docs: add initial target rtos support info

[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{} 2008-2010 Oyvind Harboe @email{oyvind.harboe@@zylin.com}
@item Copyright @copyright{} 2008 Duane Ellis @email{openocd@@duaneellis.com}
@item Copyright @copyright{} 2009-2010 David Brownell
@end itemize

@quotation
Permission is granted to copy, distribute and/or modify this document
under the terms of the GNU Free Documentation License, Version 1.2 or
any later version published by the Free Software Foundation; with no
Invariant Sections, 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 Developer Resources
* Debug Adapter Hardware::           Debug Adapter Hardware
* About Jim-Tcl::                    About Jim-Tcl
* Running::                          Running OpenOCD
* OpenOCD Project Setup::            OpenOCD Project Setup
* Config File Guidelines::           Config File Guidelines
* Daemon Configuration::             Daemon Configuration
* Debug Adapter Configuration:: Debug Adapter Configuration
* Reset Configuration::              Reset Configuration
* TAP Declaration::                  TAP Declaration
* CPU Configuration::                CPU Configuration
* Flash Commands::                   Flash Commands
* NAND Flash Commands::              NAND Flash Commands
* PLD/FPGA Commands::                PLD/FPGA Commands
* General Commands::                 General Commands
* Architecture and Core Commands::   Architecture and Core Commands
* JTAG Commands::                    JTAG Commands
* Boundary Scan Commands::           Boundary Scan Commands
* TFTP::                             TFTP
* GDB and OpenOCD::                  Using GDB and OpenOCD
* Tcl Scripting API::                Tcl Scripting API
* FAQ::                              Frequently Asked Questions
* Tcl Crash Course::                 Tcl Crash Course
* License::                          GNU Free Documentation License

@comment DO NOT use the plain word ``Index'', reason: CYGWIN filename
@comment case issue with ``Index.html'' and ``index.html''
@comment Occurs when creating ``--html --no-split'' output
@comment This fix is based on: http://sourceware.org/ml/binutils/2006-05/msg00215.html
* OpenOCD Concept Index::            Concept Index
* Command and Driver Index::         Command and Driver Index
@end menu

@node About
@unnumbered About
@cindex about

OpenOCD was created by Dominic Rath as part of a 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?
@cindex TAP
@cindex JTAG

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

It does so with the assistance of a @dfn{debug adapter}, which is
a small hardware module which helps provide the right kind of
electrical signaling to the target being debugged.  These are
required since the debug host (on which OpenOCD runs) won't
usually have native support for such signaling, or the connector
needed to hook up to the target.

Such debug adapters support one or more @dfn{transport} protocols,
each of which involves different electrical signaling (and uses
different messaging protocols on top of that signaling).  There
are many types of debug adapter, and little uniformity in what
they are called.  (There are also product naming differences.)

These adapters are sometimes packaged as discrete dongles, which
may generically be called @dfn{hardware interface dongles}.
Some development boards also integrate them directly, which may
let the development board can be directly connected to the debug
host over USB (and sometimes also to power it over USB).

For example, a @dfn{JTAG Adapter} supports JTAG
signaling, and is used to communicate
with JTAG (IEEE 1149.1) compliant TAPs on your target board.
A @dfn{TAP} is a ``Test Access Port'', a module which processes
special instructions and data.  TAPs are daisy-chained within and
between chips and boards.  JTAG supports debugging and boundary
scan operations.

There are also @dfn{SWD Adapters} that support Serial Wire Debug (SWD)
signaling to communicate with some newer ARM cores, as well as debug
adapters which support both JTAG and SWD transports.  SWD only supports
debugging, whereas JTAG also supports boundary scan operations.

For some chips, there are also @dfn{Programming Adapters} supporting
special transports used only to write code to flash memory, without
support for on-chip debugging or boundary scan.
(At this writing, OpenOCD does not support such non-debug adapters.)


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

@b{GDB Debug:} It allows ARM7 (ARM7TDMI and ARM720t), ARM9 (ARM920T,
ARM922T, ARM926EJ--S, ARM966E--S), XScale (PXA25x, IXP42x) 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 (LPC1700, LPC2000, AT91SAM7, AT91SAM3U, 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.sourceforge.net/}

@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.sourceforge.net/doc/html/index.html}

PDF form is likewise published at:

@uref{http://openocd.sourceforge.net/doc/pdf/openocd.pdf}

@section OpenOCD User's Forum

There is an OpenOCD forum (phpBB) hosted by SparkFun,
which might be helpful to you.  Note that if you want
anything to come to the attention of developers, you
should post it to the OpenOCD Developer Mailing List
instead of this forum.

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


@node Developers
@chapter OpenOCD Developer Resources
@cindex developers

If you are interested in improving the state of OpenOCD's debugging and
testing support, new contributions will be welcome.  Motivated developers
can produce new target, flash or interface drivers, improve the
documentation, as well as more conventional bug fixes and enhancements.

