
and has a built in relay to power cycle targets remotely.


@section Choosing a Dongle

There are three things you should keep in mind when choosing a dongle. 

@enumerate 
@item @b{Voltage} What voltage is your target? 1.8, 2.8, 3.3, or 5V? Does your dongle support it?
@item @b{Connection} Printer Ports - Does your computer have one?
@item @b{Connection} Is that long printer bit-bang cable practical? 
@item @b{RTCK} Do you require RTCK? Also known as ``adaptive clocking'' 
@end enumerate

@section Stand alone Systems

@b{ZY1000} See: @url{http://www.zylin.com/zy1000.html} Technically, not a
dongle, but a standalone box. The ZY1000 has the advantage that it does
not require any drivers installed on the developer PC. It also has
a built in web interface. It supports RTCK/RCLK or adaptive clocking
and has a built in relay to power cycle targets remotely.

@section USB FT2232 Based

There are many USB JTAG dongles on the market, many of them are 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 are starting to become available in JTAG adapters.

As of 28/Nov/2008, the following are supported:

@itemize @bullet
@item @b{usbjtag}
@* Link @url{http://www.hs-augsburg.de/~hhoegl/proj/usbjtag/usbjtag.html}
@item @b{jtagkey}
@* See: @url{http://www.amontec.com/jtagkey.shtml}
@item @b{oocdlink}
@* See: @url{http://www.oocdlink.com} By Joern Kaipf
@item @b{signalyzer}
@* See: @url{http://www.signalyzer.com}
@item @b{evb_lm3s811}
@* See: @url{http://www.luminarymicro.com} - The Stellaris LM3S811 eval board has an FTD2232C chip built in.
@item @b{olimex-jtag}
@* See: @url{http://www.olimex.com}
@item @b{flyswatter}
@* 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}
@item @b{cortino}
@* Link @url{http://www.hitex.com/index.php?id=cortino}
@end itemize

@section USB JLINK based
There are several OEM versions of the Segger @b{JLINK} adapter. It is
an example of a micro controller based JTAG adapter, it uses an
AT91SAM764 internally.

@itemize @bullet
@item @b{ATMEL SAMICE} Only works with ATMEL chips!
@* Link: @url{http://www.atmel.com/dyn/products/tools_card.asp?tool_id=3892}
@item @b{SEGGER JLINK}
@* Link: @url{http://www.segger.com/jlink.html}
@item @b{IAR J-Link}
@* Link: @url{http://www.iar.com/website1/1.0.1.0/369/1/index.php}
@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{http://www.raisonance.com/products/RLink.php}
@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 Other
@itemize @bullet
@item @b{USBprog}
@* Link: @url{http://www.embedded-projects.net/usbprog} - 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.simonqian.com/en/Versaloon}

@item @b{ARM-JTAG-EW}
@* Link: @url{http://www.olimex.com/dev/arm-jtag-ew.html}
@end itemize

@section IBM PC Parallel Printer Port Based

The two well known ``JTAG Parallel Ports'' cables are the Xilnx DLC5
and the MacGraigor Wiggler. There are many clones and variations of
these on the market.

@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{GW16402}
@* Link: @url{http://www.gateworks.com/products/avila_accessories/gw16042.php}

@item @b{Wiggler2}
@*@uref{http://www.ccac.rwth-aachen.de/@/~michaels/@/index.php/hardware/@/armjtag,
Improved parallel-port wiggler-style JTAG adapter}

@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 ST Microsystems;
@uref{http://www.st.com/stonline/@/products/literature/um/7889.pdf,
FlashLINK JTAG programing cable for PSD and uPSD}

@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.

@end itemize

@node Running
@chapter Running
@cindex running OpenOCD
@cindex --configfile
@cindex --debug_level
@cindex --logfile
@cindex --search

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 <0-3>
--log_output | -l       redirect log output to file <name>
--command    | -c       run <command>
--pipe       | -p       use pipes when talking to gdb
@end verbatim

By default OpenOCD reads the file configuration file ``openocd.cfg''
in the current directory.  To specify a different (or multiple)
configuration file, you can use the ``-f'' option. For example:

@example
  openocd -f config1.cfg -f config2.cfg -f config3.cfg
@end example

Once started, OpenOCD runs as a daemon, waiting for connections from
clients (Telnet, GDB, Other).

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

Also it is possible to interleave 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 @option{debug_level
<n>} @xref{debug_level}.

You can redirect all output from the daemon to a file using the
@option{-l <logfile>} switch.

Search paths for config/script files can be added to OpenOCD by using
the @option{-s <search>} switch. The current directory and the OpenOCD
target library is in the search path by default.

For details on the @option{-p} option. @xref{Connecting to GDB}.

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 Simple Configuration Files
@chapter Simple Configuration Files
@cindex configuration

@section Outline
There are 4 basic ways of ``configurating'' OpenOCD to run, they are:

@enumerate
@item A small openocd.cfg file which ``sources'' other configuration files
@item A monolithic openocd.cfg file
@item Many -f filename options on the command line
@item Your Mixed Solution
@end enumerate

@section Small configuration file method

This is the preferred method. It is simple and works well for many
people. The developers of OpenOCD would encourage you to use this
method. If you create a new configuration please email new
configurations to the development list.

Here is an example of an openocd.cfg file for an ATMEL at91sam7x256

@example
source [find interface/signalyzer.cfg]

# GDB can also flash my flash!
gdb_memory_map enable
gdb_flash_program enable

source [find target/sam7x256.cfg]
@end example

There are many example configuration scripts you can work with. You
should look in the directory: @t{$(INSTALLDIR)/lib/openocd}. You
should find:

@enumerate
@item @b{board} - eval board level configurations
@item @b{interface} - specific dongle configurations
@item @b{target} - the target chips
@item @b{tcl} - helper scripts 
@item @b{xscale} - things specific to the xscale.
@end enumerate

Look first in the ``boards'' area, then the ``targets'' area. Often a board
configuration is a good example to work from.

@section Many -f filename options
Some believe this is a wonderful solution, others find it painful.

You can use a series of ``-f filename'' options on the command line,
OpenOCD will read each filename in sequence, for example:

@example
openocd -f file1.cfg -f file2.cfg -f file2.cfg
@end example

You can also intermix various commands with the ``-c'' command line
option.

@section Monolithic file
The ``Monolithic File'' dispenses with all ``source'' statements and
puts everything in one self contained (monolithic) file. This is not
encouraged. 

Please try to ``source'' various files or use the multiple -f
technique.

@section Advice for you
Often, one uses a ``mixed approach''. Where possible, please try to
``source'' common things, and if needed cut/paste parts of the
standard distribution configuration files as needed.

@b{REMEMBER:} The ``important parts'' of your configuration file are:

@enumerate
@item @b{Interface} - Defines the dongle
@item @b{Taps} - Defines the JTAG Taps
@item @b{GDB Targets} - What GDB talks to
@item @b{Flash Programing} - Very Helpful
@end enumerate

Some key things you should look at and understand are:

@enumerate
@item The reset configuration of your debug environment as a whole
@item Is there a ``work area'' that OpenOCD can use?
@* For ARM - work areas mean up to 10x faster downloads.
@item For MMU/MPU based ARM chips (i.e.: ARM9 and later) will that work area still be available?
@item For complex targets (multiple chips) the JTAG SPEED becomes an issue.
@end enumerate



@node Config File Guidelines
@chapter Config File Guidelines

This section/chapter is aimed at developers and integrators of
OpenOCD. These are guidelines for creating new boards and new target
configurations as of 28/Nov/2008.

However, you, the user of OpenOCD, should be somewhat familiar with
this section as it should help explain some of the internals of what
you might be looking at.

The user should find the following directories under @t{$(INSTALLDIR)/lib/openocd} :

@itemize @bullet
@item @b{interface}
@*Think JTAG Dongle. Files that configure the JTAG dongle go here.
@item @b{board}
@* Think Circuit Board, PWA, PCB, they go by many names.  Board files
contain initialization items that are specific to a board - for
example: The SDRAM initialization sequence for the board, or the type
of external flash and what address it is found at. Any initialization
sequence to enable that external flash or SDRAM should be found in the
board file. Boards may also contain multiple targets, i.e.: Two CPUs, or
a CPU and an FPGA or CPLD.
@item @b{target}
@* Think chip. The ``target'' directory represents the JTAG TAPs
on a chip
which OpenOCD should control, not a board. Two common types of targets
are ARM chips and FPGA or CPLD chips.
When a chip has multiple TAPs (maybe it has both ARM and DSP cores),
the target config file defines all of them.
@end itemize

@b{If needed...} The user in their ``openocd.cfg'' file or the board
file might override a specific feature in any of the above files by
setting a variable or two before sourcing the target file. Or adding
various commands specific to their situation.

@section Interface Config Files

The user should be able to source one of these files via a command like this:

@example
  source [find interface/FOOBAR.cfg]
Or:
  openocd -f interface/FOOBAR.cfg
@end example

A preconfigured interface file should exist for every interface in use
today, that said, perhaps some interfaces have only been used by the
sole developer who created it.

Interface files should be found in @t{$(INSTALLDIR)/lib/openocd/interface}

@section Board Config Files

@b{Note: BOARD directory NEW as of 28/nov/2008} 

The user should be able to source one of these files via a command like this:

@example
  source [find board/FOOBAR.cfg]
Or:
  openocd -f board/FOOBAR.cfg
@end example


The board file should contain one or more @t{source [find
target/FOO.cfg]} statements along with any board specific things.

In summary the board files should contain (if present)

@enumerate
@item External flash configuration (i.e.: NOR flash on CS0, two NANDs on CS2)
@item SDRAM configuration (size, speed, etc.
@item Board specific IO configuration (i.e.: GPIO pins might disable a 2nd flash)
@item Multiple TARGET source statements
@item All things that are not ``inside a chip''
@item Things inside a chip go in a 'target' file
@end enumerate

@section Target Config Files

The user should be able to source one of these files via a command like this:

@example
  source [find target/FOOBAR.cfg]
Or:
  openocd -f target/FOOBAR.cfg
@end example

In summary the target files should contain

@enumerate 
@item Set defaults
@item Add TAPs to the scan chain
@item Add CPU targets
@item Reset configuration
@item CPU/Chip/CPU-Core specific features
@item On-Chip flash
@end enumerate

@subsection Important variable names

By default, the end user should never need to set these
variables. However, if the user needs to override a setting they only
need to set the variable in a simple way.

@itemize @bullet
@item @b{CHIPNAME}
@* This gives a name to the overall chip, and is used as part of the
tap identifier dotted name.
@item @b{ENDIAN}
@* By default little - unless the chip or board is not normally used that way.
@item @b{CPUTAPID}
@* When OpenOCD examines the JTAG chain, it will attempt to identify
every chip. If the @t{-expected-id} is nonzero, OpenOCD attempts
to verify the tap id number verses configuration file and may issue an
error or warning like this. The hope is that this will help to pinpoint
problems in OpenOCD configurations.

@example
Info:   JTAG tap: sam7x256.cpu tap/device found: 0x3f0f0f0f
                (Manufacturer: 0x787, Part: 0xf0f0, Version: 0x3)
Error:  ERROR: Tap: sam7x256.cpu - Expected id: 0x12345678,
                Got: 0x3f0f0f0f
Error:  ERROR: expected: mfg: 0x33c, part: 0x2345, ver: 0x1
Error:  ERROR:      got: mfg: 0x787, part: 0xf0f0, ver: 0x3
@end example

@item @b{_TARGETNAME}
@* By convention, this variable is created by the target configuration
script. The board configuration file may make use of this variable to
configure things like a ``reset init'' script, or other things
specific to that board and that target.

If the chip has 2 targets, use the names @b{_TARGETNAME0},
@b{_TARGETNAME1}, ... etc.

@b{Remember:} The ``board file'' may include multiple targets.

At no time should the name ``target0'' (the default target name if
none was specified) be used. The name ``target0'' is a hard coded name
- the next target on the board will be some other number.
In the same way, avoid using target numbers even when they are
permitted; use the right target name(s) for your board.

The user (or board file) should reasonably be able to:

@example
   source [find target/FOO.cfg]
   $_TARGETNAME configure ... FOO specific parameters

   source [find target/BAR.cfg]
   $_TARGETNAME configure ... BAR specific parameters
@end example

@end itemize

@subsection Tcl Variables Guide Line
The Full Tcl/Tk language supports ``namespaces'' - JIM-Tcl does not.

Thus the rule we follow in OpenOCD is this: Variables that begin with
a leading underscore are temporary in nature, and can be modified and
used at will within a ?TARGET? configuration file.

@b{EXAMPLE:} The user should be able to do this:

@example
   # Board has 3 chips,
   #    PXA270 #1 network side, big endian
   #    PXA270 #2 video side, little endian
   #    Xilinx    Glue logic
   set CHIPNAME network
   set ENDIAN big
   source [find target/pxa270.cfg]
   # variable: _TARGETNAME = network.cpu
   # other commands can refer to the "network.cpu" tap.
   $_TARGETNAME configure .... params for this CPU..

   set ENDIAN little
   set CHIPNAME video
   source [find target/pxa270.cfg]
   # variable: _TARGETNAME = video.cpu
   # other commands can refer to the "video.cpu" tap.
   $_TARGETNAME configure .... params for this CPU..

   unset ENDIAN
   set CHIPNAME xilinx
   source [find target/spartan3.cfg]

   # Since $_TARGETNAME is temporal..
   #  these names still work!
   network.cpu configure ... params
   video.cpu   configure ... params
@end example

@subsection Default Value Boiler Plate Code

All target configuration files should start with this (or a modified form)

@example
# SIMPLE example
if @{ [info exists CHIPNAME] @} @{
   set  _CHIPNAME $CHIPNAME
@} else @{
   set  _CHIPNAME sam7x256
@}

if @{ [info exists ENDIAN] @} @{
   set  _ENDIAN $ENDIAN
@} else @{
   set  _ENDIAN little
@}

if @{ [info exists CPUTAPID ] @} @{
   set _CPUTAPID $CPUTAPID
@} else @{
   set _CPUTAPID 0x3f0f0f0f
@}
@end example

@subsection Adding TAPs to the Scan Chain
After the ``defaults'' are set up,
add the TAPs on each chip to the JTAG scan chain.
@xref{TAP Creation}, and the naming convention
for taps.

In the simplest case the chip has only one TAP,
probably for a CPU or FPGA.
The config file for the Atmel AT91SAM7X256
looks (in part) like this:

@example
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf \
        -expected-id $_CPUTAPID
@end example

A board with two such at91sam7 chips would be able
to source such a config file twice, with different
values for @code{CHIPNAME} and @code{CPUTAPID}, so
it adds a different TAP each time.

There are more complex examples too, with chips that have
multiple TAPs.  Ones worth looking at include:

@itemize
@item @file{target/omap3530.cfg} -- with a disabled ARM, and a JRC
(there's a DSP too, which is not listed)
@item @file{target/str912.cfg} -- with flash, CPU, and boundary scan
@item @file{target/ti_dm355.cfg} -- with ETM, ARM, and JRC (this JRC
is not currently used)
@end itemize

@subsection Add CPU targets

After adding a TAP for a CPU, you should set it up so that
GDB and other commands can use it.
@xref{CPU Configuration}.
For the at91sam7 example above, the command can look like this:

@example
target create $_TARGETNAME arm7tdmi -chain-position $_TARGETNAME
@end example

Work areas are small RAM areas associated with CPU targets.
They are used by OpenOCD to speed up downloads,
and to download small snippets of code to program flash chips.
If the chip includes a form of ``on-chip-ram'' - and many do - define
a work area if you can.
Again using the at91sam7 as an example, this can look like:

@example
$_TARGETNAME configure -work-area-phys 0x00200000 \
        -work-area-size 0x4000 -work-area-backup 0
@end example

@subsection Reset Configuration

Some chips have specific ways the TRST and SRST signals are
managed. If these are @b{CHIP SPECIFIC} they go here, if they are
@b{BOARD SPECIFIC} they go in the board file.

@subsection ARM Core Specific Hacks

If the chip has a DCC, enable it. If the chip is an ARM9 with some
special high speed download features - enable it.

If the chip has an ARM ``vector catch'' feature - by default enable
it for Undefined Instructions, Data Abort, and Prefetch Abort, if the
user is really writing a handler for those situations - they can
easily disable it.  Experiance has shown the ``vector catch'' is
helpful - for common programing errors.

If present, the MMU, the MPU and the CACHE should be disabled.

Some ARM cores are equipped with trace support, which permits
examination of the instruction and data bus activity.  Trace
activity is controlled through an ``Embedded Trace Module'' (ETM)
on one of the core's scan chains.  The ETM emits voluminous data
through a ``trace port''.  (@xref{ARM Tracing}.)
If you are using an external trace port,
configure it in your board config file.
If you are using an on-chip ``Embedded Trace Buffer'' (ETB),
configure it in your target config file.

@example
etm config $_TARGETNAME 16 normal full etb
etb config $_TARGETNAME $_CHIPNAME.etb
@end example

@subsection Internal Flash Configuration

This applies @b{ONLY TO MICROCONTROLLERS} that have flash built in.

@b{Never ever} in the ``target configuration file'' define any type of
flash that is external to the chip. (For example a BOOT flash on
Chip Select 0.) Such flash information goes in a board file - not
the TARGET (chip) file.

Examples:
@itemize @bullet
@item at91sam7x256 - has 256K flash YES enable it.
@item str912 - has flash internal YES enable it.
@item imx27 - uses boot flash on CS0 - it goes in the board file.
@item pxa270 - again - CS0 flash - it goes in the board file.
@end itemize

@node About JIM-Tcl
@chapter About JIM-Tcl
@cindex JIM Tcl
@cindex tcl

OpenOCD includes a small ``TCL Interpreter'' known as JIM-TCL. You can
learn more about JIM here: @url{http://jim.berlios.de}

@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 a single .C file and a single .H file and
impliments the basic Tcl command set along. 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.

@item @b{Scripts}
@* OpenOCD configuration scripts are JIM Tcl Scripts. OpenOCD's
command interpreter today (28/nov/2008) is a mixture of (newer)
JIM-Tcl commands, and (older) the orginal command interpreter.

@item @b{Commands}
@* At the OpenOCD telnet command line (or via the GDB mon command) one
can type a Tcl for() loop, set variables, etc.

@item @b{Historical Note}
@* JIM-Tcl was introduced to OpenOCD in spring 2008.

@item @b{Need a crash course in Tcl?}
@*@xref{Tcl Crash Course}.
@end itemize

@node Daemon Configuration
@chapter Daemon Configuration
@cindex initialization
The commands here are commonly found in the openocd.cfg file and are
used to specify what TCP/IP ports are used, and how GDB should be
supported.

@section Configuration Stage
@cindex configuration stage
@cindex configuration command

When the OpenOCD server process starts up, it enters a
@emph{configuration stage} which is the only time that
certain commands, @emph{configuration commands}, may be issued.
Those configuration commands include declaration of TAPs
and other basic setup.
The server must leave the configuration stage before it
may access or activate TAPs.
After it leaves this stage, configuration commands may no
longer be issued.

@deffn {Config Command} init
This command terminates the configuration stage and
enters the normal command mode. This can be useful to add commands to
the startup scripts and commands such as resetting the target,
programming flash, etc. To reset the CPU upon startup, add "init" and
"reset" at the end of the config script or at the end of the OpenOCD
command line using the @option{-c} command line switch.

If this command does not appear in any startup/configuration file
OpenOCD executes the command for you after processing all
configuration files and/or command line options.

@b{NOTE:} This command normally occurs at or near the end of your
openocd.cfg file to force OpenOCD to ``initialize'' and make the
targets ready. For example: If your openocd.cfg file needs to
read/write memory on your target, @command{init} must occur before
the memory read/write commands.  This includes @command{nand probe}.
@end deffn

@section TCP/IP Ports
@cindex TCP port
@cindex server
@cindex port
The OpenOCD server accepts remote commands in several syntaxes.
Each syntax uses a different TCP/IP port, which you may specify
only during configuration (before those ports are opened).

@deffn {Command} gdb_port (number)
@cindex GDB server
Specify or query the first port used for incoming GDB connections.
The GDB port for the
first target will be gdb_port, the second target will listen on gdb_port + 1, and so on.
When not specified during the configuration stage,
the port @var{number} defaults to 3333.
@end deffn

@deffn {Command} tcl_port (number)
Specify or query the port used for a simplified RPC
connection that can be used by clients to issue TCL commands and get the
output from the Tcl engine.
Intended as a machine interface.
When not specified during the configuration stage,
the port @var{number} defaults to 6666.
@end deffn

@deffn {Command} telnet_port (number)
Specify or query the
port on which to listen for incoming telnet connections.
This port is intended for interaction with one human through TCL commands.
When not specified during the configuration stage,
the port @var{number} defaults to 4444.
@end deffn

@anchor{GDB Configuration}
@section GDB Configuration
@cindex GDB
@cindex GDB configuration
You can reconfigure some GDB behaviors if needed.
The ones listed here are static and global.
@xref{Target Create}, about declaring individual targets.
@xref{Target Events}, about configuring target-specific event handling.

@anchor{gdb_breakpoint_override}
@deffn {Command} gdb_breakpoint_override <hard|soft|disable>
Force breakpoint type for gdb @command{break} commands.
The raison d'etre for this option is to support GDB GUI's which don't
distinguish hard versus soft breakpoints, if the default OpenOCD and
GDB behaviour is not sufficient.  GDB normally uses hardware
breakpoints if the memory map has been set up for flash regions.

This option replaces older arm7_9 target commands that addressed
the same issue.
@end deffn

@deffn {Config command} gdb_detach <resume|reset|halt|nothing>
Configures what OpenOCD will do when GDB detaches from the daemon.
Default behaviour is @var{resume}.
@end deffn

@anchor{gdb_flash_program}
@deffn {Config command} gdb_flash_program <enable|disable>
Set to @var{enable} to cause OpenOCD to program the flash memory when a
vFlash packet is received.
The default behaviour is @var{enable}.
@end deffn

@deffn {Config command} gdb_memory_map <enable|disable>
Set to @var{enable} to cause OpenOCD to send the memory configuration to GDB when
requested. GDB will then know when to set hardware breakpoints, and program flash
using the GDB load command. @command{gdb_flash_program enable} must also be enabled
for flash programming to work.
Default behaviour is @var{enable}.
@xref{gdb_flash_program}.
@end deffn

@deffn {Config command} gdb_report_data_abort <enable|disable>
Specifies whether data aborts cause an error to be reported
by GDB memory read packets.
The default behaviour is @var{disable};
use @var{enable} see these errors reported.
@end deffn

@node Interface - Dongle Configuration
@chapter Interface - Dongle Configuration
JTAG Adapters/Interfaces/Dongles are normally configured
through commands in an interface configuration
file which is sourced by your @file{openocd.cfg} file, or
through a command line @option{-f interface/....cfg} option.

@example
source [find interface/olimex-jtag-tiny.cfg]
@end example

These commands tell
OpenOCD what type of JTAG adapter you have, and how to talk to it.
A few cases are so simple that you only need to say what driver to use:

@example
# jlink interface
interface jlink
@end example

Most adapters need a bit more configuration than that.


@section Interface Configuration

The interface command tells OpenOCD what type of JTAG dongle you are
using. Depending on the type of dongle, you may need to have one or
more additional commands.

@deffn {Config Command} {interface} name
Use the interface driver @var{name} to connect to the
target.
@end deffn

@deffn Command {jtag interface}
Returns the name of the interface driver being used.
@end deffn

@section Interface Drivers

Each of the interface drivers listed here must be explicitly
enabled when OpenOCD is configured, in order to be made
available at run time.

@deffn {Interface Driver} {amt_jtagaccel}
Amontec Chameleon in its JTAG Accelerator configuration,
connected to a PC's EPP mode parallel port.
This defines some driver-specific commands:

@deffn {Config Command} {parport_port} number
Specifies either the address of the I/O port (default: 0x378 for LPT1) or
the number of the @file{/dev/parport} device.
@end deffn

@deffn {Config Command} rtck [@option{enable}|@option{disable}]
Displays status of RTCK option.
Optionally sets that option first.
@end deffn
@end deffn

@deffn {Interface Driver} {arm-jtag-ew}
Olimex ARM-JTAG-EW USB adapter
This has one driver-specific command:

@deffn Command {armjtagew_info}
Logs some status
@end deffn
@end deffn

@deffn {Interface Driver} {at91rm9200}
Supports bitbanged JTAG from the local system,
presuming that system is an Atmel AT91rm9200
and a specific set of GPIOs is used.
@c command:     at91rm9200_device NAME
@c chooses among list of bit configs ... only one option
@end deffn

@deffn {Interface Driver} {dummy}
A dummy software-only driver for debugging.
@end deffn

@deffn {Interface Driver} {ep93xx}
Cirrus Logic EP93xx based single-board computer bit-banging (in development)
@end deffn

@deffn {Interface Driver} {ft2232}
FTDI FT2232 (USB) based devices over one of the userspace libraries.
These interfaces have several commands, used to configure the driver
before initializing the JTAG scan chain:

@deffn {Config Command} {ft2232_device_desc} description
Provides the USB device description (the @emph{iProduct string})
of the FTDI FT2232 device. If not
specified, the FTDI default value is used. This setting is only valid
if compiled with FTD2XX support.
@end deffn

@deffn {Config Command} {ft2232_serial} serial-number
Specifies the @var{serial-number} of the FTDI FT2232 device to use,
in case the vendor provides unique IDs and more than one FT2232 device
is connected to the host.
If not specified, serial numbers are not considered.
@end deffn

@deffn {Config Command} {ft2232_layout} name
Each vendor's FT2232 device can use different GPIO signals
to control output-enables, reset signals, and LEDs.
Currently valid layout @var{name} values include:
@itemize @minus
@item @b{axm0432_jtag} Axiom AXM-0432
@item @b{comstick} Hitex STR9 comstick
@item @b{cortino} Hitex Cortino JTAG interface
@item @b{evb_lm3s811} Luminary Micro EVB_LM3S811 as a JTAG interface
(bypassing onboard processor), no TRST or SRST signals on external connector
@item @b{flyswatter} Tin Can Tools Flyswatter
@item @b{icebear} ICEbear JTAG adapter from Section 5
@item @b{jtagkey} Amontec JTAGkey and JTAGkey-Tiny (and compatibles)
@item @b{m5960} American Microsystems M5960
@item @b{olimex-jtag} Olimex ARM-USB-OCD and ARM-USB-Tiny
@item @b{oocdlink} OOCDLink
@c oocdlink ~= jtagkey_prototype_v1
@item @b{sheevaplug} Marvell Sheevaplug development kit
@item @b{signalyzer} Xverve Signalyzer
@item @b{stm32stick} Hitex STM32 Performance Stick
@item @b{turtelizer2} egnite Software turtelizer2
@item @b{usbjtag} "USBJTAG-1" layout described in the OpenOCD diploma thesis
@end itemize
@end deffn

@deffn {Config Command} {ft2232_vid_pid} [vid pid]+
The vendor ID and product ID of the FTDI FT2232 device. If not specified, the FTDI
default values are used.
Currently, up to eight [@var{vid}, @var{pid}] pairs may be given, e.g.
@example
ft2232_vid_pid 0x0403 0xcff8 0x15ba 0x0003
@end example
@end deffn

@deffn {Config Command} {ft2232_latency} ms
On some systems using FT2232 based JTAG interfaces the FT_Read function call in
ft2232_read() fails to return the expected number of bytes. This can be caused by
USB communication delays and has proved hard to reproduce and debug. Setting the
FT2232 latency timer to a larger value increases delays for short USB packets but it
also reduces the risk of timeouts before receiving the expected number of bytes.
The OpenOCD default value is 2 and for some systems a value of 10 has proved useful.
@end deffn

For example, the interface config file for a
Turtelizer JTAG Adapter looks something like this:

@example
interface ft2232
ft2232_device_desc "Turtelizer JTAG/RS232 Adapter"
ft2232_layout turtelizer2
ft2232_vid_pid 0x0403 0xbdc8
@end example
@end deffn

@deffn {Interface Driver} {gw16012}
Gateworks GW16012 JTAG programmer.
This has one driver-specific command:

@deffn {Config Command} {parport_port} number
Specifies either the address of the I/O port (default: 0x378 for LPT1) or
the number of the @file{/dev/parport} device.
@end deffn
@end deffn

@deffn {Interface Driver} {jlink}
Segger jlink USB adapter
@c command:     jlink_info
@c     dumps status
@c command:     jlink_hw_jtag (2|3)
@c     sets version 2 or 3
@end deffn

@deffn {Interface Driver} {parport}
Supports PC parallel port bit-banging cables:
Wigglers, PLD download cable, and more.
These interfaces have several commands, used to configure the driver
before initializing the JTAG scan chain:

@deffn {Config Command} {parport_cable} name
The layout of the parallel port cable used to connect to the target.
Currently valid cable @var{name} values include:

@itemize @minus
@item @b{altium} Altium Universal JTAG cable.
@item @b{arm-jtag} Same as original wiggler except SRST and
TRST connections reversed and TRST is also inverted.
@item @b{chameleon} The Amontec Chameleon's CPLD when operated
in configuration mode. This is only used to
program the Chameleon itself, not a connected target.
@item @b{dlc5} The Xilinx Parallel cable III.
@item @b{flashlink} The ST Parallel cable.
@item @b{lattice} Lattice ispDOWNLOAD Cable
@item @b{old_amt_wiggler} The Wiggler configuration that comes with
some versions of
Amontec's Chameleon Programmer. The new version available from
the website uses the original Wiggler layout ('@var{wiggler}')
@item @b{triton} The parallel port adapter found on the
``Karo Triton 1 Development Board''.
This is also the layout used by the HollyGates design
(see @uref{http://www.lartmaker.nl/projects/jtag/}).
@item @b{wiggler} The original Wiggler layout, also supported by
several clones, such as the Olimex ARM-JTAG
@item @b{wiggler2} Same as original wiggler except an led is fitted on D5.
@item @b{wiggler_ntrst_inverted} Same as original wiggler except TRST is inverted.
@end itemize
@end deffn

@deffn {Config Command} {parport_port} number
Either the address of the I/O port (default: 0x378 for LPT1) or the number of
the @file{/dev/parport} device

When using PPDEV to access the parallel port, use the number of the parallel port:
@option{parport_port 0} (the default). If @option{parport_port 0x378} is specified
you may encounter a problem.
@end deffn

@deffn {Config Command} {parport_write_on_exit} (on|off)
This will configure the parallel driver to write a known
cable-specific value to the parallel interface on exiting OpenOCD
@end deffn

For example, the interface configuration file for a
classic ``Wiggler'' cable might look something like this:

@example
interface parport
parport_port 0xc8b8
parport_cable wiggler
@end example
@end deffn

@deffn {Interface Driver} {presto}
ASIX PRESTO USB JTAG programmer.
@c command:     presto_serial str
@c     sets serial number
@end deffn

@deffn {Interface Driver} {rlink}
Raisonance RLink USB adapter
@end deffn

@deffn {Interface Driver} {usbprog}
usbprog is a freely programmable USB adapter.
@end deffn

@deffn {Interface Driver} {vsllink}
vsllink is part of Versaloon which is a versatile USB programmer.

@quotation Note
This defines quite a few driver-specific commands,
which are not currently documented here.
@end quotation
@end deffn

@deffn {Interface Driver} {ZY1000}
This is the Zylin ZY1000 JTAG debugger.

@quotation Note
This defines some driver-specific commands,
which are not currently documented here.
@end quotation
@end deffn

@anchor{JTAG Speed}
@section JTAG Speed
JTAG clock setup is part of system setup.
It @emph{does not belong with interface setup} since any interface
only knows a few of the constraints for the JTAG clock speed.
Sometimes the JTAG speed is
changed during the target initialization process: (1) slow at
reset, (2) program the CPU clocks, (3) run fast.
Both the "slow" and "fast" clock rates are functions of the
oscillators used, the chip, the board design, and sometimes
power management software that may be active.

The speed used during reset can be adjusted using pre_reset
and post_reset event handlers.
@xref{Target Events}.

If your system supports adaptive clocking (RTCK), configuring
JTAG to use that is probably the most robust approach.
However, it introduces delays to synchronize clocks; so it
may not be the fastest solution.

@b{NOTE:} Script writers should consider using @command{jtag_rclk}
instead of @command{jtag_khz}.

@deffn {Command} jtag_khz max_speed_kHz
A non-zero speed is in KHZ. Hence: 3000 is 3mhz.
JTAG interfaces usually support a limited number of
speeds.  The speed actually used won't be faster
than the speed specified.

As a rule of thumb, if you specify a clock rate make
sure the JTAG clock is no more than @math{1/6th CPU-Clock}.
This is especially true for synthesized cores (ARMxxx-S).

Speed 0 (khz) selects RTCK method.
@xref{FAQ RTCK}.
If your system uses RTCK, you won't need to change the
JTAG clocking after setup.
Not all interfaces, boards, or targets support ``rtck''.
If the interface device can not
support it, an error is returned when you try to use RTCK.
@end deffn

@defun jtag_rclk fallback_speed_kHz
@cindex RTCK
This Tcl proc (defined in startup.tcl) attempts to enable RTCK/RCLK.
If that fails (maybe the interface, board, or target doesn't
support it), falls back to the specified frequency.
@example
# Fall back to 3mhz if RTCK is not supported
jtag_rclk 3000
@end example
@end defun

@node Reset Configuration
@chapter Reset Configuration
@cindex Reset Configuration

Every system configuration may require a different reset
configuration. This can also be quite confusing.
Resets also interact with @var{reset-init} event handlers,
which do things like setting up clocks and DRAM, and
JTAG clock rates.  (@xref{JTAG Speed}.)
Please see the various board files for examples.

@quotation Note
To maintainers and integrators:
Reset configuration touches several things at once.
Normally the board configuration file
should define it and assume that the JTAG adapter supports
everything that's wired up to the board's JTAG connector.
However, the target configuration file could also make note
of something the silicon vendor has done inside the chip,
which will be true for most (or all) boards using that chip.
And when the JTAG adapter doesn't support everything, the
system configuration file will need to override parts of
the reset configuration provided by other files.
@end quotation

@section Types of Reset

There are many kinds of reset possible through JTAG, but
they may not all work with a given board and adapter.
That's part of why reset configuration can be error prone.

@itemize @bullet
@item
@emph{System Reset} ... the @emph{SRST} hardware signal
resets all chips connected to the JTAG adapter, such as processors,
power management chips, and I/O controllers.  Normally resets triggered
with this signal behave exactly like pressing a RESET button.
@item
@emph{JTAG TAP Reset} ... the @emph{TRST} hardware signal resets
just the TAP controllers connected to the JTAG adapter.
Such resets should not be visible to the rest of the system; resetting a
device's the TAP controller just puts that controller into a known state.
@item
@emph{Emulation Reset} ... many devices can be reset through JTAG
commands.  These resets are often distinguishable from system
resets, either explicitly (a "reset reason" register says so)
or implicitly (not all parts of the chip get reset).
@item
@emph{Other Resets} ... system-on-chip devices often support
several other types of reset.
You may need to arrange that a watchdog timer stops
while debugging, preventing a watchdog reset.
There may be individual module resets.
@end itemize

In the best case, OpenOCD can hold SRST, then reset
the TAPs via TRST and send commands through JTAG to halt the
CPU at the reset vector before the 1st instruction is executed.
Then when it finally releases the SRST signal, the system is
halted under debugger control before any code has executed.
This is the behavior required to support the @command{reset halt}
and @command{reset init} commands; after @command{reset init} a
board-specific script might do things like setting up DRAM.
(@xref{Reset Command}.)

@section SRST and TRST Issues

Because SRST and TRST are hardware signals, they can have a
variety of system-specific constraints.  Some of the most
common issues are:

@itemize @bullet

@item @emph{Signal not available} ... Some boards don't wire
SRST or TRST to the JTAG connector.  Some JTAG adapters don't
support such signals even if they are wired up.
Use the @command{reset_config} @var{signals} options to say
when one of those signals is not connected.
When SRST is not available, your code might not be able to rely
on controllers having been fully reset during code startup.

@item @emph{Signals shorted} ... Sometimes a chip, board, or
adapter will connect SRST to TRST, instead of keeping them separate.
Use the @command{reset_config} @var{combination} options to say
when those signals aren't properly independent.

@item @emph{Timing} ... Reset circuitry like a resistor/capacitor
delay circuit, reset supervisor, or on-chip features can extend
the effect of a JTAG adapter's reset for some time after the adapter
stops issuing the reset.  For example, there may be chip or board
requirements that all reset pulses last for at least a
certain amount of time; and reset buttons commonly have
hardware debouncing.
Use the @command{jtag_nsrst_delay} and @command{jtag_ntrst_delay}
commands to say when extra delays are needed.

@item @emph{Drive type} ... Reset lines often have a pullup
resistor, letting the JTAG interface treat them as open-drain
signals.  But that's not a requirement, so the adapter may need
to use push/pull output drivers.
Also, with weak pullups it may be advisable to drive
signals to both levels (push/pull) to minimize rise times.
Use the @command{reset_config} @var{trst_type} and
@var{srst_type} parameters to say how to drive reset signals.

@item @emph{Special initialization} ...  Targets sometimes need
special JTAG initialization sequences to handle chip-specific
issues (not limited to errata).
For example, certain JTAG commands might need to be issued while
the system as a whole is in a reset state (SRST active)
but the JTAG scan chain is usable (TRST inactive).
(@xref{JTAG Commands}, where the @command{jtag_reset}
command is presented.)
@end itemize

There can also be other issues.
Some devices don't fully conform to the JTAG specifications.
Trivial system-specific differences are common, such as
SRST and TRST using slightly different names.
There are also vendors who distribute key JTAG documentation for
their chips only to developers who have signed a Non-Disclosure
Agreement (NDA).

Sometimes there are chip-specific extensions like a requirement to use
the normally-optional TRST signal (precluding use of JTAG adapters which
don't pass TRST through), or needing extra steps to complete a TAP reset.

In short, SRST and especially TRST handling may be very finicky,
needing to cope with both architecture and board specific constraints.

@section Commands for Handling Resets

@deffn {Command} jtag_nsrst_delay milliseconds
How long (in milliseconds) OpenOCD should wait after deasserting
nSRST (active-low system reset) before starting new JTAG operations.
When a board has a reset button connected to SRST line it will
probably have hardware debouncing, implying you should use this.
@end deffn

@deffn {Command} jtag_ntrst_delay milliseconds
How long (in milliseconds) OpenOCD should wait after deasserting
nTRST (active-low JTAG TAP reset) before starting new JTAG operations.
@end deffn

@deffn {Command} reset_config mode_flag ...
This command tells OpenOCD the reset configuration
of your combination of JTAG board and target in target
configuration scripts.

If you have an interface that does not support SRST and
TRST(unlikely), then you may be able to work around that
problem by using a reset_config command to override any
settings in the target configuration script.

SRST and TRST has a fairly well understood definition and
behaviour in the JTAG specification, but vendors take
liberties to achieve various more or less clearly understood
goals. Sometimes documentation is available, other times it
is not. OpenOCD has the reset_config command to allow OpenOCD
to deal with the various common cases.

The @var{mode_flag} options can be specified in any order, but only one
of each type -- @var{signals}, @var{combination}, @var{trst_type},
and @var{srst_type} -- may be specified at a time.
If you don't provide a new value for a given type, its previous
value (perhaps the default) is unchanged.
For example, this means that you don't need to say anything at all about
TRST just to declare that if the JTAG adapter should want to drive SRST,
it must explicitly be driven high (@option{srst_push_pull}).

@var{signals} can specify which of the reset signals are connected.
For example, If the JTAG interface provides SRST, but the board doesn't
connect that signal properly, then OpenOCD can't use it.
Possible values are @option{none} (the default), @option{trst_only},
@option{srst_only} and @option{trst_and_srst}.

@quotation Tip
If your board provides SRST or TRST through the JTAG connector,
you must declare that or else those signals will not be used.
@end quotation

The @var{combination} is an optional value specifying broken reset
signal implementations.
The default behaviour if no option given is @option{separate},
indicating everything behaves normally.
@option{srst_pulls_trst} states that the
test logic is reset together with the reset of the system (e.g. Philips
LPC2000, "broken" board layout), @option{trst_pulls_srst} says that
the system is reset together with the test logic (only hypothetical, I
haven't seen hardware with such a bug, and can be worked around).
@option{combined} implies both @option{srst_pulls_trst} and
@option{trst_pulls_srst}.

The optional @var{trst_type} and @var{srst_type} parameters allow the
driver mode of each reset line to be specified.  These values only affect
JTAG interfaces with support for different driver modes, like the Amontec
JTAGkey and JTAGAccelerator.  Also, they are necessarily ignored if the
relevant signal (TRST or SRST) is not connected.

Possible @var{trst_type} driver modes for the test reset signal (TRST)
are @option{trst_push_pull} (default) and @option{trst_open_drain}.
Most boards connect this signal to a pulldown, so the JTAG TAPs
never leave reset unless they are hooked up to a JTAG adapter.