The resources in this chapter are available for developers wishing to explore
or expand the OpenOCD source code.

@section OpenOCD GIT Repository

During the 0.3.x release cycle, OpenOCD switched from Subversion to
a GIT repository hosted at SourceForge.  The repository URL is:

@uref{git://openocd.git.sourceforge.net/gitroot/openocd/openocd}

You may prefer to use a mirror and the HTTP protocol:

@uref{http://repo.or.cz/r/openocd.git}

With standard GIT tools, use @command{git clone} to initialize
a local repository, and @command{git pull} to update it.
There are also gitweb pages letting you browse the repository
with a web browser, or download arbitrary snapshots without
needing a GIT client:

@uref{http://openocd.git.sourceforge.net/git/gitweb.cgi?p=openocd/openocd}

@uref{http://repo.or.cz/w/openocd.git}

The @file{README} file contains the instructions for building the project
from the repository or a snapshot.

Developers that want to contribute patches to the OpenOCD system are
@b{strongly} encouraged to work against mainline.
Patches created against older versions may require additional
work from their submitter in order to be updated for newer releases.

@section Doxygen Developer Manual

During the 0.2.x release cycle, the OpenOCD project began
providing a Doxygen reference manual.  This document contains more
technical information about the software internals, development
processes, and similar documentation:

@uref{http://openocd.sourceforge.net/doc/doxygen/html/index.html}

This document is a work-in-progress, but contributions would be welcome
to fill in the gaps.  All of the source files are provided in-tree,
listed in the Doxyfile configuration in the top of the source tree.

@section OpenOCD Developer Mailing List

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

@uref{https://lists.sourceforge.net/mailman/listinfo/openocd-devel}

Discuss and submit patches to this list.
The @file{HACKING} file contains basic information about how
to prepare patches.

@section OpenOCD Bug Database

During the 0.4.x release cycle the OpenOCD project team began
using Trac for its bug database:

@uref{https://sourceforge.net/apps/trac/openocd}


@node Debug Adapter Hardware
@chapter Debug Adapter Hardware
@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 adapter} that
attaches to your computer via USB or the Parallel Printer Port.  One
exception is the Zylin ZY1000, packaged as 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 several things you should keep in mind when choosing a dongle.

@enumerate
@item @b{Transport} Does it support the kind of communication that you need?
OpenOCD focusses mostly on JTAG.  Your version may also support
other ways to communicate with target devices.
@item @b{Voltage} What voltage is your target - 1.8, 2.8, 3.3, or 5V?
Does your dongle support it?  You might need a level converter.
@item @b{Pinout} What pinout does your target board use?
Does your dongle support it?  You may be able to use jumper
wires, or an "octopus" connector, to convert pinouts.
@item @b{Connection} Does your computer have the USB, printer, or
Ethernet port needed?
@item @b{RTCK} Do you expect to use it with ARM chips and boards with
RTCK support? Also known as ``adaptive clocking''
@end enumerate

@section Stand alone Systems

@b{ZY1000} See: @url{http://www.ultsol.com/index.php/component/content/article/8/33-zylin-zy1000-jtag-probe} 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.  (Adapters
using those high speed FT2232H chips may support adaptive clocking.)

The FT2232 chips are flexible enough to support some other
transport options, such as SWD or the SPI variants used to
program some chips. They have two communications channels,
and one can be used for a UART adapter at the same time the
other one is used to provide a debug adapter.

Also, some development boards integrate an FT2232 chip to serve as
a built-in low cost debug adapter and usb-to-serial solution.

@itemize @bullet
@item @b{usbjtag}
@* Link @url{http://elk.informatik.fh-augsburg.de/hhweb/doc/openocd/usbjtag/usbjtag.html}
@item @b{jtagkey}
@* See: @url{http://www.amontec.com/jtagkey.shtml}
@item @b{jtagkey2}
@* See: @url{http://www.amontec.com/jtagkey2.shtml}
@item @b{oocdlink}
@* See: @url{http://www.oocdlink.com} By Joern Kaipf
@item @b{signalyzer}
@* See: @url{http://www.signalyzer.com}
@item @b{Stellaris Eval Boards}
@* See: @url{http://www.luminarymicro.com} - The Stellaris eval boards
bundle FT2232-based JTAG and SWD support, which can be used to debug
the Stellaris chips.  Using separate JTAG adapters is optional.
These boards can also be used in a "pass through" mode as JTAG adapters
to other target boards, disabling the Stellaris chip.
@item @b{Luminary ICDI}
@* See: @url{http://www.luminarymicro.com} - Luminary In-Circuit Debug
Interface (ICDI) Boards are included in Stellaris LM3S9B9x
Evaluation Kits.  Like the non-detachable FT2232 support on the other
Stellaris eval boards, they can be used to debug other target boards.
@item @b{olimex-jtag}
@* See: @url{http://www.olimex.com}
@item @b{Flyswatter/Flyswatter2}
@* See: @url{http://www.tincantools.com}
@item @b{turtelizer2}
@* See:
@uref{http://www.ethernut.de/en/hardware/turtelizer/index.html, Turtelizer 2}, or
@url{http://www.ethernut.de}
@item @b{comstick}
@* Link: @url{http://www.hitex.com/index.php?id=383}
@item @b{stm32stick}
@* Link @url{http://www.hitex.com/stm32-stick}
@item @b{axm0432_jtag}
@* Axiom AXM-0432 Link @url{http://www.axman.com} - NOTE:  This JTAG does not appear
to be available anymore as of April 2012.
@item @b{cortino}
@* Link @url{http://www.hitex.com/index.php?id=cortino}
@item @b{dlp-usb1232h}
@* Link @url{http://www.dlpdesign.com/usb/usb1232h.shtml}
@item @b{digilent-hs1}
@* Link @url{http://www.digilentinc.com/Products/Detail.cfm?Prod=JTAG-HS1}
@end itemize