Possible @var{srst_type} driver modes for the system reset signal (SRST)
are the default @option{srst_open_drain}, and @option{srst_push_pull}.
Most boards connect this signal to a pullup, and allow the
signal to be pulled low by various events including system
powerup and pressing a reset button.
@end deffn


@node TAP Creation
@chapter TAP Creation
@cindex TAP creation
@cindex TAP configuration

@emph{Test Access Ports} (TAPs) are the core of JTAG.
TAPs serve many roles, including:

@itemize @bullet
@item @b{Debug Target} A CPU TAP can be used as a GDB debug target
@item @b{Flash Programing} Some chips program the flash directly via JTAG.
Others do it indirectly, making a CPU do it.
@item @b{Program Download} Using the same CPU support GDB uses,
you can initialize a DRAM controller, download code to DRAM, and then
start running that code.
@item @b{Boundary Scan} Most chips support boundary scan, which
helps test for board assembly problems like solder bridges
and missing connections
@end itemize

OpenOCD must know about the active TAPs on your board(s).
Setting up the TAPs is the core task of your configuration files.
Once those TAPs are set up, you can pass their names to code
which sets up CPUs and exports them as GDB targets,
probes flash memory, performs low-level JTAG operations, and more.

@section Scan Chains

OpenOCD uses a JTAG adapter (interface) to talk to your board,
which has a daisy chain of TAPs.
That daisy chain is called a @dfn{scan chain}.
Simple configurations may have a single TAP in the scan chain,
perhaps for a microcontroller.
Complex configurations might have a dozen or more TAPs:
several in one chip, more in the next, and connecting
to other boards with their own chips and TAPs.

Unfortunately those TAPs can't always be autoconfigured,
because not all devices provide good support for that.
(JTAG doesn't require supporting IDCODE instructions.)
The configuration mechanism currently supported by OpenOCD
requires explicit configuration of all TAP devices using
@command{jtag newtap} commands.
One like this would create a tap named @code{chip1.cpu}:

@example
jtag newtap chip1 cpu -irlen 7 -ircapture 0x01 -irmask 0x55
@end example

Each target configuration file lists the TAPs provided
by a given chip.
Board configuration files combine all the targets on a board,
and so forth.
Note that @emph{the order in which TAPs are created is very important.}
It must match the order in the JTAG scan chain, both inside
a single chip and between them.

For example, the ST Microsystems STR912 chip has
three separate TAPs@footnote{See the ST
document titled: @emph{STR91xFAxxx, Section 3.15 Jtag Interface, Page:
28/102, Figure 3: JTAG chaining inside the STR91xFA}.
@url{http://eu.st.com/stonline/products/literature/ds/13495.pdf}
Checked: 28-Nov-2008}.
To configure those taps, @file{target/str912.cfg}
includes commands something like this:

@example
jtag newtap str912 flash ... params ...
jtag newtap str912 cpu ... params ...
jtag newtap str912 bs ... params ...
@end example

Actual config files use a variable instead of literals like
@option{str912}, to support more than one chip of each type.
@xref{Config File Guidelines}.

@section TAP Names

When a TAP objects is created with @command{jtag newtap},
a @dfn{dotted.name} is created for the TAP, combining the
name of a module (usually a chip) and a label for the TAP.
For example: @code{xilinx.tap}, @code{str912.flash},
@code{omap3530.jrc}, @code{dm6446.dsp}, or @code{stm32.cpu}.
Many other commands use that dotted.name to manipulate or
refer to the TAP.  For example, CPU configuration uses the
name, as does declaration of NAND or NOR flash banks.

The components of a dotted name should follow ``C'' symbol
name rules:  start with an alphabetic character, then numbers
and underscores are OK; while others (including dots!) are not.

@quotation Tip
In older code, JTAG TAPs were numbered from 0..N.
This feature is still present.
However its use is highly discouraged, and
should not be counted upon.
Update all of your scripts to use TAP names rather than numbers.
Using TAP numbers in target configuration scripts prevents
reusing on boards with multiple targets.
@end quotation

@anchor{TAP Creation Commands}
@section TAP Creation Commands

@c shouldn't this be(come) a {Config Command}?
@anchor{jtag newtap}
@deffn Command {jtag newtap} chipname tapname configparams...
Creates a new TAP with the dotted name @var{chipname}.@var{tapname},
and configured according to the various @var{configparams}.

The @var{chipname} is a symbolic name for the chip.
Conventionally target config files use @code{$_CHIPNAME},
defaulting to the model name given by the chip vendor but
overridable.

@cindex TAP naming convention
The @var{tapname} reflects the role of that TAP,
and should follow this convention:

@itemize @bullet
@item @code{bs} -- For boundary scan if this is a seperate TAP;
@item @code{cpu} -- The main CPU of the chip, alternatively
@code{arm} and @code{dsp} on chips with both ARM and DSP CPUs,
@code{arm1} and @code{arm2} on chips two ARMs, and so forth;
@item @code{etb} -- For an embedded trace buffer (example: an ARM ETB11);
@item @code{flash} -- If the chip has a flash TAP, like the str912;
@item @code{jrc} -- For JTAG route controller (example: the ICEpick modules
on many Texas Instruments chips, like the OMAP3530 on Beagleboards);
@item @code{tap} -- Should be used only FPGA or CPLD like devices
with a single TAP;
@item @code{unknownN} -- If you have no idea what the TAP is for (N is a number);
@item @emph{when in doubt} -- Use the chip maker's name in their data sheet.
For example, the Freescale IMX31 has a SDMA (Smart DMA) with
a JTAG TAP; that TAP should be named @code{sdma}.
@end itemize

Every TAP requires at least the following @var{configparams}:

@itemize @bullet
@item @code{-ircapture} @var{NUMBER}
@*The IDCODE capture command, such as 0x01.
@item @code{-irlen} @var{NUMBER}
@*The length in bits of the
instruction register, such as 4 or 5 bits.
@item @code{-irmask} @var{NUMBER}
@*A mask for the IR register.
For some devices, there are bits in the IR that aren't used.
This lets OpenOCD mask them off when doing IDCODE comparisons.
In general, this should just be all ones for the size of the IR.
@end itemize

A TAP may also provide optional @var{configparams}:

@itemize @bullet
@item @code{-disable} (or @code{-enable})
@*Use the @code{-disable} paramater to flag a TAP which is not
linked in to the scan chain when it is declared.
You may use @code{-enable} to highlight the default state
(the TAP is linked in).
@xref{Enabling and Disabling TAPs}.
@item @code{-expected-id} @var{number}
@*A non-zero value represents the expected 32-bit IDCODE
found when the JTAG chain is examined.
These codes are not required by all JTAG devices.
@emph{Repeat the option} as many times as required if more than one
ID code could appear (for example, multiple versions).
@end itemize
@end deffn

@c @deffn Command {jtag arp_init-reset}
@c ... more or less "init" ?

@anchor{Enabling and Disabling TAPs}
@section Enabling and Disabling TAPs
@cindex TAP events

In some systems, a @dfn{JTAG Route Controller} (JRC)
is used to enable and/or disable specific JTAG TAPs.
Many ARM based chips from Texas Instruments include
an ``ICEpick'' module, which is a JRC.
Such chips include DaVinci and OMAP3 processors.

A given TAP may not be visible until the JRC has been
told to link it into the scan chain; and if the JRC
has been told to unlink that TAP, it will no longer
be visible.
Such routers address problems that JTAG ``bypass mode''
ignores, such as:

@itemize
@item The scan chain can only go as fast as its slowest TAP.
@item Having many TAPs slows instruction scans, since all
TAPs receive new instructions.
@item TAPs in the scan chain must be powered up, which wastes
power and prevents debugging some power management mechanisms.
@end itemize

The IEEE 1149.1 JTAG standard has no concept of a ``disabled'' tap,
as implied by the existence of JTAG routers.
However, the upcoming IEEE 1149.7 framework (layered on top of JTAG)
does include a kind of JTAG router functionality.

@c (a) currently the event handlers don't seem to be able to
@c     fail in a way that could lead to no-change-of-state.
@c (b) eventually non-event configuration should be possible,
@c     in which case some this documentation must move.

@deffn Command {jtag cget} dotted.name @option{-event} name
@deffnx Command {jtag configure} dotted.name @option{-event} name string
At this writing this mechanism is used only for event handling,
and the only two events relate to TAP enabling and disabling.

The @code{configure} subcommand assigns an event handler,
a TCL string which is evaluated when the event is triggered.
The @code{cget} subcommand returns that handler.
The two possible values for an event @var{name}
are @option{tap-disable} and @option{tap-enable}.

So for example, when defining a TAP for a CPU connected to
a JTAG router, you should define TAP event handlers using
code that looks something like this:

@example
jtag configure CHIP.cpu -event tap-enable @{
  echo "Enabling CPU TAP"
  ... jtag operations using CHIP.jrc
@}
jtag configure CHIP.cpu -event tap-disable @{
  echo "Disabling CPU TAP"
  ... jtag operations using CHIP.jrc
@}
@end example
@end deffn

@deffn Command {jtag tapdisable} dotted.name
@deffnx Command {jtag tapenable} dotted.name
@deffnx Command {jtag tapisenabled} dotted.name
These three commands all return the string "1" if the tap
specified by @var{dotted.name} is enabled,
and "0" if it is disbabled.
The @command{tapenable} variant first enables the tap
by sending it a @option{tap-enable} event.
The @command{tapdisable} variant first disables the tap
by sending it a @option{tap-disable} event.

@quotation Note
Humans will find the @command{scan_chain} command more helpful
than the script-oriented @command{tapisenabled}
for querying the state of the JTAG taps.
@end quotation
@end deffn

@node CPU Configuration
@chapter CPU Configuration
@cindex GDB target

This chapter discusses how to create a GDB debug target for a CPU.
You can also access these targets without GDB
(@pxref{Architecture and Core Commands}) and, where relevant,
through various kinds of NAND and NOR flash commands.
Also, if you have multiple CPUs you can have multiple such targets.

Before creating a ``target'', you must have added its TAP to the scan chain.
When you've added that TAP, you will have a @code{dotted.name}
which is used to set up the CPU support.
The chip-specific configuration file will normally configure its CPU(s)
right after it adds all of the chip's TAPs to the scan chain.

@section targets [NAME]
@b{Note:} This command name is PLURAL - not singular.

With NO parameter, this plural @b{targets} command lists all known
targets in a human friendly form.

With a parameter, this plural @b{targets} command sets the current
target to the given name. (i.e.: If there are multiple debug targets)

Example:
@verbatim
(gdb) mon targets
      CmdName     Type     Endian    ChainPos   State
--  ---------- ---------- ---------- -------- ----------
    0: target0  arm7tdmi   little        0      halted
@end verbatim

@section target COMMANDS
@b{Note:} This command name is SINGULAR - not plural. It is used to
manipulate specific targets, to create targets and other things.

Once a target is created, a TARGETNAME (object) command is created;
see below for details.

The TARGET command accepts these sub-commands:
@itemize @bullet
@item @b{create} .. parameters ..
@* creates a new target, see below for details.
@item @b{types}
@* Lists all supported target types (perhaps some are not yet in this document).
@item @b{names}
@* Lists all current debug target names, for example: 'str912.cpu' or 'pxa27.cpu' example usage:
@verbatim
        foreach t [target names] {
            puts [format "Target: %s\n" $t]
        }
@end verbatim
@item @b{current}
@* Returns the current target. OpenOCD always has, or refers to the ``current target'' in some way.
By default, commands like: ``mww'' (used to write memory) operate on the current target.
@item @b{number} @b{NUMBER}
@* Internally OpenOCD maintains a list of targets - in numerical index
(0..N-1) this command returns the name of the target at index N.
Example usage:
@verbatim
    set thename [target number $x]
    puts [format "Target %d is: %s\n" $x $thename]
@end verbatim
@item @b{count}
@* Returns the number of targets known to OpenOCD (see number above)
Example:
@verbatim
    set c [target count]
    for { set x 0 } { $x < $c } { incr x } {
        # Assuming you have created this function
        print_target_details $x
    }
@end verbatim

@end itemize

@section TARGETNAME (object) commands
@b{Use:} Once a target is created, an ``object name'' that represents the
target is created. By convention, the target name is identical to the
tap name. In a multiple target system, one can precede many common
commands with a specific target name and effect only that target.
@example
    str912.cpu    mww 0x1234 0x42
    omap3530.cpu  mww 0x5555 123
@end example

@b{Model:} The Tcl/Tk language has the concept of object commands. A
good example is a on screen button, once a button is created a button
has a name (a path in Tk terms) and that name is useable as a 1st
class command. For example in Tk, one can create a button and later
configure it like this:

@example
    # Create
    button .foobar -background red -command @{ foo @}
    # Modify
    .foobar configure -foreground blue
    # Query
    set x [.foobar cget -background]
    # Report
    puts [format "The button is %s" $x]
@end example

In OpenOCD's terms, the ``target'' is an object just like a Tcl/Tk
button. Commands available as a ``target object'' are:

@comment START targetobj commands.
@itemize @bullet
@item @b{configure} - configure the target; see Target Config/Cget Options below
@item @b{cget} - query the target configuration; see Target Config/Cget Options below
@item @b{curstate} - current target state (running, halt, etc.
@item @b{eventlist}
@* Intended for a human to see/read the currently configure target events.
@item @b{Various Memory Commands} See the ``mww'' command elsewhere.
@comment start memory
@itemize @bullet
@item @b{mww} ...
@item @b{mwh} ...
@item @b{mwb} ...
@item @b{mdw} ...
@item @b{mdh} ...
@item @b{mdb} ...
@comment end memory
@end itemize
@item @b{Memory To Array, Array To Memory}
@* These are aimed at a machine interface to memory
@itemize @bullet
@item @b{mem2array ARRAYNAME WIDTH ADDRESS COUNT}
@item @b{array2mem ARRAYNAME WIDTH ADDRESS COUNT}
@* Where:
@*   @b{ARRAYNAME} is the name of an array variable
@*   @b{WIDTH} is 8/16/32 - indicating the memory access size
@*   @b{ADDRESS} is the target memory address
@*   @b{COUNT} is the number of elements to process
@end itemize
@item @b{Used during ``reset''}
@* These commands are used internally by the OpenOCD scripts to deal
with odd reset situations and are not documented here.
@itemize @bullet
@item @b{arp_examine}
@item @b{arp_poll}
@item @b{arp_reset}
@item @b{arp_halt}
@item @b{arp_waitstate}
@end itemize
@item @b{invoke-event} @b{EVENT-NAME}
@* Invokes the specific event manually for the target
@end itemize

@anchor{Target Events}
@section Target Events
@cindex events
At various times, certain things can happen, or you want them to happen.

Examples:
@itemize @bullet
@item What should happen when GDB connects? Should your target reset?
@item When GDB tries to flash the target, do you need to enable the flash via a special command?
@item During reset, do you need to write to certain memory location to reconfigure the SDRAM?
@end itemize

All of the above items are handled by target events.

To specify an event action, either during target creation, or later
via ``$_TARGETNAME configure'' see this example.

Syntactially, the option is: ``-event NAME BODY'' where NAME is a
target event name, and BODY is a Tcl procedure or string of commands
to execute. 

The programmers model is the ``-command'' option used in Tcl/Tk
buttons and events. Below are two identical examples, the first
creates and invokes small procedure. The second inlines the procedure.

@example
   proc my_attach_proc @{ @} @{
       puts "RESET...."
       reset halt
   @}
   mychip.cpu configure -event gdb-attach my_attach_proc 
   mychip.cpu configure -event gdb-attach @{
       puts "Reset..."
       reset halt
   @}
@end example

@section Current Events
The following events are available:
@itemize @bullet
@item @b{debug-halted}
@* The target has halted for debug reasons (i.e.: breakpoint)
@item @b{debug-resumed}
@* The target has resumed (i.e.: gdb said run)
@item @b{early-halted}
@* Occurs early in the halt process
@item @b{examine-end}
@* Currently not used (goal: when JTAG examine completes)
@item @b{examine-start}
@* Currently not used (goal: when JTAG examine starts)
@item @b{gdb-attach}
@* When GDB connects
@item @b{gdb-detach}
@* When GDB disconnects
@item @b{gdb-end}
@* When the taret has halted and GDB is not doing anything (see early halt)
@item @b{gdb-flash-erase-start}
@* Before the GDB flash process tries to erase the flash
@item @b{gdb-flash-erase-end}
@* After the GDB flash process has finished erasing the flash
@item @b{gdb-flash-write-start}
@* Before GDB writes to the flash
@item @b{gdb-flash-write-end}
@* After GDB writes to the flash
@item @b{gdb-start}
@* Before the taret steps, gdb is trying to start/resume the target
@item @b{halted}
@* The target has halted
@item @b{old-gdb_program_config}
@* DO NOT USE THIS: Used internally
@item @b{old-pre_resume}
@* DO NOT USE THIS: Used internally
@item @b{reset-assert-pre}
@* Before reset is asserted on the tap.
@item @b{reset-assert-post}
@* Reset is now asserted on the tap.
@item @b{reset-deassert-pre}
@* Reset is about to be released on the tap
@item @b{reset-deassert-post}
@* Reset has been released on the tap
@item @b{reset-end}
@* Currently not used.
@item @b{reset-halt-post}
@* Currently not usd
@item @b{reset-halt-pre}
@* Currently not used
@item @b{reset-init}
@* Used by @b{reset init} command for board-specific initialization.
This is where you would configure PLLs and clocking, set up DRAM so
you can download programs that don't fit in on-chip SRAM, set up pin
multiplexing, and so on.
@item @b{reset-start}
@* Currently not used
@item @b{reset-wait-pos}
@* Currently not used
@item @b{reset-wait-pre}
@* Currently not used
@item @b{resume-start}
@* Before any target is resumed
@item @b{resume-end}
@* After all targets have resumed
@item @b{resume-ok}
@* Success
@item @b{resumed}
@* Target has resumed
@end itemize

@anchor{Target Create}
@section Target Create
@cindex target
@cindex target creation

@example
@b{target} @b{create} <@var{NAME}> <@var{TYPE}> <@var{PARAMS ...}>
@end example
@*This command creates a GDB debug target that refers to a specific JTAG tap.
@comment START params
@itemize @bullet
@item @b{NAME}
@* Is the name of the debug target. By convention it should be the tap
DOTTED.NAME.  This name is also used to create the target object
command, and in other places the target needs to be identified.
@item @b{TYPE}
@* Specifies the target type, i.e.: ARM7TDMI, or Cortex-M3. Currently supported targets are:
@comment START types
@itemize @minus
@item @b{arm7tdmi}
@item @b{arm720t}
@item @b{arm9tdmi}
@item @b{arm920t}
@item @b{arm922t}
@item @b{arm926ejs}
@item @b{arm966e} 
@item @b{cortex_m3}
@item @b{feroceon}
@item @b{xscale}
@item @b{arm11}
@item @b{mips_m4k}
@comment end TYPES
@end itemize
@item @b{PARAMS}
@*PARAMs are various target configuration parameters. The following ones are mandatory:
@comment START mandatory
@itemize @bullet
@item @b{-endian big|little}
@item @b{-chain-position DOTTED.NAME}
@comment end MANDATORY
@end itemize
@comment END params
@end itemize

@section Target Config/Cget Options
These options can be specified when the target is created, or later
via the configure option or to query the target via cget.

You should specify a working area if you can; typically it uses some
on-chip SRAM.  Such a working area can speed up many things, including bulk
writes to target memory; flash operations like checking to see if memory needs
to be erased; GDB memory checksumming; and may help perform otherwise
unavailable operations (like some coprocessor operations on ARM7/9 systems).
@itemize @bullet
@item @b{-type} - returns the target type
@item @b{-event NAME BODY} see Target events
@item @b{-work-area-virt [ADDRESS]} specify/set the work area base address
which will be used when an MMU is active.
@item @b{-work-area-phys [ADDRESS]} specify/set the work area base address
which will be used when an MMU is inactive.
@item @b{-work-area-size [ADDRESS]} specify/set the work area
@item @b{-work-area-backup [0|1]} does the work area get backed up;
by default, it doesn't.  When possible, use a working_area that doesn't
need to be backed up, since performing a backup slows down operations.
@item @b{-endian  [big|little]} 
@item @b{-variant [NAME]} some chips have variants OpenOCD needs to know about
@item @b{-chain-position DOTTED.NAME} the tap name this target refers to.
@end itemize
Example:
@example
  for @{ set x 0 @} @{ $x < [target count] @} @{ incr x @} @{
    set name [target number $x]
    set y [$name cget -endian]
    set z [$name cget -type]
    puts [format "Chip %d is %s, Endian: %s, type: %s" $x $y $z]
  @}
@end example

@b{PROBLEM:} On more complex chips, the work area can become
inaccessible when application code enables or disables the MMU.
For example, the MMU context used to acess the virtual address
will probably matter.

@section Target Variants
@itemize @bullet
@item @b{cortex_m3}
@* Use variant @option{lm3s} when debugging older Stellaris LM3S targets.
This will cause OpenOCD to use a software reset rather than asserting
SRST, to avoid a issue with clearing the debug registers.
This is fixed in Fury Rev B, DustDevil Rev B, Tempest; these revisions will
be detected and the normal reset behaviour used.
@item @b{xscale}
@*Supported variants are
@option{ixp42x}, @option{ixp45x}, @option{ixp46x},
@option{pxa250}, @option{pxa255}, @option{pxa26x}.
@item @b{mips_m4k}
@* Use variant @option{ejtag_srst} when debugging targets that do not
provide a functional SRST line on the EJTAG connector.  This causes
OpenOCD to instead use an EJTAG software reset command to reset the
processor.  You still need to enable @option{srst} on the reset
configuration command to enable OpenOCD hardware reset functionality.
@comment END variants
@end itemize

@node Flash Commands
@chapter Flash Commands

OpenOCD has different commands for NOR and NAND flash;
the ``flash'' command works with NOR flash, while
the ``nand'' command works with NAND flash.
This partially reflects different hardware technologies:
NOR flash usually supports direct CPU instruction and data bus access,
while data from a NAND flash must be copied to memory before it can be
used.  (SPI flash must also be copied to memory before use.)
However, the documentation also uses ``flash'' as a generic term;
for example, ``Put flash configuration in board-specific files''.

@quotation Note
As of 28-nov-2008 OpenOCD does not know how to program a SPI
flash that a micro may boot from. Perhaps you, the reader, would like to
contribute support for this.
@end quotation

Flash Steps:
@enumerate
@item Configure via the command @command{flash bank}
@* Do this in a board-specific configuration file,
passing parameters as needed by the driver.
@item Operate on the flash via @command{flash subcommand}
@* Often commands to manipulate the flash are typed by a human, or run
via a script in some automated way.  Common tasks include writing a
boot loader, operating system, or other data.
@item GDB Flashing
@* Flashing via GDB requires the flash be configured via ``flash
bank'', and the GDB flash features be enabled.
@xref{GDB Configuration}.
@end enumerate

Many CPUs have the ablity to ``boot'' from the first flash bank.
This means that misprograming that bank can ``brick'' a system,
so that it can't boot.
JTAG tools, like OpenOCD, are often then used to ``de-brick'' the
board by (re)installing working boot firmware.

@section Flash Configuration Commands
@cindex flash configuration

@deffn {Config Command} {flash bank} driver base size chip_width bus_width target [driver_options]
Configures a flash bank which provides persistent storage
for addresses from @math{base} to @math{base + size - 1}.
These banks will often be visible to GDB through the target's memory map.
In some cases, configuring a flash bank will activate extra commands;
see the driver-specific documentation.

@itemize @bullet
@item @var{driver} ... identifies the controller driver
associated with the flash bank being declared.
This is usually @code{cfi} for external flash, or else
the name of a microcontroller with embedded flash memory.
@xref{Flash Driver List}.
@item @var{base} ... Base address of the flash chip.
@item @var{size} ... Size of the chip, in bytes.
For some drivers, this value is detected from the hardware.
@item @var{chip_width} ... Width of the flash chip, in bytes;
ignored for most microcontroller drivers.
@item @var{bus_width} ... Width of the data bus used to access the
chip, in bytes; ignored for most microcontroller drivers.
@item @var{target} ... Names the target used to issue
commands to the flash controller.
@comment Actually, it's currently a controller-specific parameter...
@item @var{driver_options} ... drivers may support, or require,
additional parameters.  See the driver-specific documentation
for more information.
@end itemize
@quotation Note
This command is not available after OpenOCD initialization has completed.
Use it in board specific configuration files, not interactively.
@end quotation
@end deffn

@comment the REAL name for this command is "ocd_flash_banks"
@comment less confusing would be:  "flash list" (like "nand list")
@deffn Command {flash banks}
Prints a one-line summary of each device declared
using @command{flash bank}, numbered from zero.
Note that this is the @emph{plural} form;
the @emph{singular} form is a very different command.
@end deffn

@deffn Command {flash probe} num
Identify the flash, or validate the parameters of the configured flash. Operation
depends on the flash type.
The @var{num} parameter is a value shown by @command{flash banks}.
Most flash commands will implicitly @emph{autoprobe} the bank;
flash drivers can distinguish between probing and autoprobing,
but most don't bother.
@end deffn

@section Erasing, Reading, Writing to Flash
@cindex flash erasing
@cindex flash reading
@cindex flash writing
@cindex flash programming

One feature distinguishing NOR flash from NAND or serial flash technologies
is that for read access, it acts exactly like any other addressible memory.
This means you can use normal memory read commands like @command{mdw} or
@command{dump_image} with it, with no special @command{flash} subcommands.
@xref{Memory access}, and @ref{Image access}.

Write access works differently.  Flash memory normally needs to be erased
before it's written.  Erasing a sector turns all of its bits to ones, and
writing can turn ones into zeroes.  This is why there are special commands
for interactive erasing and writing, and why GDB needs to know which parts
of the address space hold NOR flash memory.

@quotation Note
Most of these erase and write commands leverage the fact that NOR flash
chips consume target address space.  They implicitly refer to the current
JTAG target, and map from an address in that target's address space
back to a flash bank.
@comment In May 2009, those mappings may fail if any bank associated
@comment with that target doesn't succesfuly autoprobe ... bug worth fixing?
A few commands use abstract addressing based on bank and sector numbers,
and don't depend on searching the current target and its address space.
Avoid confusing the two command models.
@end quotation

Some flash chips implement software protection against accidental writes,
since such buggy writes could in some cases ``brick'' a system.
For such systems, erasing and writing may require sector protection to be
disabled first.
Examples include CFI flash such as ``Intel Advanced Bootblock flash'',
and AT91SAM7 on-chip flash.
@xref{flash protect}.

@anchor{flash erase_sector}
@deffn Command {flash erase_sector} num first last
Erase sectors in bank @var{num}, starting at sector @var{first} up to and including
@var{last}. Sector numbering starts at 0.
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn

@deffn Command {flash erase_address} address length
Erase sectors starting at @var{address} for @var{length} bytes.
The flash bank to use is inferred from the @var{address}, and
the specified length must stay within that bank.
As a special case, when @var{length} is zero and @var{address} is
the start of the bank, the whole flash is erased.
@end deffn

@deffn Command {flash fillw} address word length
@deffnx Command {flash fillh} address halfword length
@deffnx Command {flash fillb} address byte length
Fills flash memory with the specified @var{word} (32 bits),
@var{halfword} (16 bits), or @var{byte} (8-bit) pattern,
starting at @var{address} and continuing
for @var{length} units (word/halfword/byte).
No erasure is done before writing; when needed, that must be done
before issuing this command.
Writes are done in blocks of up to 1024 bytes, and each write is
verified by reading back the data and comparing it to what was written.
The flash bank to use is inferred from the @var{address} of
each block, and the specified length must stay within that bank.
@end deffn
@comment no current checks for errors if fill blocks touch multiple banks!

@anchor{flash write_bank}
@deffn Command {flash write_bank} num filename offset
Write the binary @file{filename} to flash bank @var{num},
starting at @var{offset} bytes from the beginning of the bank.
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn

@anchor{flash write_image}
@deffn Command {flash write_image} [erase] filename [offset] [type]
Write the image @file{filename} to the current target's flash bank(s).
A relocation @var{offset} may be specified, in which case it is added
to the base address for each section in the image.
The file [@var{type}] can be specified
explicitly as @option{bin} (binary), @option{ihex} (Intel hex),
@option{elf} (ELF file), @option{s19} (Motorola s19).
@option{mem}, or @option{builder}.
The relevant flash sectors will be erased prior to programming
if the @option{erase} parameter is given.
The flash bank to use is inferred from the @var{address} of
each image segment.
@end deffn

@section Other Flash commands
@cindex flash protection

@deffn Command {flash erase_check} num
Check erase state of sectors in flash bank @var{num},
and display that status.
The @var{num} parameter is a value shown by @command{flash banks}.
This is the only operation that
updates the erase state information displayed by @option{flash info}. That means you have
to issue an @command{flash erase_check} command after erasing or programming the device
to get updated information.
(Code execution may have invalidated any state records kept by OpenOCD.)
@end deffn

@deffn Command {flash info} num
Print info about flash bank @var{num}
The @var{num} parameter is a value shown by @command{flash banks}.
The information includes per-sector protect status.
@end deffn

@anchor{flash protect}
@deffn Command {flash protect} num first last (on|off)
Enable (@var{on}) or disable (@var{off}) protection of flash sectors
@var{first} to @var{last} of flash bank @var{num}.
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn

@deffn Command {flash protect_check} num
Check protection state of sectors in flash bank @var{num}.
The @var{num} parameter is a value shown by @command{flash banks}.
@comment @option{flash erase_sector} using the same syntax.
@end deffn

@anchor{Flash Driver List}
@section Flash Drivers, Options, and Commands
As noted above, the @command{flash bank} command requires a driver name,
and allows driver-specific options and behaviors.
Some drivers also activate driver-specific commands.

@subsection External Flash

@deffn {Flash Driver} cfi
@cindex Common Flash Interface
@cindex CFI
The ``Common Flash Interface'' (CFI) is the main standard for
external NOR flash chips, each of which connects to a
specific external chip select on the CPU.
Frequently the first such chip is used to boot the system.
Your board's @code{reset-init} handler might need to
configure additional chip selects using other commands (like: @command{mww} to
configure a bus and its timings) , or
perhaps configure a GPIO pin that controls the ``write protect'' pin
on the flash chip.
The CFI driver can use a target-specific working area to significantly
speed up operation.

The CFI driver can accept the following optional parameters, in any order:

@itemize
@item @var{jedec_probe} ... is used to detect certain non-CFI flash ROMs,
like AM29LV010 and similar types.
@item @var{x16_as_x8} ...
@end itemize

To configure two adjacent banks of 16 MBytes each, both sixteen bits (two bytes)
wide on a sixteen bit bus:

@example
flash bank cfi 0x00000000 0x01000000 2 2 $_TARGETNAME
flash bank cfi 0x01000000 0x01000000 2 2 $_TARGETNAME
@end example
@end deffn

@subsection Internal Flash (Microcontrollers)

@deffn {Flash Driver} aduc702x
The ADUC702x analog microcontrollers from ST Micro
include internal flash and use ARM7TDMI cores.
The aduc702x flash driver works with models ADUC7019 through ADUC7028.
The setup command only requires the @var{target} argument
since all devices in this family have the same memory layout.

@example
flash bank aduc702x 0 0 0 0 $_TARGETNAME
@end example
@end deffn

@deffn {Flash Driver} at91sam7
All members of the AT91SAM7 microcontroller family from Atmel
include internal flash and use ARM7TDMI cores.
The driver automatically recognizes a number of these chips using
the chip identification register, and autoconfigures itself.

@example
flash bank at91sam7 0 0 0 0 $_TARGETNAME
@end example

For chips which are not recognized by the controller driver, you must
provide additional parameters in the following order:

@itemize
@item @var{chip_model} ... label used with @command{flash info}
@item @var{banks}
@item @var{sectors_per_bank}
@item @var{pages_per_sector}
@item @var{pages_size}
@item @var{num_nvm_bits}
@item @var{freq_khz} ... required if an external clock is provided,
optional (but recommended) when the oscillator frequency is known
@end itemize

It is recommended that you provide zeroes for all of those values
except the clock frequency, so that everything except that frequency
will be autoconfigured.
Knowing the frequency helps ensure correct timings for flash access.

The flash controller handles erases automatically on a page (128/256 byte)
basis, so explicit erase commands are not necessary for flash programming.
However, there is an ``EraseAll`` command that can erase an entire flash
plane (of up to 256KB), and it will be used automatically when you issue
@command{flash erase_sector} or @command{flash erase_address} commands.

@deffn Command {at91sam7 gpnvm} bitnum (set|clear)
Set or clear a ``General Purpose Non-Volatle Memory'' (GPNVM)
bit for the processor.   Each processor has a number of such bits,
used for controlling features such as brownout detection (so they
are not truly general purpose).
@quotation Note
This assumes that the first flash bank (number 0) is associated with
the appropriate at91sam7 target.
@end quotation
@end deffn
@end deffn

@deffn {Flash Driver} avr
The AVR 8-bit microcontrollers from Atmel integrate flash memory.
@emph{The current implementation is incomplete.}
@comment - defines mass_erase ... pointless given flash_erase_address
@end deffn

@deffn {Flash Driver} ecosflash
@emph{No idea what this is...}
The @var{ecosflash} driver defines one mandatory parameter,
the name of a modules of target code which is downloaded
and executed.
@end deffn

@deffn {Flash Driver} lpc2000
Most members of the LPC2000 microcontroller family from NXP
include internal flash and use ARM7TDMI cores.
The @var{lpc2000} driver defines two mandatory and one optional parameters,
which must appear in the following order:

@itemize
@item @var{variant} ... required, may be
@var{lpc2000_v1} (older LPC21xx and LPC22xx)
or @var{lpc2000_v2} (LPC213x, LPC214x, LPC210[123], LPC23xx and LPC24xx)
@item @var{clock_kHz} ... the frequency, in kiloHertz,
at which the core is running
@item @var{calc_checksum} ... optional (but you probably want to provide this!),
telling the driver to calculate a valid checksum for the exception vector table.
@end itemize

LPC flashes don't require the chip and bus width to be specified.

@example
flash bank lpc2000 0x0 0x7d000 0 0 $_TARGETNAME \
      lpc2000_v2 14765 calc_checksum
@end example
@end deffn

@deffn {Flash Driver} lpc288x
The LPC2888 microcontroller from NXP needs slightly different flash
support from its lpc2000 siblings.
The @var{lpc288x} driver defines one mandatory parameter,
the programming clock rate in Hz.
LPC flashes don't require the chip and bus width to be specified.

@example
flash bank lpc288x 0 0 0 0 $_TARGETNAME 12000000
@end example
@end deffn

@deffn {Flash Driver} ocl
@emph{No idea what this is, other than using some arm7/arm9 core.}

@example
flash bank ocl 0 0 0 0 $_TARGETNAME
@end example
@end deffn

@deffn {Flash Driver} pic32mx
The PIC32MX microcontrollers are based on the MIPS 4K cores,
and integrate flash memory.
@emph{The current implementation is incomplete.}

@example
flash bank pix32mx 0 0 0 0 $_TARGETNAME
@end example

@comment numerous *disabled* commands are defined:
@comment - chip_erase ... pointless given flash_erase_address
@comment - lock, unlock ... pointless given protect on/off (yes?)
@comment - pgm_word ... shouldn't bank be deduced from address??
Some pic32mx-specific commands are defined:
@deffn Command {pic32mx pgm_word} address value bank
Programs the specified 32-bit @var{value} at the given @var{address}
in the specified chip @var{bank}.
@end deffn
@end deffn

@deffn {Flash Driver} stellaris
All members of the Stellaris LM3Sxxx microcontroller family from
Texas Instruments
include internal flash and use ARM Cortex M3 cores.
The driver automatically recognizes a number of these chips using
the chip identification register, and autoconfigures itself.
@footnote{Currently there is a @command{stellaris mass_erase} command.
That seems pointless since the same effect can be had using the
standard @command{flash erase_address} command.}

@example
flash bank stellaris 0 0 0 0 $_TARGETNAME
@end example
@end deffn

@deffn {Flash Driver} stm32x
All members of the STM32 microcontroller family from ST Microelectronics
include internal flash and use ARM Cortex M3 cores.
The driver automatically recognizes a number of these chips using
the chip identification register, and autoconfigures itself.

@example
flash bank stm32x 0 0 0 0 $_TARGETNAME
@end example

Some stm32x-specific commands
@footnote{Currently there is a @command{stm32x mass_erase} command.
That seems pointless since the same effect can be had using the
standard @command{flash erase_address} command.}
are defined:

@deffn Command {stm32x lock} num
Locks the entire stm32 device.
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn

@deffn Command {stm32x unlock} num
Unlocks the entire stm32 device.
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn

@deffn Command {stm32x options_read} num
Read and display the stm32 option bytes written by
the @command{stm32x options_write} command.
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn

@deffn Command {stm32x options_write} num (SWWDG|HWWDG) (RSTSTNDBY|NORSTSTNDBY) (RSTSTOP|NORSTSTOP)
Writes the stm32 option byte with the specified values.
The @var{num} parameter is a value shown by @command{flash banks}.
@end deffn
@end deffn

@deffn {Flash Driver} str7x
All members of the STR7 microcontroller family from ST Microelectronics
include internal flash and use ARM7TDMI cores.
The @var{str7x} driver defines one mandatory parameter, @var{variant},
which is either @code{STR71x}, @code{STR73x} or @code{STR75x}.

@example
flash bank str7x 0x40000000 0x00040000 0 0 $_TARGETNAME STR71x
@end example
@end deffn

@deffn {Flash Driver} str9x
Most members of the STR9 microcontroller family from ST Microelectronics
include internal flash and use ARM966E cores.
The str9 needs the flash controller to be configured using
the @command{str9x flash_config} command prior to Flash programming.

@example
flash bank str9x 0x40000000 0x00040000 0 0 $_TARGETNAME
str9x flash_config 0 4 2 0 0x80000
@end example

@deffn Command {str9x flash_config} num bbsr nbbsr bbadr nbbadr
Configures the str9 flash controller.
The @var{num} parameter is a value shown by @command{flash banks}.

@itemize @bullet
@item @var{bbsr} - Boot Bank Size register
@item @var{nbbsr} - Non Boot Bank Size register
@item @var{bbadr} - Boot Bank Start Address register
@item @var{nbbadr} - Boot Bank Start Address register
@end itemize
@end deffn

@end deffn

@deffn {Flash Driver} tms470
Most members of the TMS470 microcontroller family from Texas Instruments
include internal flash and use ARM7TDMI cores.
This driver doesn't require the chip and bus width to be specified.

Some tms470-specific commands are defined:

@deffn Command {tms470 flash_keyset} key0 key1 key2 key3
Saves programming keys in a register, to enable flash erase and write commands.
@end deffn

@deffn Command {tms470 osc_mhz} clock_mhz
Reports the clock speed, which is used to calculate timings.
@end deffn

@deffn Command {tms470 plldis} (0|1)
Disables (@var{1}) or enables (@var{0}) use of the PLL to speed up
the flash clock.
@end deffn
@end deffn

@subsection str9xpec driver
@cindex str9xpec

Here is some background info to help
you better understand how this driver works. OpenOCD has two flash drivers for
the str9:
@enumerate
@item
Standard driver @option{str9x} programmed via the str9 core. Normally used for
flash programming as it is faster than the @option{str9xpec} driver.
@item
Direct programming @option{str9xpec} using the flash controller. This is an
ISC compilant (IEEE 1532) tap connected in series with the str9 core. The str9
core does not need to be running to program using this flash driver. Typical use
for this driver is locking/unlocking the target and programming the option bytes.
@end enumerate

Before we run any commands using the @option{str9xpec} driver we must first disable
the str9 core. This example assumes the @option{str9xpec} driver has been
configured for flash bank 0.
@example
# assert srst, we do not want core running
# while accessing str9xpec flash driver
jtag_reset 0 1
# turn off target polling
poll off
# disable str9 core
str9xpec enable_turbo 0
# read option bytes
str9xpec options_read 0
# re-enable str9 core
str9xpec disable_turbo 0
poll on
reset halt
@end example
The above example will read the str9 option bytes.
When performing a unlock remember that you will not be able to halt the str9 - it
has been locked. Halting the core is not required for the @option{str9xpec} driver
as mentioned above, just issue the commands above manually or from a telnet prompt.

@deffn {Flash Driver} str9xpec
Only use this driver for locking/unlocking the device or configuring the option bytes.
Use the standard str9 driver for programming.
Before using the flash commands the turbo mode must be enabled using the
@command{str9xpec enable_turbo} command.

Several str9xpec-specific commands are defined:

@deffn Command {str9xpec disable_turbo} num
Restore the str9 into JTAG chain.
@end deffn

@deffn Command {str9xpec enable_turbo} num
Enable turbo mode, will simply remove the str9 from the chain and talk
directly to the embedded flash controller.
@end deffn

@deffn Command {str9xpec lock} num
Lock str9 device. The str9 will only respond to an unlock command that will
erase the device.
@end deffn

@deffn Command {str9xpec part_id} num
Prints the part identifier for bank @var{num}.
@end deffn

@deffn Command {str9xpec options_cmap} num (@option{bank0}|@option{bank1})
Configure str9 boot bank.
@end deffn

@deffn Command {str9xpec options_lvdsel} num (@option{vdd}|@option{vdd_vddq})
Configure str9 lvd source.
@end deffn

@deffn Command {str9xpec options_lvdthd} num (@option{2.4v}|@option{2.7v})
Configure str9 lvd threshold.
@end deffn

@deffn Command {str9xpec options_lvdwarn} bank (@option{vdd}|@option{vdd_vddq})
Configure str9 lvd reset warning source.
@end deffn

@deffn Command {str9xpec options_read} num
Read str9 option bytes.
@end deffn

@deffn Command {str9xpec options_write} num
Write str9 option bytes.
@end deffn

@deffn Command {str9xpec unlock} num
unlock str9 device.
@end deffn

@end deffn


@section mFlash

@subsection mFlash Configuration
@cindex mFlash Configuration

@deffn {Config Command} {mflash bank} soc base RST_pin target
Configures a mflash for @var{soc} host bank at
address @var{base}.
The pin number format depends on the host GPIO naming convention.
Currently, the mflash driver supports s3c2440 and pxa270.

Example for s3c2440 mflash where @var{RST pin} is GPIO B1:

@example
mflash bank s3c2440 0x10000000 1b 0
@end example

Example for pxa270 mflash where @var{RST pin} is GPIO 43:

@example
mflash bank pxa270 0x08000000 43 0
@end example
@end deffn

@subsection mFlash commands
@cindex mFlash commands

@deffn Command {mflash config pll} frequency
Configure mflash PLL.
The @var{frequency} is the mflash input frequency, in Hz.
Issuing this command will erase mflash's whole internal nand and write new pll.
After this command, mflash needs power-on-reset for normal operation.
If pll was newly configured, storage and boot(optional) info also need to be update.
@end deffn

@deffn Command {mflash config boot}
Configure bootable option.
If bootable option is set, mflash offer the first 8 sectors
(4kB) for boot.
@end deffn

@deffn Command {mflash config storage}
Configure storage information.
For the normal storage operation, this information must be
written.
@end deffn

@deffn Command {mflash dump} num filename offset size
Dump @var{size} bytes, starting at @var{offset} bytes from the
beginning of the bank @var{num}, to the file named @var{filename}.
@end deffn

@deffn Command {mflash probe}
Probe mflash.
@end deffn

@deffn Command {mflash write} num filename offset
Write the binary file @var{filename} to mflash bank @var{num}, starting at
@var{offset} bytes from the beginning of the bank.
@end deffn

@node NAND Flash Commands
@chapter NAND Flash Commands
@cindex NAND

Compared to NOR or SPI flash, NAND devices are inexpensive
and high density.  Today's NAND chips, and multi-chip modules,
commonly hold multiple GigaBytes of data.

NAND chips consist of a number of ``erase blocks'' of a given
size (such as 128 KBytes), each of which is divided into a
number of pages (of perhaps 512 or 2048 bytes each).  Each
page of a NAND flash has an ``out of band'' (OOB) area to hold
Error Correcting Code (ECC) and other metadata, usually 16 bytes
of OOB for every 512 bytes of page data.

One key characteristic of NAND flash is that its error rate
is higher than that of NOR flash.  In normal operation, that
ECC is used to correct and detect errors.  However, NAND
blocks can also wear out and become unusable; those blocks
are then marked "bad".  NAND chips are even shipped from the
manufacturer with a few bad blocks.  The highest density chips
use a technology (MLC) that wears out more quickly, so ECC
support is increasingly important as a way to detect blocks
that have begun to fail, and help to preserve data integrity
with techniques such as wear leveling.

Software is used to manage the ECC.  Some controllers don't
support ECC directly; in those cases, software ECC is used.
Other controllers speed up the ECC calculations with hardware.
Single-bit error correction hardware is routine.  Controllers
geared for newer MLC chips may correct 4 or more errors for
every 512 bytes of data.

You will need to make sure that any data you write using
OpenOCD includes the apppropriate kind of ECC.  For example,
that may mean passing the @code{oob_softecc} flag when
writing NAND data, or ensuring that the correct hardware
ECC mode is used.

The basic steps for using NAND devices include:
@enumerate
@item Declare via the command @command{nand device}
@* Do this in a board-specific configuration file,
passing parameters as needed by the controller.
@item Configure each device using @command{nand probe}.
@* Do this only after the associated target is set up,
such as in its reset-init script or in procures defined
to access that device.
@item Operate on the flash via @command{nand subcommand}
@* Often commands to manipulate the flash are typed by a human, or run
via a script in some automated way.  Common task include writing a
boot loader, operating system, or other data needed to initialize or
de-brick a board.
@end enumerate

@b{NOTE:} At the time this text was written, the largest NAND
flash fully supported by OpenOCD is 2 GiBytes (16 GiBits).
This is because the variables used to hold offsets and lengths
are only 32 bits wide.
(Larger chips may work in some cases, unless an offset or length
is larger than 0xffffffff, the largest 32-bit unsigned integer.)
Some larger devices will work, since they are actually multi-chip
modules with two smaller chips and individual chipselect lines.

@section NAND Configuration Commands
@cindex NAND configuration

NAND chips must be declared in configuration scripts,
plus some additional configuration that's done after
OpenOCD has initialized.

@deffn {Config Command} {nand device} controller target [configparams...]
Declares a NAND device, which can be read and written to
after it has been configured through @command{nand probe}.
In OpenOCD, devices are single chips; this is unlike some
operating systems, which may manage multiple chips as if
they were a single (larger) device.
In some cases, configuring a device will activate extra
commands; see the controller-specific documentation.

@b{NOTE:} This command is not available after OpenOCD
initialization has completed.  Use it in board specific
configuration files, not interactively.

@itemize @bullet
@item @var{controller} ... identifies the controller driver
associated with the NAND device being declared.
@xref{NAND Driver List}.
@item @var{target} ... names the target used when issuing
commands to the NAND controller.
@comment Actually, it's currently a controller-specific parameter...
@item @var{configparams} ... controllers may support, or require,
additional parameters.  See the controller-specific documentation
for more information.
@end itemize
@end deffn

@deffn Command {nand list}
Prints a one-line summary of each device declared
using @command{nand device}, numbered from zero.
Note that un-probed devices show no details.
@end deffn

@deffn Command {nand probe} num
Probes the specified device to determine key characteristics
like its page and block sizes, and how many blocks it has.
The @var{num} parameter is the value shown by @command{nand list}.
You must (successfully) probe a device before you can use
it with most other NAND commands.
@end deffn

@section Erasing, Reading, Writing to NAND Flash

@deffn Command {nand dump} num filename offset length [oob_option]
@cindex NAND reading
Reads binary data from the NAND device and writes it to the file,
starting at the specified offset.
The @var{num} parameter is the value shown by @command{nand list}.

Use a complete path name for @var{filename}, so you don't depend
on the directory used to start the OpenOCD server.

The @var{offset} and @var{length} must be exact multiples of the
device's page size.  They describe a data region; the OOB data
associated with each such page may also be accessed.

@b{NOTE:} At the time this text was written, no error correction
was done on the data that's read, unless raw access was disabled
and the underlying NAND controller driver had a @code{read_page}
method which handled that error correction.

By default, only page data is saved to the specified file.
Use an @var{oob_option} parameter to save OOB data:
@itemize @bullet
@item no oob_* parameter
@*Output file holds only page data; OOB is discarded.
@item @code{oob_raw}
@*Output file interleaves page data and OOB data;
the file will be longer than "length" by the size of the
spare areas associated with each data page.
Note that this kind of "raw" access is different from
what's implied by @command{nand raw_access}, which just
controls whether a hardware-aware access method is used.
@item @code{oob_only}
@*Output file has only raw OOB data, and will
be smaller than "length" since it will contain only the
spare areas associated with each data page.
@end itemize
@end deffn

@deffn Command {nand erase} num offset length
@cindex NAND erasing
@cindex NAND programming
Erases blocks on the specified NAND device, starting at the
specified @var{offset} and continuing for @var{length} bytes.
Both of those values must be exact multiples of the device's
block size, and the region they specify must fit entirely in the chip.
The @var{num} parameter is the value shown by @command{nand list}.

@b{NOTE:} This command will try to erase bad blocks, when told
to do so, which will probably invalidate the manufacturer's bad
block marker.
For the remainder of the current server session, @command{nand info}
will still report that the block ``is'' bad.
@end deffn

@deffn Command {nand write} num filename offset [option...]
@cindex NAND writing
@cindex NAND programming
Writes binary data from the file into the specified NAND device,
starting at the specified offset.  Those pages should already
have been erased; you can't change zero bits to one bits.
The @var{num} parameter is the value shown by @command{nand list}.

Use a complete path name for @var{filename}, so you don't depend
on the directory used to start the OpenOCD server.

The @var{offset} must be an exact multiple of the device's page size.
All data in the file will be written, assuming it doesn't run
past the end of the device.
Only full pages are written, and any extra space in the last
page will be filled with 0xff bytes.  (That includes OOB data,
if that's being written.)

@b{NOTE:} At the time this text was written, bad blocks are
ignored.  That is, this routine will not skip bad blocks,
but will instead try to write them.  This can cause problems.

Provide at most one @var{option} parameter.  With some
NAND drivers, the meanings of these parameters may change
if @command{nand raw_access} was used to disable hardware ECC.
@itemize @bullet
@item no oob_* parameter
@*File has only page data, which is written.
If raw acccess is in use, the OOB area will not be written.
Otherwise, if the underlying NAND controller driver has
a @code{write_page} routine, that routine may write the OOB
with hardware-computed ECC data.
@item @code{oob_only}
@*File has only raw OOB data, which is written to the OOB area.
Each page's data area stays untouched.  @i{This can be a dangerous
option}, since it can invalidate the ECC data.
You may need to force raw access to use this mode.
@item @code{oob_raw}
@*File interleaves data and OOB data, both of which are written
If raw access is enabled, the data is written first, then the
un-altered OOB.
Otherwise, if the underlying NAND controller driver has
a @code{write_page} routine, that routine may modify the OOB
before it's written, to include hardware-computed ECC data.
@item @code{oob_softecc}
@*File has only page data, which is written.
The OOB area is filled with 0xff, except for a standard 1-bit
software ECC code stored in conventional locations.
You might need to force raw access to use this mode, to prevent
the underlying driver from applying hardware ECC.
@item @code{oob_softecc_kw}
@*File has only page data, which is written.
The OOB area is filled with 0xff, except for a 4-bit software ECC
specific to the boot ROM in Marvell Kirkwood SoCs.
You might need to force raw access to use this mode, to prevent
the underlying driver from applying hardware ECC.
@end itemize
@end deffn

@section Other NAND commands
@cindex NAND other commands

@deffn Command {nand check_bad_blocks} [offset length]
Checks for manufacturer bad block markers on the specified NAND
device.  If no parameters are provided, checks the whole
device; otherwise, starts at the specified @var{offset} and
continues for @var{length} bytes.
Both of those values must be exact multiples of the device's
block size, and the region they specify must fit entirely in the chip.
The @var{num} parameter is the value shown by @command{nand list}.

@b{NOTE:} Before using this command you should force raw access
with @command{nand raw_access enable} to ensure that the underlying
driver will not try to apply hardware ECC.
@end deffn

@deffn Command {nand info} num
The @var{num} parameter is the value shown by @command{nand list}.
This prints the one-line summary from "nand list", plus for
devices which have been probed this also prints any known
status for each block.
@end deffn

@deffn Command {nand raw_access} num <enable|disable>
Sets or clears an flag affecting how page I/O is done.
The @var{num} parameter is the value shown by @command{nand list}.

This flag is cleared (disabled) by default, but changing that
value won't affect all NAND devices.  The key factor is whether
the underlying driver provides @code{read_page} or @code{write_page}
methods.  If it doesn't provide those methods, the setting of
this flag is irrelevant; all access is effectively ``raw''.

When those methods exist, they are normally used when reading
data (@command{nand dump} or reading bad block markers) or
writing it (@command{nand write}).  However, enabling
raw access (setting the flag) prevents use of those methods,
bypassing hardware ECC logic.
@i{This can be a dangerous option}, since writing blocks
with the wrong ECC data can cause them to be marked as bad.
@end deffn

@anchor{NAND Driver List}
@section NAND Drivers, Options, and Commands
As noted above, the @command{nand device} command allows
driver-specific options and behaviors.
Some controllers also activate controller-specific commands.

@deffn {NAND Driver} davinci
This driver handles the NAND controllers found on DaVinci family
chips from Texas Instruments.
It takes three extra parameters:
address of the NAND chip;
hardware ECC mode to use (hwecc1, hwecc4, hwecc4_infix);
address of the AEMIF controller on this processor.
@example
nand device davinci dm355.arm 0x02000000 hwecc4 0x01e10000
@end example
All DaVinci processors support the single-bit ECC hardware,
and newer ones also support the four-bit ECC hardware.
The @code{write_page} and @code{read_page} methods are used
to implement those ECC modes, unless they are disabled using
the @command{nand raw_access} command.
@end deffn

@deffn {NAND Driver} lpc3180
These controllers require an extra @command{nand device}
parameter:  the clock rate used by the controller.
@deffn Command {lpc3180 select} num [mlc|slc]
Configures use of the MLC or SLC controller mode.
MLC implies use of hardware ECC.
The @var{num} parameter is the value shown by @command{nand list}.
@end deffn

At this writing, this driver includes @code{write_page}
and @code{read_page} methods.  Using @command{nand raw_access}
to disable those methods will prevent use of hardware ECC
in the MLC controller mode, but won't change SLC behavior.
@end deffn
@comment current lpc3180 code won't issue 5-byte address cycles

@deffn {NAND Driver} orion
These controllers require an extra @command{nand device}
parameter:  the address of the controller.
@example
nand device orion 0xd8000000
@end example
These controllers don't define any specialized commands.
At this writing, their drivers don't include @code{write_page}
or @code{read_page} methods, so @command{nand raw_access} won't
change any behavior.
@end deffn

@deffn {NAND Driver} s3c2410
@deffnx {NAND Driver} s3c2412
@deffnx {NAND Driver} s3c2440
@deffnx {NAND Driver} s3c2443
These S3C24xx family controllers don't have any special
@command{nand device} options, and don't define any
specialized commands.
At this writing, their drivers don't include @code{write_page}
or @code{read_page} methods, so @command{nand raw_access} won't
change any behavior.
@end deffn

@node General Commands
@chapter General Commands
@cindex commands

The commands documented in this chapter here are common commands that
you, as a human, may want to type and see the output of. Configuration type
commands are documented elsewhere.

Intent:
@itemize @bullet
@item @b{Source Of Commands}
@* OpenOCD commands can occur in a configuration script (discussed
elsewhere) or typed manually by a human or supplied programatically,
or via one of several TCP/IP Ports.

@item @b{From the human}
@* A human should interact with the telnet interface (default port: 4444)
or via GDB (default port 3333).

To issue commands from within a GDB session, use the @option{monitor}
command, e.g. use @option{monitor poll} to issue the @option{poll}
command. All output is relayed through the GDB session.

@item @b{Machine Interface}
The Tcl interface's intent is to be a machine interface. The default Tcl
port is 5555.
@end itemize


@section Daemon Commands

@subsection sleep [@var{msec}]
@cindex sleep
@*Wait for n milliseconds before resuming. Useful in connection with script files
(@var{script} command and @var{target_script} configuration). 

@subsection shutdown
@cindex shutdown
@*Close the OpenOCD daemon, disconnecting all clients (GDB, telnet, other). 

@anchor{debug_level}
@subsection debug_level [@var{n}]
@cindex debug_level
@*Display or adjust debug level to n<0-3> 

@subsection fast [@var{enable|disable}]
@cindex fast
@*Default disabled. Set default behaviour of OpenOCD to be "fast and dangerous". For instance ARM7/9 DCC memory
downloads and fast memory access will work if the JTAG interface isn't too fast and
the core doesn't run at a too low frequency. Note that this option only changes the default
and that the indvidual options, like DCC memory downloads, can be enabled and disabled
individually. 

The target specific "dangerous" optimisation tweaking options may come and go
as more robust and user friendly ways are found to ensure maximum throughput
and robustness with a minimum of configuration. 

Typically the "fast enable" is specified first on the command line:

@example
openocd -c "fast enable" -c "interface dummy" -f target/str710.cfg
@end example

@subsection echo <@var{message}>
@cindex echo
@*Output message to stdio. e.g. echo "Programming - please wait"

@subsection log_output <@var{file}>
@cindex log_output
@*Redirect logging to <file> (default: stderr) 

@subsection script <@var{file}>
@cindex script
@*Execute commands from <file> 
See also: ``source [find FILENAME]''

@section Target state handling
@subsection power <@var{on}|@var{off}>
@cindex reg
@*Turn power switch to target on/off. 
No arguments: print status.
Not all interfaces support this.

@subsection reg [@option{#}|@option{name}] [value]
@cindex reg
@*Access a single register by its number[@option{#}] or by its [@option{name}].
No arguments: list all available registers for the current target.
Number or name argument: display a register.
Number or name and value arguments: set register value.

@subsection poll [@option{on}|@option{off}]
@cindex poll
@*Poll the target for its current state. If the target is in debug mode, architecture
specific information about the current state is printed. An optional parameter
allows continuous polling to be enabled and disabled.

@subsection halt [@option{ms}]
@cindex halt
@*Send a halt request to the target and wait for it to halt for up to [@option{ms}] milliseconds.
Default [@option{ms}] is 5 seconds if no arg given.
Optional arg @option{ms} is a timeout in milliseconds. Using 0 as the [@option{ms}]
will stop OpenOCD from waiting.

@subsection wait_halt [@option{ms}]
@cindex wait_halt
@*Wait for the target to enter debug mode. Optional [@option{ms}] is
a timeout in milliseconds. Default [@option{ms}] is 5 seconds if no
arg is given.

@subsection resume [@var{address}]
@cindex resume
@*Resume the target at its current code position, or at an optional address.
OpenOCD will wait 5 seconds for the target to resume.

@subsection step [@var{address}]
@cindex step
@*Single-step the target at its current code position, or at an optional address. 

@anchor{Reset Command}
@subsection reset [@option{run}|@option{halt}|@option{init}]
@cindex reset
@*Perform a hard-reset. The optional parameter specifies what should
happen after the reset.
If there is no parameter, a @command{reset run} is executed.
The other options will not work on all systems.
@xref{Reset Configuration}.
@itemize @minus
@item @b{run}
@cindex reset run
@*Let the target run.
@item @b{halt}
@cindex reset halt
@*Immediately halt the target (works only with certain configurations).
@item @b{init}
@cindex reset init
@*Immediately halt the target, and execute the reset script (works only with certain
configurations)
@end itemize

@subsection soft_reset_halt
@cindex reset
@*Requesting target halt and executing a soft reset. This is often used
when a target cannot be reset and halted. The target, after reset is
released begins to execute code. OpenOCD attempts to stop the CPU and
then sets the program counter back to the reset vector. Unfortunately
the code that was executed may have left the hardware in an unknown
state.


@anchor{Memory access}
@section Memory access commands
@subsection meminfo
display available RAM memory on OpenOCD host. Used in OpenOCD regression testing scripts. Mainly
useful on embedded targets, PC type hosts have complimentary tools like Valgrind to address
resource tracking problems.
@subsection Memory peek/poke type commands
These commands allow accesses of a specific size to the memory
system. Often these are used to configure the current target in some
special way. For example - one may need to write certian values to the
SDRAM controller to enable SDRAM.

@enumerate
@item To change the current target see the ``targets'' (plural) command
@item In system level scripts these commands are deprecated, please use the TARGET object versions.
@end enumerate

@itemize @bullet
@item @b{mdw} <@var{addr}> [@var{count}]
@cindex mdw
@*display memory words (32bit)
@item @b{mdh} <@var{addr}> [@var{count}]
@cindex mdh
@*display memory half-words (16bit)
@item @b{mdb} <@var{addr}> [@var{count}]
@cindex mdb
@*display memory bytes (8bit)
@item @b{mww} <@var{addr}> <@var{value}>
@cindex mww
@*write memory word (32bit)
@item @b{mwh} <@var{addr}> <@var{value}>
@cindex mwh
@*write memory half-word (16bit)
@item @b{mwb} <@var{addr}> <@var{value}>
@cindex mwb
@*write memory byte (8bit)
@end itemize

@anchor{Image access}
@section Image loading commands
@anchor{load_image}
@subsection load_image
@b{load_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
@cindex load_image
@*Load image <@var{file}> to target memory at <@var{address}> 
@subsection fast_load_image
@b{fast_load_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
@cindex fast_load_image
@*Normally you should be using @b{load_image} or GDB load. However, for
testing purposes or when I/O overhead is significant(OpenOCD running on an embedded
host), storing the image in memory and uploading the image to the target
can be a way to upload e.g. multiple debug sessions when the binary does not change.
Arguments are the same as @b{load_image}, but the image is stored in OpenOCD host
memory, i.e. does not affect target.  This approach is also useful when profiling
target programming performance as I/O and target programming can easily be profiled
separately.
@subsection fast_load
@b{fast_load}
@cindex fast_image
@*Loads an image stored in memory by @b{fast_load_image} to the current target. Must be preceeded by fast_load_image.
@anchor{dump_image}
@subsection dump_image
@b{dump_image} <@var{file}> <@var{address}> <@var{size}>
@cindex dump_image
@*Dump <@var{size}> bytes of target memory starting at <@var{address}> to a
(binary) <@var{file}>.
@subsection verify_image
@b{verify_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
@cindex verify_image
@*Verify <@var{file}> against target memory starting at <@var{address}>.
This will first attempt a comparison using a CRC checksum, if this fails it will try a binary compare.


@section Breakpoint commands
@cindex Breakpoint commands
@itemize @bullet
@item @b{bp} <@var{addr}> <@var{len}> [@var{hw}]
@cindex bp
@*set breakpoint <address> <length> [hw]
@item @b{rbp} <@var{addr}>
@cindex rbp
@*remove breakpoint <adress>
@item @b{wp} <@var{addr}> <@var{len}> <@var{r}|@var{w}|@var{a}> [@var{value}] [@var{mask}]
@cindex wp
@*set watchpoint <address> <length> <r/w/a> [value] [mask]
@item @b{rwp} <@var{addr}>
@cindex rwp
@*remove watchpoint <adress>
@end itemize

@section Misc Commands
@cindex Other Target Commands
@itemize
@item @b{profile} <@var{seconds}> <@var{gmon.out}>

Profiling samples the CPU's program counter as quickly as possible, which is useful for non-intrusive stochastic profiling.

@end itemize

@node Architecture and Core Commands
@chapter Architecture and Core Commands
@cindex Architecture Specific Commands
@cindex Core Specific Commands

Most CPUs have specialized JTAG operations to support debugging.
OpenOCD packages most such operations in its standard command framework.
Some of those operations don't fit well in that framework, so they are
exposed here as architecture or implementation (core) specific commands.

@anchor{ARM Tracing}
@section ARM Tracing
@cindex ETM
@cindex ETB

CPUs based on ARM cores may include standard tracing interfaces,
based on an ``Embedded Trace Module'' (ETM) which sends voluminous
address and data bus trace records to a ``Trace Port''.

@itemize
@item
Development-oriented boards will sometimes provide a high speed
trace connector for collecting that data, when the particular CPU
supports such an interface.
(The standard connector is a 38-pin Mictor, with both JTAG
and trace port support.)
Those trace connectors are supported by higher end JTAG adapters
and some logic analyzer modules; frequently those modules can
buffer several megabytes of trace data.
Configuring an ETM coupled to such an external trace port belongs
in the board-specific configuration file.
@item
If the CPU doesn't provide an external interface, it probably
has an ``Embedded Trace Buffer'' (ETB) on the chip, which is a
dedicated SRAM.  4KBytes is one common ETB size.
Configuring an ETM coupled only to an ETB belongs in the CPU-specific
(target) configuration file, since it works the same on all boards.
@end itemize

ETM support in OpenOCD doesn't seem to be widely used yet.

@quotation Issues
ETM support may be buggy, and at least some @command{etm config}
parameters should be detected by asking the ETM for them.
It seems like a GDB hookup should be possible,
as well as triggering trace on specific events
(perhaps @emph{handling IRQ 23} or @emph{calls foo()}).
There should be GUI tools to manipulate saved trace data and help
analyse it in conjunction with the source code.
It's unclear how much of a common interface is shared
with the current XScale trace support, or should be
shared with eventual Nexus-style trace module support.
@end quotation

@subsection ETM Configuration
ETM setup is coupled with the trace port driver configuration.

@deffn {Config Command} {etm config} target width mode clocking driver
Declares the ETM associated with @var{target}, and associates it
with a given trace port @var{driver}.  @xref{Trace Port Drivers}.

Several of the parameters must reflect the trace port configuration.
The @var{width} must be either 4, 8, or 16.
The @var{mode} must be @option{normal}, @option{multiplexted},
or @option{demultiplexted}.
The @var{clocking} must be @option{half} or @option{full}.

@quotation Note
You can see the ETM registers using the @command{reg} command, although
not all of those possible registers are present in every ETM.
@end quotation
@end deffn

@deffn Command {etm info}
Displays information about the current target's ETM.
@end deffn

@deffn Command {etm status}
Displays status of the current target's ETM:
is the ETM idle, or is it collecting data?
Did trace data overflow?
Was it triggered?
@end deffn

@deffn Command {etm tracemode} [type context_id_bits cycle_accurate branch_output]
Displays what data that ETM will collect.
If arguments are provided, first configures that data.
When the configuration changes, tracing is stopped
and any buffered trace data is invalidated.

@itemize
@item @var{type} ... one of
@option{none} (save nothing),
@option{data} (save data),
@option{address} (save addresses),
@option{all} (save data and addresses)
@item @var{context_id_bits} ... 0, 8, 16, or 32
@item @var{cycle_accurate} ...  @option{enable} or @option{disable}
@item @var{branch_output} ...  @option{enable} or @option{disable}
@end itemize
@end deffn

@deffn Command {etm trigger_percent} percent
@emph{Buggy and effectively a NOP ... @var{percent} from 2..100}
@end deffn

@subsection ETM Trace Operation

After setting up the ETM, you can use it to collect data.
That data can be exported to files for later analysis.
It can also be parsed with OpenOCD, for basic sanity checking.

@deffn Command {etm analyze}
Reads trace data into memory, if it wasn't already present.
Decodes and prints the data that was collected.
@end deffn

@deffn Command {etm dump} filename
Stores the captured trace data in @file{filename}.
@end deffn

@deffn Command {etm image} filename [base_address] [type]
Opens an image file.
@end deffn

@deffn Command {etm load} filename
Loads captured trace data from @file{filename}.
@end deffn

@deffn Command {etm start}
Starts trace data collection.
@end deffn

@deffn Command {etm stop}
Stops trace data collection.
@end deffn

@anchor{Trace Port Drivers}
@subsection Trace Port Drivers

To use an ETM trace port it must be associated with a driver.

@deffn {Trace Port Driver} dummy
Use the @option{dummy} driver if you are configuring an ETM that's
not connected to anything (on-chip ETB or off-chip trace connector).
@emph{This driver lets OpenOCD talk to the ETM, but it does not expose
any trace data collection.}
@deffn {Config Command} {etm_dummy config} target
Associates the ETM for @var{target} with a dummy driver.
@end deffn
@end deffn

@deffn {Trace Port Driver} etb
Use the @option{etb} driver if you are configuring an ETM
to use on-chip ETB memory.
@deffn {Config Command} {etb config} target etb_tap
Associates the ETM for @var{target} with the ETB at @var{etb_tap}.
You can see the ETB registers using the @command{reg} command.
@end deffn
@end deffn

@deffn {Trace Port Driver} oocd_trace
This driver isn't available unless OpenOCD was explicitly configured
with the @option{--enable-oocd_trace} option.  You probably don't want
to configure it unless you've built the appropriate prototype hardware;
it's @emph{proof-of-concept} software.

Use the @option{oocd_trace} driver if you are configuring an ETM that's
connected to an off-chip trace connector.

@deffn {Config Command} {oocd_trace config} target tty
Associates the ETM for @var{target} with a trace driver which
collects data through the serial port @var{tty}.
@end deffn

@deffn Command {oocd_trace resync}
Re-synchronizes with the capture clock.
@end deffn

@deffn Command {oocd_trace status}
Reports whether the capture clock is locked or not.
@end deffn
@end deffn


@section ARMv4 and ARMv5 Architecture
@cindex ARMv4 specific commands
@cindex ARMv5 specific commands

These commands are specific to ARM architecture v4 and v5,
including all ARM7 or ARM9 systems and Intel XScale.
They are available in addition to other core-specific
commands that may be available.

@deffn Command {armv4_5 core_state} [arm|thumb]
Displays the core_state, optionally changing it to process
either @option{arm} or @option{thumb} instructions.
The target may later be resumed in the currently set core_state.
(Processors may also support the Jazelle state, but
that is not currently supported in OpenOCD.)
@end deffn

@deffn Command {armv4_5 disassemble} address count [thumb]
@cindex disassemble
Disassembles @var{count} instructions starting at @var{address}.
If @option{thumb} is specified, Thumb (16-bit) instructions are used;
else ARM (32-bit) instructions are used.
(Processors may also support the Jazelle state, but
those instructions are not currently understood by OpenOCD.)
@end deffn

@deffn Command {armv4_5 reg}
Display a list of all banked core registers, fetching the current value from every
core mode if necessary. OpenOCD versions before rev. 60 didn't fetch the current
register value. 
@end deffn

@subsection ARM7 and ARM9 specific commands
@cindex ARM7 specific commands
@cindex ARM9 specific commands

These commands are specific to ARM7 and ARM9 cores, like ARM7TDMI, ARM720T,
ARM9TDMI, ARM920T or ARM926EJ-S.
They are available in addition to the ARMv4/5 commands,
and any other core-specific commands that may be available.

@deffn Command {arm7_9 dbgrq} (enable|disable)
Control use of the EmbeddedIce DBGRQ signal to force entry into debug mode,
instead of breakpoints.  This should be
safe for all but ARM7TDMI--S cores (like Philips LPC). 
@end deffn

@deffn Command {arm7_9 dcc_downloads} (enable|disable)
@cindex DCC
Control the use of the debug communications channel (DCC) to write larger (>128 byte)
amounts of memory. DCC downloads offer a huge speed increase, but might be
unsafe, especially with targets running at very low speeds. This command was introduced
with OpenOCD rev. 60, and requires a few bytes of working area.
@end deffn

@anchor{arm7_9 fast_memory_access}
@deffn Command {arm7_9 fast_memory_access} (enable|disable)
Enable or disable memory writes and reads that don't check completion of
the operation. This provides a huge speed increase, especially with USB JTAG
cables (FT2232), but might be unsafe if used with targets running at very low
speeds, like the 32kHz startup clock of an AT91RM9200. 
@end deffn

@deffn {Debug Command} {arm7_9 write_core_reg} num mode word
@emph{This is intended for use while debugging OpenOCD; you probably
shouldn't use it.}

Writes a 32-bit @var{word} to register @var{num} (from 0 to 16)
as used in the specified @var{mode}
(where e.g. mode 16 is "user" and mode 19 is "supervisor";
the M4..M0 bits of the PSR).
Registers 0..15 are the normal CPU registers such as r0(0), r1(1) ... pc(15).
Register 16 is the mode-specific SPSR,
unless the specified mode is 0xffffffff (32-bit all-ones)
in which case register 16 is the CPSR.
The write goes directly to the CPU, bypassing the register cache.
@end deffn

@deffn {Debug Command} {arm7_9 write_xpsr} word (0|1)
@emph{This is intended for use while debugging OpenOCD; you probably
shouldn't use it.}

If the second parameter is zero, writes @var{word} to the
Current Program Status register (CPSR).
Else writes @var{word} to the current mode's Saved PSR (SPSR).
In both cases, this bypasses the register cache.
@end deffn

@deffn {Debug Command} {arm7_9 write_xpsr_im8} byte rotate (0|1)
@emph{This is intended for use while debugging OpenOCD; you probably
shouldn't use it.}

Writes eight bits to the CPSR or SPSR,
first rotating them by @math{2*rotate} bits,
and bypassing the register cache.
This has lower JTAG overhead than writing the entire CPSR or SPSR
with @command{arm7_9 write_xpsr}.
@end deffn

@subsection ARM720T specific commands
@cindex ARM720T specific commands

These commands are available to ARM720T based CPUs,
which are implementations of the ARMv4T architecture
based on the ARM7TDMI-S integer core.
They are available in addition to the ARMv4/5 and ARM7/ARM9 commands.

@deffn Command {arm720t cp15} regnum [value]
Display cp15 register @var{regnum};
else if a @var{value} is provided, that value is written to that register.
@end deffn

@deffn Command {arm720t mdw_phys} addr [count]
@deffnx Command {arm720t mdh_phys} addr [count]
@deffnx Command {arm720t mdb_phys} addr [count]
Display contents of physical address @var{addr}, as
32-bit words (@command{mdw_phys}), 16-bit halfwords (@command{mdh_phys}),
or 8-bit bytes (@command{mdb_phys}).
If @var{count} is specified, displays that many units.
@end deffn

@deffn Command {arm720t mww_phys} addr word
@deffnx Command {arm720t mwh_phys} addr halfword
@deffnx Command {arm720t mwb_phys} addr byte
Writes the specified @var{word} (32 bits),
@var{halfword} (16 bits), or @var{byte} (8-bit) pattern,
at the specified physical address @var{addr}.
@end deffn

@deffn Command {arm720t virt2phys} va
Translate a virtual address @var{va} to a physical address
and display the result.
@end deffn

@subsection ARM9TDMI specific commands
@cindex ARM9TDMI specific commands

Many ARM9-family CPUs are built around ARM9TDMI integer cores,
or processors resembling ARM9TDMI, and can use these commands.
Such cores include the ARM920T, ARM926EJ-S, and ARM966.

@deffn Command {arm9tdmi vector_catch} (all|none|list)
Catch arm9 interrupt vectors, can be @option{all}, @option{none},
or a list with one or more of the following:
@option{reset} @option{undef} @option{swi} @option{pabt} @option{dabt} @option{reserved}
@option{irq} @option{fiq}.
@end deffn

@subsection ARM920T specific commands
@cindex ARM920T specific commands

These commands are available to ARM920T based CPUs,
which are implementations of the ARMv4T architecture
built using the ARM9TDMI integer core.
They are available in addition to the ARMv4/5, ARM7/ARM9,
and ARM9TDMI commands.

@deffn Command {arm920t cache_info}
Print information about the caches found. This allows to see whether your target
is an ARM920T (2x16kByte cache) or ARM922T (2x8kByte cache).
@end deffn

@deffn Command {arm920t cp15} regnum [value]
Display cp15 register @var{regnum};
else if a @var{value} is provided, that value is written to that register.
@end deffn

@deffn Command {arm920t cp15i} opcode [value [address]]
Interpreted access using cp15 @var{opcode}.
If no @var{value} is provided, the result is displayed.
Else if that value is written using the specified @var{address},
or using zero if no other address is not provided.
@end deffn

@deffn Command {arm920t mdw_phys} addr [count]
@deffnx Command {arm920t mdh_phys} addr [count]
@deffnx Command {arm920t mdb_phys} addr [count]
Display contents of physical address @var{addr}, as
32-bit words (@command{mdw_phys}), 16-bit halfwords (@command{mdh_phys}),
or 8-bit bytes (@command{mdb_phys}).
If @var{count} is specified, displays that many units.
@end deffn

@deffn Command {arm920t mww_phys} addr word
@deffnx Command {arm920t mwh_phys} addr halfword
@deffnx Command {arm920t mwb_phys} addr byte
Writes the specified @var{word} (32 bits),
@var{halfword} (16 bits), or @var{byte} (8-bit) pattern,
at the specified physical address @var{addr}.
@end deffn

@deffn Command {arm920t read_cache} filename
Dump the content of ICache and DCache to a file named @file{filename}.
@end deffn

@deffn Command {arm920t read_mmu} filename
Dump the content of the ITLB and DTLB to a file named @file{filename}.
@end deffn

@deffn Command {arm920t virt2phys} @var{va}
Translate a virtual address @var{va} to a physical address
and display the result.
@end deffn

@subsection ARM926EJ-S specific commands
@cindex ARM926EJ-S specific commands

These commands are available to ARM926EJ-S based CPUs,
which are implementations of the ARMv5TEJ architecture
based on the ARM9EJ-S integer core.
They are available in addition to the ARMv4/5, ARM7/ARM9,
and ARM9TDMI commands.

@deffn Command {arm926ejs cache_info}
Print information about the caches found.
@end deffn

@deffn Command {arm926ejs cp15} opcode1 opcode2 CRn CRm regnum [value]
Accesses cp15 register @var{regnum} using
@var{opcode1}, @var{opcode2}, @var{CRn}, and @var{CRm}.
If a @var{value} is provided, that value is written to that register.
Else that register is read and displayed.
@end deffn

@deffn Command {arm926ejs mdw_phys} addr [count]
@deffnx Command {arm926ejs mdh_phys} addr [count]
@deffnx Command {arm926ejs mdb_phys} addr [count]
Display contents of physical address @var{addr}, as
32-bit words (@command{mdw_phys}), 16-bit halfwords (@command{mdh_phys}),
or 8-bit bytes (@command{mdb_phys}).
If @var{count} is specified, displays that many units.
@end deffn

@deffn Command {arm926ejs mww_phys} addr word
@deffnx Command {arm926ejs mwh_phys} addr halfword
@deffnx Command {arm926ejs mwb_phys} addr byte
Writes the specified @var{word} (32 bits),
@var{halfword} (16 bits), or @var{byte} (8-bit) pattern,
at the specified physical address @var{addr}.
@end deffn

@deffn Command {arm926ejs virt2phys} @var{va}
Translate a virtual address @var{va} to a physical address
and display the result.
@end deffn

@subsection ARM966E specific commands
@cindex ARM966E specific commands

These commands are available to ARM966 based CPUs,
which are implementations of the ARMv5TE architecture.
They are available in addition to the ARMv4/5, ARM7/ARM9,
and ARM9TDMI commands.

@deffn Command {arm966e cp15} regnum [value]
Display cp15 register @var{regnum};
else if a @var{value} is provided, that value is written to that register.
@end deffn

@subsection XScale specific commands
@cindex XScale specific commands

These commands are available to XScale based CPUs,
which are implementations of the ARMv5TE architecture.

@deffn Command {xscale analyze_trace}
Displays the contents of the trace buffer.
@end deffn

@deffn Command {xscale cache_clean_address} address
Changes the address used when cleaning the data cache.
@end deffn

@deffn Command {xscale cache_info}
Displays information about the CPU caches.
@end deffn

@deffn Command {xscale cp15} regnum [value]
Display cp15 register @var{regnum};
else if a @var{value} is provided, that value is written to that register.
@end deffn

@deffn Command {xscale debug_handler} target address
Changes the address used for the specified target's debug handler.
@end deffn

@deffn Command {xscale dcache} (enable|disable)
Enables or disable the CPU's data cache.
@end deffn

@deffn Command {xscale dump_trace} filename
Dumps the raw contents of the trace buffer to @file{filename}.
@end deffn

@deffn Command {xscale icache} (enable|disable)
Enables or disable the CPU's instruction cache.
@end deffn

@deffn Command {xscale mmu} (enable|disable)
Enables or disable the CPU's memory management unit.
@end deffn

@deffn Command {xscale trace_buffer} (enable|disable) [fill [n] | wrap]
Enables or disables the trace buffer,
and controls how it is emptied.
@end deffn

@deffn Command {xscale trace_image} filename [offset [type]]
Opens a trace image from @file{filename}, optionally rebasing
its segment addresses by @var{offset}.
The image @var{type} may be one of
@option{bin} (binary), @option{ihex} (Intel hex),
@option{elf} (ELF file), @option{s19} (Motorola s19),
@option{mem}, or @option{builder}.
@end deffn

@deffn Command {xscale vector_catch} mask
Provide a bitmask showing the vectors to catch.
@end deffn

@section ARMv6 Architecture

@subsection ARM11 specific commands
@cindex ARM11 specific commands

@deffn Command {arm11 mcr} p1 p2 p3 p4 p5
Read coprocessor register
@end deffn

@deffn Command {arm11 memwrite burst} [value]
Displays the value of the memwrite burst-enable flag,
which is enabled by default.
If @var{value} is defined, first assigns that.
@end deffn

@deffn Command {arm11 memwrite error_fatal} [value]
Displays the value of the memwrite error_fatal flag,
which is enabled by default.
If @var{value} is defined, first assigns that.
@end deffn

@deffn Command {arm11 mrc} p1 p2 p3 p4 p5 value
Write coprocessor register
@end deffn

@deffn Command {arm11 no_increment}  [value]
Displays the value of the flag controlling whether
some read or write operations increment the pointer
(the default behavior) or not (acting like a FIFO).
If @var{value} is defined, first assigns that.
@end deffn

@deffn Command {arm11 step_irq_enable}  [value]
Displays the value of the flag controlling whether
IRQs are enabled during single stepping;
they is disabled by default.
If @var{value} is defined, first assigns that.
@end deffn

@section ARMv7 Architecture

@subsection ARMv7 Debug Access Port (DAP) specific commands
@cindex ARMv7 Debug Access Port (DAP) specific commands
These commands are specific to ARM architecture v7 Debug Access Port (DAP),
included on cortex-m3 and cortex-a8 systems.
They are available in addition to other core-specific commands that may be available.

@deffn Command {dap info} [num]
Displays dap info for ap [num], default currently selected AP.
@end deffn

@deffn Command {dap apsel} [num]
Select a different AP [num] (default 0).
@end deffn

@deffn Command {dap apid} [num]
Displays id reg from AP [num], default currently selected AP.
@end deffn

@deffn Command {dap baseaddr} [num]
Displays debug base address from AP [num], default currently selected AP.
@end deffn

@deffn Command {dap memaccess} [value]
Displays the number of extra tck for mem-ap memory bus access [0-255].
If value is defined, first assigns that.
@end deffn

@subsection Cortex-M3 specific commands
@cindex Cortex-M3 specific commands

@deffn Command {cortex_m3 maskisr} (on|off)
Control masking (disabling) interrupts during target step/resume.
@end deffn

@section Target DCC Requests
@cindex Linux-ARM DCC support
@cindex libdcc
@cindex DCC
OpenOCD can handle certain target requests; currently debugmsgs
@command{target_request debugmsgs}
are only supported for arm7_9 and cortex_m3.

See libdcc in the contrib dir for more details.
Linux-ARM kernels have a ``Kernel low-level debugging
via EmbeddedICE DCC channel'' option (CONFIG_DEBUG_ICEDCC,
depends on CONFIG_DEBUG_LL) which uses this mechanism to
deliver messages before a serial console can be activated.

@deffn Command {target_request debugmsgs} [enable|disable|charmsg]
Displays current handling of target DCC message requests.
These messages may be sent to the debugger while the target is running.
The optional @option{enable} and @option{charmsg} parameters
both enable the messages, while @option{disable} disables them.
With @option{charmsg} the DCC words each contain one character,
as used by Linux with CONFIG_DEBUG_ICEDCC;
otherwise the libdcc format is used.
@end deffn

@node JTAG Commands
@chapter JTAG Commands
@cindex JTAG Commands
Most general purpose JTAG commands have been presented earlier.
(@xref{JTAG Speed}, @ref{Reset Configuration}, and @ref{TAP Creation}.)
Lower level JTAG commands, as presented here,
may be needed to work with targets which require special
attention during operations such as reset or initialization.

To use these commands you will need to understand some
of the basics of JTAG, including:

@itemize @bullet
@item A JTAG scan chain consists of a sequence of individual TAP
devices such as a CPUs.
@item Control operations involve moving each TAP through the same
standard state machine (in parallel)
using their shared TMS and clock signals.
@item Data transfer involves shifting data through the chain of
instruction or data registers of each TAP, writing new register values
while the reading previous ones.
@item Data register sizes are a function of the instruction active in
a given TAP, while instruction register sizes are fixed for each TAP.
All TAPs support a BYPASS instruction with a single bit data register.
@item The way OpenOCD differentiates between TAP devices is by
shifting different instructions into (and out of) their instruction
registers.
@end itemize

@section Low Level JTAG Commands

These commands are used by developers who need to access
JTAG instruction or data registers, possibly controlling
the order of TAP state transitions.
If you're not debugging OpenOCD internals, or bringing up a
new JTAG adapter or a new type of TAP device (like a CPU or
JTAG router), you probably won't need to use these commands.

@deffn Command {drscan} tap [numbits value]+ [@option{-endstate} tap_state]
Loads the data register of @var{tap} with a series of bit fields
that specify the entire register.
Each field is @var{numbits} bits long with
a numeric @var{value} (hexadecimal encouraged).
The return value holds the original value of each
of those fields.

For example, a 38 bit number might be specified as one
field of 32 bits then one of 6 bits.
@emph{For portability, never pass fields which are more
than 32 bits long.  Many OpenOCD implementations do not
support 64-bit (or larger) integer values.}

All TAPs other than @var{tap} must be in BYPASS mode.
The single bit in their data registers does not matter.

When @var{tap_state} is specified, the JTAG state machine is left
in that state.
For example @sc{drpause} might be specified, so that more
instructions can be issued before re-entering the @sc{run/idle} state.
If the end state is not specified, the @sc{run/idle} state is entered.

@quotation Warning
OpenOCD does not record information about data register lengths,
so @emph{it is important that you get the bit field lengths right}.
Remember that different JTAG instructions refer to different
data registers, which may have different lengths.
Moreover, those lengths may not be fixed;
the SCAN_N instruction can change the length of
the register accessed by the INTEST instruction
(by connecting a different scan chain).
@end quotation
@end deffn

@deffn Command {flush_count}
Returns the number of times the JTAG queue has been flushed.
This may be used for performance tuning.

For example, flushing a queue over USB involves a
minimum latency, often several milliseconds, which does
not change with the amount of data which is written.
You may be able to identify performance problems by finding
tasks which waste bandwidth by flushing small transfers too often,
instead of batching them into larger operations.
@end deffn

@deffn Command {endstate} tap_state
Flush any pending JTAG operations,
and return with all TAPs in @var{tap_state}.
This state should be a stable state such as @sc{reset},
@sc{run/idle},
@sc{drpause}, or @sc{irpause}.
@end deffn

@deffn Command {irscan} [tap instruction]+ [@option{-endstate} tap_state]
For each @var{tap} listed, loads the instruction register
with its associated numeric @var{instruction}.
(The number of bits in that instruction may be displayed
using the @command{scan_chain} command.)
For other TAPs, a BYPASS instruction is loaded.

When @var{tap_state} is specified, the JTAG state machine is left
in that state.
For example @sc{irpause} might be specified, so the data register
can be loaded before re-entering the @sc{run/idle} state.
If the end state is not specified, the @sc{run/idle} state is entered.

@quotation Note
OpenOCD currently supports only a single field for instruction
register values, unlike data register values.
For TAPs where the instruction register length is more than 32 bits,
portable scripts currently must issue only BYPASS instructions.
@end quotation
@end deffn

@deffn Command {jtag_reset} trst srst
Set values of reset signals.
The @var{trst} and @var{srst} parameter values may be
@option{0}, indicating that reset is inactive (pulled or driven high),
or @option{1}, indicating it is active (pulled or driven low).
The @command{reset_config} command should already have been used
to configure how the board and JTAG adapter treat these two
signals, and to say if either signal is even present.
@xref{Reset Configuration}.
@end deffn

@deffn Command {runtest} @var{num_cycles}
Move to the @sc{run/idle} state, and execute at least
@var{num_cycles} of the JTAG clock (TCK).
Instructions often need some time
to execute before they take effect.
@end deffn

@deffn Command {scan_chain}
Displays the TAPs in the scan chain configuration,
and their status.
The set of TAPs listed by this command is fixed by
exiting the OpenOCD configuration stage,
but systems with a JTAG router can
enable or disable TAPs dynamically.
In addition to the enable/disable status, the contents of
each TAP's instruction register can also change.
@end deffn

@c tms_sequence (short|long)
@c ... temporary, debug-only, probably gone before 0.2 ships

@deffn Command {verify_ircapture} (@option{enable}|@option{disable})
Verify values captured during @sc{ircapture} and returned
during IR scans.  Default is enabled, but this can be
overridden by @command{verify_jtag}.
@end deffn

@deffn Command {verify_jtag} (@option{enable}|@option{disable})
Enables verification of DR and IR scans, to help detect
programming errors.  For IR scans, @command{verify_ircapture}
must also be enabled.
Default is enabled.
@end deffn

@section TAP state names
@cindex TAP state names

The @var{tap_state} names used by OpenOCD in the @command{drscan},
@command{endstate}, and @command{irscan} commands are:

@itemize @bullet
@item @b{RESET}
@item @b{RUN/IDLE}
@item @b{DRSELECT}
@item @b{DRCAPTURE}
@item @b{DRSHIFT}
@item @b{DREXIT1}
@item @b{DRPAUSE}
@item @b{DREXIT2}
@item @b{DRUPDATE}
@item @b{IRSELECT}
@item @b{IRCAPTURE}
@item @b{IRSHIFT}
@item @b{IREXIT1}
@item @b{IRPAUSE}
@item @b{IREXIT2}
@item @b{IRUPDATE}
@end itemize

Note that only six of those states are fully ``stable'' in the
face of TMS fixed and a free-running JTAG clock; for all the
others, the next TCK transition changes to a new state.

@itemize @bullet
@item @sc{reset} is probably most useful with @command{endstate},
but entering it frequently has side effects.
(This is the only stable state with TMS high.)
@item From @sc{drshift} and @sc{irshift}, clock transitions will
produce side effects by changing register contents.  The values
to be latched in upcoming @sc{drupdate} or @sc{irupdate} states
may not be as expected.
@item @sc{run/idle}, @sc{drpause}, and @sc{irpause} are reasonable
choices after @command{drscan} or @command{irscan} commands,
since they are free of side effects.
@end itemize

@node TFTP
@chapter TFTP
@cindex TFTP
If OpenOCD runs on an embedded host(as ZY1000 does), then TFTP can
be used to access files on PCs (either the developer's PC or some other PC).

The way this works on the ZY1000 is to prefix a filename by
"/tftp/ip/" and append the TFTP path on the TFTP
server (tftpd). For example,

@example
load_image /tftp/10.0.0.96/c:\temp\abc.elf
@end example

will load c:\temp\abc.elf from the developer pc (10.0.0.96) into memory as
if the file was hosted on the embedded host.

In order to achieve decent performance, you must choose a TFTP server
that supports a packet size bigger than the default packet size (512 bytes). There
are numerous TFTP servers out there (free and commercial) and you will have to do
a bit of googling to find something that fits your requirements.

@node Sample Scripts
@chapter Sample Scripts
@cindex scripts

This page shows how to use the Target Library.

The configuration script can be divided into the following sections:
@itemize @bullet
@item Daemon configuration
@item Interface
@item JTAG scan chain
@item Target configuration
@item Flash configuration 
@end itemize

Detailed information about each section can be found at OpenOCD configuration. 

@section AT91R40008 example
@cindex AT91R40008 example
To start OpenOCD with a target script for the AT91R40008 CPU and reset
the CPU upon startup of the OpenOCD daemon.
@example
openocd -f interface/parport.cfg -f target/at91r40008.cfg \
        -c "init" -c "reset"
@end example


@node GDB and OpenOCD
@chapter GDB and OpenOCD
@cindex GDB
OpenOCD complies with the remote gdbserver protocol, and as such can be used
to debug remote targets.

@anchor{Connecting to GDB}
@section Connecting to GDB
@cindex Connecting to GDB
Use GDB 6.7 or newer with OpenOCD if you run into trouble. For
instance GDB 6.3 has a known bug that produces bogus memory access
errors, which has since been fixed: look up 1836 in
@url{http://sourceware.org/cgi-bin/gnatsweb.pl?database=gdb}

OpenOCD can communicate with GDB in two ways:

@enumerate
@item
A socket (TCP/IP) connection is typically started as follows:
@example
target remote localhost:3333
@end example
This would cause GDB to connect to the gdbserver on the local pc using port 3333.
@item
A pipe connection is typically started as follows:
@example
target remote | openocd --pipe
@end example
This would cause GDB to run OpenOCD and communicate using pipes (stdin/stdout).
Using this method has the advantage of GDB starting/stopping OpenOCD for the debug
session.
@end enumerate

To list the available OpenOCD commands type @command{monitor help} on the
GDB command line.

OpenOCD supports the gdb @option{qSupported} packet, this enables information
to be sent by the GDB remote server (i.e. OpenOCD) to GDB. Typical information includes
packet size and the device's memory map.

Previous versions of OpenOCD required the following GDB options to increase
the packet size and speed up GDB communication:
@example
set remote memory-write-packet-size 1024
set remote memory-write-packet-size fixed
set remote memory-read-packet-size 1024
set remote memory-read-packet-size fixed
@end example
This is now handled in the @option{qSupported} PacketSize and should not be required.

@section Programming using GDB
@cindex Programming using GDB

By default the target memory map is sent to GDB. This can be disabled by
the following OpenOCD configuration option:
@example
gdb_memory_map disable
@end example
For this to function correctly a valid flash configuration must also be set
in OpenOCD. For faster performance you should also configure a valid 
working area.

Informing GDB of the memory map of the target will enable GDB to protect any
flash areas of the target and use hardware breakpoints by default. This means
that the OpenOCD option @command{gdb_breakpoint_override} is not required when
using a memory map. @xref{gdb_breakpoint_override}.

To view the configured memory map in GDB, use the GDB command @option{info mem}
All other unassigned addresses within GDB are treated as RAM.

GDB 6.8 and higher set any memory area not in the memory map as inaccessible.
This can be changed to the old behaviour by using the following GDB command
@example
set mem inaccessible-by-default off
@end example

If @command{gdb_flash_program enable} is also used, GDB will be able to
program any flash memory using the vFlash interface.

GDB will look at the target memory map when a load command is given, if any
areas to be programmed lie within the target flash area the vFlash packets
will be used.

If the target needs configuring before GDB programming, an event
script can be executed:
@example
$_TARGETNAME configure -event EVENTNAME BODY
@end example

To verify any flash programming the GDB command @option{compare-sections}
can be used.

@node Tcl Scripting API
@chapter Tcl Scripting API
@cindex Tcl Scripting API
@cindex Tcl scripts
@section API rules

The commands are stateless. E.g. the telnet command line has a concept
of currently active target, the Tcl API proc's take this sort of state
information as an argument to each proc.

There are three main types of return values: single value, name value
pair list and lists. 

Name value pair. The proc 'foo' below returns a name/value pair
list. 

@verbatim

 >  set foo(me)  Duane
 >  set foo(you) Oyvind
 >  set foo(mouse) Micky
 >  set foo(duck) Donald

If one does this:

 >  set foo

The result is:

    me Duane you Oyvind mouse Micky duck Donald

Thus, to get the names of the associative array is easy:

     foreach  { name value }   [set foo]   {
                puts "Name: $name, Value: $value"
     }
@end verbatim
 
Lists returned must be relatively small. Otherwise a range
should be passed in to the proc in question.

@section Internal low-level Commands

By low-level, the intent is a human would not directly use these commands.

Low-level commands are (should be) prefixed with "ocd_", e.g.
@command{ocd_flash_banks}
is the low level API upon which @command{flash banks} is implemented.

@itemize @bullet
@item @b{ocd_mem2array} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>

Read memory and return as a Tcl array for script processing
@item @b{ocd_array2mem} <@var{varname}> <@var{width}> <@var{addr}> <@var{nelems}>

Convert a Tcl array to memory locations and write the values
@item @b{ocd_flash_banks} <@var{driver}> <@var{base}> <@var{size}> <@var{chip_width}> <@var{bus_width}> <@var{target}> [@option{driver options} ...]

Return information about the flash banks
@end itemize

OpenOCD commands can consist of two words, e.g. "flash banks". The
startup.tcl "unknown" proc will translate this into a Tcl proc
called "flash_banks".

@section OpenOCD specific Global Variables

@subsection HostOS

Real Tcl has ::tcl_platform(), and platform::identify, and many other
variables. JimTCL, as implemented in OpenOCD creates $HostOS which
holds one of the following values:

@itemize @bullet 
@item @b{winxx}    Built using Microsoft Visual Studio
@item @b{linux}    Linux is the underlying operating sytem
@item @b{darwin}   Darwin (mac-os) is the underlying operating sytem.
@item @b{cygwin}   Running under Cygwin
@item @b{mingw32}  Running under MingW32
@item @b{other}    Unknown, none of the above.
@end itemize

Note: 'winxx' was choosen 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

@node Upgrading
@chapter Deprecated/Removed Commands
@cindex Deprecated/Removed Commands
Certain OpenOCD commands have been deprecated or
removed during the various revisions.

Upgrade your scripts as soon as possible.
These descriptions for old commands may be removed
a year after the command itself was removed.
This means that in January 2010 this chapter may
become much shorter.

@itemize @bullet
@item @b{arm7_9 fast_writes}
@cindex arm7_9 fast_writes
@*Use @command{arm7_9 fast_memory_access} instead.
@xref{arm7_9 fast_memory_access}.
@item @b{arm7_9 force_hw_bkpts}
@*Use @command{gdb_breakpoint_override} instead. Note that GDB will use hardware breakpoints
for flash if the GDB memory map has been set up(default when flash is declared in
target configuration). @xref{gdb_breakpoint_override}.
@item @b{arm7_9 sw_bkpts}
@*On by default. @xref{gdb_breakpoint_override}.
@item @b{daemon_startup}
@*this config option has been removed, simply adding @option{init} and @option{reset halt} to
the end of your config script will give the same behaviour as using @option{daemon_startup reset}
and @option{target cortex_m3 little reset_halt 0}.
@item @b{dump_binary}
@*use @option{dump_image} command with same args. @xref{dump_image}.
@item @b{flash erase}
@*use @option{flash erase_sector} command with same args. @xref{flash erase_sector}.
@item @b{flash write}
@*use @option{flash write_bank} command with same args. @xref{flash write_bank}.
@item @b{flash write_binary}
@*use @option{flash write_bank} command with same args. @xref{flash write_bank}.
@item @b{flash auto_erase}
@*use @option{flash write_image} command passing @option{erase} as the first parameter. @xref{flash write_image}.

@item @b{jtag_device}
@*use the @command{jtag newtap} command, converting from positional syntax
to named prefixes, and naming the TAP.
@xref{jtag newtap}.
Note that if you try to use the old command, a message will tell you the
right new command to use; and that the fourth parameter in the old syntax
was never actually used.
@example
OLD: jtag_device 8 0x01 0xe3 0xfe
NEW: jtag newtap CHIPNAME TAPNAME \
           -irlen 8 -ircapture 0x01 -irmask 0xe3
@end example

@item @b{jtag_speed} value
@*@xref{JTAG Speed}.
Usually, a value of zero means maximum
speed. The actual effect of this option depends on the JTAG interface used.
@itemize @minus
@item wiggler: maximum speed / @var{number}
@item ft2232: 6MHz / (@var{number}+1)
@item amt jtagaccel: 8 / 2**@var{number}
@item jlink: maximum speed in kHz (0-12000), 0 will use RTCK
@item rlink: 24MHz / @var{number}, but only for certain values of @var{number}
@comment end speed list.
@end itemize

@item @b{load_binary}
@*use @option{load_image} command with same args. @xref{load_image}.
@item @b{run_and_halt_time}
@*This command has been removed for simpler reset behaviour, it can be simulated with the
following commands:
@smallexample
reset run
sleep 100
halt
@end smallexample
@item @b{target} <@var{type}> <@var{endian}> <@var{jtag-position}>
@*use the create subcommand of @option{target}.
@item @b{target_script} <@var{target#}> <@var{eventname}> <@var{scriptname}>
@*use <@var{target_name}> configure -event <@var{eventname}> "script <@var{scriptname}>"
@item @b{working_area}
@*use the @option{configure} subcommand of @option{target} to set the work-area-virt, work-area-phy, work-area-size, and work-area-backup properties of the target.
@end itemize

@node FAQ
@chapter FAQ
@cindex faq
@enumerate
@anchor{FAQ RTCK}
@item @b{RTCK, also known as: Adaptive Clocking - What is it?}
@cindex RTCK
@cindex adaptive clocking
@*

In digital circuit design it is often refered to as ``clock
synchronisation'' the JTAG interface uses one clock (TCK or TCLK)
operating at some speed, your target is operating at another.  The two
clocks are not synchronised, they are ``asynchronous''

In order for the two to work together they must be synchronised. Otherwise
the two systems will get out of sync with each other and nothing will
work. There are 2 basic options:
@enumerate
@item
Use a special circuit.
@item
One clock must be some multiple slower than the other.
@end enumerate

@b{Does this really matter?} For some chips and some situations, this
is a non-issue (i.e.: A 500MHz ARM926) but for others - for example some
Atmel SAM7 and SAM9 chips start operation from reset at 32kHz -
program/enable the oscillators and eventually the main clock. It is in
those critical times you must slow the JTAG clock to sometimes 1 to
4kHz.

Imagine debugging a 500MHz ARM926 hand held battery powered device
that ``deep sleeps'' at 32kHz between every keystroke. It can be
painful.

@b{Solution #1 - A special circuit} 

In order to make use of this, your JTAG dongle must support the RTCK
feature. Not all dongles support this - keep reading!

The RTCK signal often found in some ARM chips is used to help with
this problem. ARM has a good description of the problem described at
this link: @url{http://www.arm.com/support/faqdev/4170.html} [checked
28/nov/2008]. Link title: ``How does the JTAG synchronisation logic
work? / how does adaptive clocking work?''.

The nice thing about adaptive clocking is that ``battery powered hand
held device example'' - the adaptiveness works perfectly all the
time. One can set a break point or halt the system in the deep power
down code, slow step out until the system speeds up.

@b{Solution #2 - Always works - but may be slower}

Often this is a perfectly acceptable solution.

In most simple terms: Often the JTAG clock must be 1/10 to 1/12 of
the target clock speed. But what that ``magic division'' is varies
depending on the chips on your board. @b{ARM rule of thumb} Most ARM
based systems require an 8:1 division. @b{Xilinx rule of thumb} is
1/12 the clock speed.

Note: Many FTDI2232C based JTAG dongles are limited to 6MHz.

You can still debug the 'low power' situations - you just need to
manually adjust the clock speed at every step. While painful and
tedious, it is not always practical.

It is however easy to ``code your way around it'' - i.e.: Cheat a little,
have a special debug mode in your application that does a ``high power
sleep''. If you are careful - 98% of your problems can be debugged
this way.

To set the JTAG frequency use the command:

@example
        # Example: 1.234MHz
        jtag_khz 1234
@end example


@item @b{Win32 Pathnames} Why don't backslashes work in Windows paths?

OpenOCD uses Tcl and a backslash is an escape char. Use @{ and @}
around Windows filenames. 

@example
> echo \a

> echo @{\a@}
\a
> echo "\a"

>
@end example


@item @b{Missing: cygwin1.dll} OpenOCD complains about a missing cygwin1.dll.

Make sure you have Cygwin installed, or at least a version of OpenOCD that
claims to come with all the necessary DLLs. When using Cygwin, try launching
OpenOCD from the Cygwin shell.

@item @b{Breakpoint Issue} I'm trying to set a breakpoint using GDB (or a frontend like Insight or
Eclipse), but OpenOCD complains that "Info: arm7_9_common.c:213
arm7_9_add_breakpoint(): sw breakpoint requested, but software breakpoints not enabled".

GDB issues software breakpoints when a normal breakpoint is requested, or to implement
source-line single-stepping. On ARMv4T systems, like ARM7TDMI, ARM720T or ARM920T,
software breakpoints consume one of the two available hardware breakpoints.

@item @b{LPC2000 Flash} When erasing or writing LPC2000 on-chip flash, the operation fails at random.

Make sure the core frequency specified in the @option{flash lpc2000} line matches the
clock at the time you're programming the flash. If you've specified the crystal's
frequency, make sure the PLL is disabled. If you've specified the full core speed
(e.g. 60MHz), make sure the PLL is enabled.

@item @b{Amontec Chameleon} When debugging using an Amontec Chameleon in its JTAG Accelerator configuration,
I keep getting "Error: amt_jtagaccel.c:184 amt_wait_scan_busy(): amt_jtagaccel timed
out while waiting for end of scan, rtck was disabled".

Make sure your PC's parallel port operates in EPP mode. You might have to try several
settings in your PC BIOS (ECP, EPP, and different versions of those).

@item @b{Data Aborts} When debugging with OpenOCD and GDB (plain GDB, Insight, or Eclipse),
I get lots of "Error: arm7_9_common.c:1771 arm7_9_read_memory():
memory read caused data abort". 

The errors are non-fatal, and are the result of GDB trying to trace stack frames
beyond the last valid frame. It might be possible to prevent this by setting up
a proper "initial" stack frame, if you happen to know what exactly has to
be done, feel free to add this here.

@b{Simple:} In your startup code - push 8 registers of zeros onto the
stack before calling main(). What GDB is doing is ``climbing'' the run
time stack by reading various values on the stack using the standard
call frame for the target. GDB keeps going - until one of 2 things
happen @b{#1} an invalid frame is found, or @b{#2} some huge number of
stackframes have been processed. By pushing zeros on the stack, GDB
gracefully stops.

@b{Debugging Interrupt Service Routines} - In your ISR before you call
your C code, do the same - artifically push some zeros onto the stack,
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
bytes. Painful... 


@item @b{JTAG Reset Config} I get the following message in the OpenOCD console (or log file):
"Warning: arm7_9_common.c:679 arm7_9_assert_reset(): srst resets test logic, too".

This warning doesn't indicate any serious problem, as long as you don't want to
debug your core right out of reset. Your .cfg file specified @option{jtag_reset
trst_and_srst srst_pulls_trst} to tell OpenOCD that either your board,
your debugger or your target uC (e.g. LPC2000) can't assert the two reset signals
independently. With this setup, it's not possible to halt the core right out of
reset, everything else should work fine.

@item @b{USB Power} When using OpenOCD in conjunction with Amontec JTAGkey and the Yagarto
toolchain (Eclipse, arm-elf-gcc, arm-elf-gdb), the debugging seems to be
unstable. When single-stepping over large blocks of code, GDB and OpenOCD
quit with an error message. Is there a stability issue with OpenOCD?

No, this is not a stability issue concerning OpenOCD. Most users have solved
this issue by simply using a self-powered USB hub, which they connect their
Amontec JTAGkey to. Apparently, some computers do not provide a USB power
supply stable enough for the Amontec JTAGkey to be operated.

@b{Laptops running on battery have this problem too...}

@item @b{USB Power} When using the Amontec JTAGkey, sometimes OpenOCD crashes with the
following error messages: "Error: ft2232.c:201 ft2232_read(): FT_Read returned:
4" and "Error: ft2232.c:365 ft2232_send_and_recv(): couldn't read from FT2232".
What does that mean and what might be the reason for this?

First of all, the reason might be the USB power supply. Try using a self-powered
hub instead of a direct connection to your computer. Secondly, the error code 4
corresponds to an FT_IO_ERROR, which means that the driver for the FTDI USB
chip ran into some sort of error - this points us to a USB problem.

@item @b{GDB Disconnects} When using the Amontec JTAGkey, sometimes OpenOCD crashes with the following
error message: "Error: gdb_server.c:101 gdb_get_char(): read: 10054".
What does that mean and what might be the reason for this?

Error code 10054 corresponds to WSAECONNRESET, which means that the debugger (GDB)
has closed the connection to OpenOCD. This might be a GDB issue.

@item @b{LPC2000 Flash} In the configuration file in the section where flash device configurations
are described, there is a parameter for specifying the clock frequency
for LPC2000 internal flash devices (e.g.  @option{flash bank lpc2000
0x0 0x40000 0 0 0 lpc2000_v1 14746 calc_checksum}), which must be
specified in kilohertz. However, I do have a quartz crystal of a
frequency that contains fractions of kilohertz (e.g. 14,745,600 Hz,
i.e. 14,745.600 kHz).  Is it possible to specify real numbers for the
clock frequency?

No. The clock frequency specified here must be given as an integral number.
However, this clock frequency is used by the In-Application-Programming (IAP)
routines of the LPC2000 family only, which seems to be very tolerant concerning
the given clock frequency, so a slight difference between the specified clock
frequency and the actual clock frequency will not cause any trouble.

@item @b{Command Order} Do I have to keep a specific order for the commands in the configuration file?

Well, yes and no. Commands can be given in arbitrary order, yet the
devices listed for the JTAG scan chain must be given in the right
order (jtag newdevice), with the device closest to the TDO-Pin being
listed first. In general, whenever objects of the same type exist
which require an index number, then these objects must be given in the
right order (jtag newtap, targets and flash banks - a target
references a jtag newtap and a flash bank references a target).

You can use the ``scan_chain'' command to verify and display the tap order.

Also, some commands can't execute until after @command{init} has been
processed.  Such commands include @command{nand probe} and everything
else that needs to write to controller registers, perhaps for setting
up DRAM and loading it with code.

@item @b{JTAG Tap Order} JTAG tap order - command order

Many newer devices have multiple JTAG taps. For example: ST
Microsystems STM32 chips have two taps, a ``boundary scan tap'' and
``Cortex-M3'' tap.  Example: The STM32 reference manual, Document ID:
RM0008, Section 26.5, Figure 259, page 651/681, the ``TDI'' pin is
connected to the boundary scan tap, which then connects to the
Cortex-M3 tap, which then connects to the TDO pin.

Thus, the proper order for the STM32 chip is: (1) The Cortex-M3, then
(2) The boundary scan tap. If your board includes an additional JTAG
chip in the scan chain (for example a Xilinx CPLD or FPGA) you could
place it before or after the STM32 chip in the chain. For example:

@itemize @bullet
@item OpenOCD_TDI(output) -> STM32 TDI Pin (BS Input)
@item STM32 BS TDO (output) -> STM32 Cortex-M3 TDI (input)
@item STM32 Cortex-M3 TDO (output) -> SM32 TDO Pin
@item STM32 TDO Pin (output) -> Xilinx TDI Pin (input)
@item Xilinx TDO Pin -> OpenOCD TDO (input)
@end itemize

The ``jtag device'' commands would thus be in the order shown below. Note:

@itemize @bullet
@item jtag newtap Xilinx tap -irlen ...
@item jtag newtap stm32  cpu -irlen ...
@item jtag newtap stm32  bs  -irlen ...
@item # Create the debug target and say where it is
@item target create stm32.cpu -chain-position stm32.cpu ...
@end itemize


@item @b{SYSCOMP} Sometimes my debugging session terminates with an error. When I look into the
log file, I can see these error messages: Error: arm7_9_common.c:561
arm7_9_execute_sys_speed(): timeout waiting for SYSCOMP

TODO.

@end enumerate

@node Tcl Crash Course
@chapter Tcl Crash Course
@cindex Tcl 

Not everyone knows Tcl - this is not intended to be a replacement for
learning Tcl, the intent of this chapter is to give you some idea of
how the Tcl scripts work.

This chapter is written with two audiences in mind. (1) OpenOCD users
who need to understand a bit more of how JIM-Tcl works so they can do
something useful, and (2) those that want to add a new command to
OpenOCD.

@section Tcl Rule #1
There is a famous joke, it goes like this:
@enumerate
@item Rule #1: The wife is always correct
@item Rule #2: If you think otherwise, See Rule #1
@end enumerate

The Tcl equal is this:

@enumerate
@item Rule #1: Everything is a string
@item Rule #2: If you think otherwise, See Rule #1
@end enumerate

As in the famous joke, the consequences of Rule #1 are profound. Once
you understand Rule #1, you will understand Tcl.

@section Tcl Rule #1b
There is a second pair of rules.
@enumerate
@item Rule #1: Control flow does not exist. Only commands
@* For example: the classic FOR loop or IF statement is not a control
flow item, they are commands, there is no such thing as control flow
in Tcl.
@item Rule #2: If you think otherwise, See Rule #1
@* Actually what happens is this: There are commands that by
convention, act like control flow key words in other languages. One of
those commands is the word ``for'', another command is ``if''.
@end enumerate

@section Per Rule #1 - All Results are strings
Every Tcl command results in a string. The word ``result'' is used
deliberatly. No result is just an empty string. Remember: @i{Rule #1 -
Everything is a string}

@section Tcl Quoting Operators
In life of a Tcl script, there are two important periods of time, the
difference is subtle.
@enumerate
@item Parse Time
@item Evaluation Time
@end enumerate

The two key items here are how ``quoted things'' work in Tcl. Tcl has
three primary quoting constructs, the [square-brackets] the
@{curly-braces@} and ``double-quotes''

By now you should know $VARIABLES always start with a $DOLLAR
sign. BTW: To set a variable, you actually use the command ``set'', as
in ``set VARNAME VALUE'' much like the ancient BASIC langauge ``let x
= 1'' statement, but without the equal sign.

@itemize @bullet
@item @b{[square-brackets]}
@* @b{[square-brackets]} are command substitutions. It operates much
like Unix Shell `back-ticks`. The result of a [square-bracket]
operation is exactly 1 string. @i{Remember Rule #1 - Everything is a
string}. These two statements are roughly identical:
@example
    # bash example
    X=`date`
    echo "The Date is: $X"
    # Tcl example
    set X [date]
    puts "The Date is: $X"
@end example
@item @b{``double-quoted-things''}
@* @b{``double-quoted-things''} are just simply quoted
text. $VARIABLES and [square-brackets] are expanded in place - the
result however is exactly 1 string. @i{Remember Rule #1 - Everything
is a string}
@example
    set x "Dinner"
    puts "It is now \"[date]\", $x is in 1 hour"
@end example
@item @b{@{Curly-Braces@}}
@*@b{@{Curly-Braces@}} are magic: $VARIABLES and [square-brackets] are
parsed, but are NOT expanded or executed. @{Curly-Braces@} are like
'single-quote' operators in BASH shell scripts, with the added
feature: @{curly-braces@} can be nested, single quotes can not.  @{@{@{this is
nested 3 times@}@}@} NOTE: [date] is perhaps a bad example, as of
28/nov/2008, Jim/OpenOCD does not have a date command.
@end itemize

@section Consequences of Rule 1/2/3/4

The consequences of Rule 1 are profound.

@subsection Tokenisation & Execution.

Of course, whitespace, blank lines and #comment lines are handled in
the normal way.

As a script is parsed, each (multi) line in the script file is
tokenised and according to the quoting rules. After tokenisation, that
line is immedatly executed.

Multi line statements end with one or more ``still-open''
@{curly-braces@} which - eventually - closes a few lines later.

@subsection Command Execution

Remember earlier: There are no ``control flow''
statements in Tcl. Instead there are COMMANDS that simply act like
control flow operators.

Commands are executed like this:

@enumerate 
@item Parse the next line into (argc) and (argv[]).
@item Look up (argv[0]) in a table and call its function.
@item Repeat until End Of File.
@end enumerate

It sort of works like this:
@example
    for(;;)@{
        ReadAndParse( &argc, &argv );

        cmdPtr = LookupCommand( argv[0] );

        (*cmdPtr->Execute)( argc, argv );
    @}
@end example

When the command ``proc'' is parsed (which creates a procedure
function) it gets 3 parameters on the command line. @b{1} the name of
the proc (function), @b{2} the list of parameters, and @b{3} the body
of the function. Not the choice of words: LIST and BODY. The PROC
command stores these items in a table somewhere so it can be found by
``LookupCommand()''

@subsection The FOR command

The most interesting command to look at is the FOR command.  In Tcl,
the FOR command is normally implemented in C. Remember, FOR is a
command just like any other command.

When the ascii text containing the FOR command is parsed, the parser
produces 5 parameter strings, @i{(If in doubt: Refer to Rule #1)} they
are:

@enumerate 0
@item The ascii text 'for'
@item The start text
@item The test expression
@item The next text
@item The body text
@end enumerate

Sort of reminds you of ``main( int argc, char **argv )'' does it not?
Remember @i{Rule #1 - Everything is a string.} The key point is this:
Often many of those parameters are in @{curly-braces@} - thus the
variables inside are not expanded or replaced until later.

Remember that every Tcl command looks like the classic ``main( argc,
argv )'' function in C. In JimTCL - they actually look like this:

@example
int
MyCommand( Jim_Interp *interp,
           int *argc,
           Jim_Obj * const *argvs );
@end example

Real Tcl is nearly identical. Although the newer versions have
introduced a byte-code parser and intepreter, but at the core, it
still operates in the same basic way.

@subsection FOR command implementation

To understand Tcl it is perhaps most helpful to see the FOR
command. Remember, it is a COMMAND not a control flow structure.

In Tcl there are two underlying C helper functions.

Remember Rule #1 - You are a string.

The @b{first} helper parses and executes commands found in an ascii
string. Commands can be seperated by semicolons, or newlines. While
parsing, variables are expanded via the quoting rules.

The @b{second} helper evaluates an ascii string as a numerical
expression and returns a value.

Here is an example of how the @b{FOR} command could be
implemented. The pseudo code below does not show error handling.
@example
void Execute_AsciiString( void *interp, const char *string );

int Evaluate_AsciiExpression( void *interp, const char *string );

int
MyForCommand( void *interp,
              int argc,
              char **argv )
@{
   if( argc != 5 )@{
       SetResult( interp, "WRONG number of parameters");
       return ERROR;
   @}

   // argv[0] = the ascii string just like C

   // Execute the start statement.
   Execute_AsciiString( interp, argv[1] );

   // Top of loop test
   for(;;)@{
        i = Evaluate_AsciiExpression(interp, argv[2]);
        if( i == 0 )
            break;

        // Execute the body
        Execute_AsciiString( interp, argv[3] );

        // Execute the LOOP  part
        Execute_AsciiString( interp, argv[4] );
    @}

    // Return no error
    SetResult( interp, "" );
    return SUCCESS;
@}
@end example

Every other command IF, WHILE, FORMAT, PUTS, EXPR, everything works
in the same basic way.

@section OpenOCD Tcl Usage

@subsection source and find commands
@b{Where:} In many configuration files
@* Example: @b{ source [find FILENAME] }
@*Remember the parsing rules
@enumerate
@item The FIND command is in square brackets.
@* The FIND command is executed with the parameter FILENAME. It should
find the full path to the named file. The RESULT is a string, which is
substituted on the orginal command line.
@item The command source is executed with the resulting filename.
@* SOURCE reads a file and executes as a script.
@end enumerate
@subsection format command
@b{Where:} Generally occurs in numerous places.
@* Tcl has no command like @b{printf()}, instead it has @b{format}, which is really more like
@b{sprintf()}.
@b{Example}
@example
    set x 6
    set y 7
    puts [format "The answer: %d" [expr $x * $y]]
@end example
@enumerate
@item The SET command creates 2 variables, X and Y.
@item The double [nested] EXPR command performs math
@* The EXPR command produces numerical result as a string. 
@* Refer to Rule #1
@item The format command is executed, producing a single string
@* Refer to Rule #1.
@item The PUTS command outputs the text.
@end enumerate
@subsection Body or Inlined Text
@b{Where:} Various TARGET scripts.
@example
#1 Good
   proc someproc @{@} @{
       ... multiple lines of stuff ...
   @}
   $_TARGETNAME configure -event FOO  someproc
#2 Good - no variables
   $_TARGETNAME confgure -event foo "this ; that;"
#3 Good Curly Braces
   $_TARGETNAME configure -event FOO @{
        puts "Time: [date]"
   @}
#4 DANGER DANGER DANGER
   $_TARGETNAME configure -event foo "puts \"Time: [date]\""
@end example
@enumerate 
@item The $_TARGETNAME is an OpenOCD variable convention.
@*@b{$_TARGETNAME} represents the last target created, the value changes
each time a new target is created. Remember the parsing rules. When
the ascii text is parsed, the @b{$_TARGETNAME} becomes a simple string,
the name of the target which happens to be a TARGET (object)
command.
@item The 2nd parameter to the @option{-event} parameter is a TCBODY
@*There are 4 examples:
@enumerate
@item The TCLBODY is a simple string that happens to be a proc name
@item The TCLBODY is several simple commands seperated by semicolons
@item The TCLBODY is a multi-line @{curly-brace@} quoted string
@item The TCLBODY is a string with variables that get expanded.
@end enumerate

In the end, when the target event FOO occurs the TCLBODY is
evaluated. Method @b{#1} and @b{#2} are functionally identical.  For
Method @b{#3} and @b{#4} it is more interesting. What is the TCLBODY?

Remember the parsing rules. In case #3, @{curly-braces@} mean the
$VARS and [square-brackets] are expanded later, when the EVENT occurs,
and the text is evaluated. In case #4, they are replaced before the
``Target Object Command'' is executed. This occurs at the same time
$_TARGETNAME is replaced. In case #4 the date will never
change. @{BTW: [date] is perhaps a bad example, as of 28/nov/2008,
Jim/OpenOCD does not have a date command@}
@end enumerate
@subsection Global Variables
@b{Where:} You might discover this when writing your own procs @* In
simple terms: Inside a PROC, if you need to access a global variable
you must say so. See also ``upvar''. Example:
@example
proc myproc @{ @} @{
     set y 0  #Local variable Y
     global x #Global variable X
     puts [format "X=%d, Y=%d" $x $y]
@}
@end example
@section Other Tcl Hacks
@b{Dynamic variable creation}
@example
# Dynamically create a bunch of variables.
for @{ set x 0  @} @{ $x < 32 @} @{ set x [expr $x + 1]@} @{
    # Create var name
    set vn [format "BIT%d" $x]
    # Make it a global
    global $vn
    # Set it.
    set $vn   [expr (1 << $x)]
@}
@end example
@b{Dynamic proc/command creation}
@example
# One "X" function - 5 uart functions.
foreach who @{A B C D E@}
   proc [format "show_uart%c" $who] @{ @} "show_UARTx $who"
@}
@end example

@node Target Library
@chapter Target Library
@cindex Target Library

OpenOCD comes with a target configuration script library. These scripts can be
used as-is or serve as a starting point.

The target library is published together with the OpenOCD executable and 
the path to the target library is in the OpenOCD script search path.
Similarly there are example scripts for configuring the JTAG interface. 

The command line below uses the example parport configuration script
that ship with OpenOCD, then configures the str710.cfg target and
finally issues the init and reset commands. The communication speed
is set to 10kHz for reset and 8MHz for post reset.

@example
openocd -f interface/parport.cfg -f target/str710.cfg \
        -c "init" -c "reset"
@end example

To list the target scripts available:

@example
$ ls  /usr/local/lib/openocd/target

arm7_fast.cfg    lm3s6965.cfg  pxa255.cfg      stm32.cfg   xba_revA3.cfg
at91eb40a.cfg    lpc2148.cfg   pxa255_sst.cfg  str710.cfg  zy1000.cfg
at91r40008.cfg   lpc2294.cfg   sam7s256.cfg    str912.cfg
at91sam9260.cfg  nslu2.cfg     sam7x256.cfg    wi-9c.cfg
@end example

@include fdl.texi

@node OpenOCD Concept Index
@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
@unnumbered OpenOCD Concept Index

@printindex cp

@node Command and Driver Index
@unnumbered Command and Driver Index
@printindex fn

@bye