@section USB-JTAG / Altera USB-Blaster compatibles

These devices also show up as FTDI devices, but are not
protocol-compatible with the FT2232 devices. They are, however,
protocol-compatible among themselves.  USB-JTAG devices typically consist
of a FT245 followed by a CPLD that understands a particular protocol,
or emulate this protocol using some other hardware.

They may appear under different USB VID/PID depending on the particular
product.  The driver can be configured to search for any VID/PID pair
(see the section on driver commands).

@itemize
@item @b{USB-JTAG} Kolja Waschk's USB Blaster-compatible adapter
@* Link: @url{http://ixo-jtag.sourceforge.net/}
@item @b{Altera USB-Blaster}
@* Link: @url{http://www.altera.com/literature/ug/ug_usb_blstr.pdf}
@end itemize

@section USB 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/en/products/hardware-debug-probes/iar-j-link/}
@end itemize

@section USB RLINK based
Raisonance has an adapter called @b{RLink}.  It exists in a stripped-down form on the STM32 Primer, permanently attached to the JTAG lines.  It also exists on the STM32 Primer2, but that is wired for SWD and not JTAG, thus not supported.

@itemize @bullet
@item @b{Raisonance RLink}
@* Link: @url{http://www.mcu-raisonance.com/~rlink-debugger-programmer__microcontrollers__tool~tool__T018:4cn9ziz4bnx6.html}
@item @b{STM32 Primer}
@* Link: @url{http://www.stm32circle.com/resources/stm32primer.php}
@item @b{STM32 Primer2}
@* Link: @url{http://www.stm32circle.com/resources/stm32primer2.php}
@end itemize

@section USB ST-LINK based
ST Micro has an adapter called @b{ST-LINK}.
They only work with ST Micro chips, notably STM32 and STM8.

@itemize @bullet
@item @b{ST-LINK}
@* This is available standalone and as part of some kits, eg. STM32VLDISCOVERY.
@* Link: @url{http://www.st.com/internet/evalboard/product/219866.jsp}
@item @b{ST-LINK/V2}
@* This is available standalone and as part of some kits, eg. STM32F4DISCOVERY.
@* Link: @url{http://www.st.com/internet/evalboard/product/251168.jsp}
@end itemize

For info the original ST-LINK enumerates using the mass storage usb class, however
it's implementation is completely broken. The result is this causes issues under linux.
The simplest solution is to get linux to ignore the ST-LINK using one of the following methods:
@itemize @bullet
@item modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:i
@item add "options usb-storage quirks=483:3744:i" to /etc/modprobe.conf
@end itemize

@section USB Other
@itemize @bullet
@item @b{USBprog}
@* Link: @url{http://shop.embedded-projects.net/} - which uses an Atmel MEGA32 and a UBN9604

@item @b{USB - Presto}
@* Link: @url{http://tools.asix.net/prg_presto.htm}

@item @b{Versaloon-Link}
@* Link: @url{http://www.versaloon.com}

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

@item @b{Buspirate}
@* Link: @url{http://dangerousprototypes.com/bus-pirate-manual/}

@item @b{opendous}
@* Link: @url{http://code.google.com/p/opendous-jtag/}

@item @b{estick}
@* Link: @url{http://code.google.com/p/estick-jtag/}
@end itemize

@section IBM PC Parallel Printer Port Based

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

Note that parallel ports are becoming much less common, so if you
have the choice you should probably avoid these adapters in favor
of USB-based ones.

@itemize @bullet

@item @b{Wiggler} - There are many clones of this.
@* Link: @url{http://www.macraigor.com/wiggler.htm}

@item @b{DLC5} - From XILINX - There are many clones of this
@* Link: Search the web for: ``XILINX DLC5'' - it is no longer
produced, PDF schematics are easily found and it is easy to make.

@item @b{Amontec - JTAG Accelerator}
@* Link: @url{http://www.amontec.com/jtag_accelerator.shtml}

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

@item @b{Wiggler2}
@* Link: @url{http://www.ccac.rwth-aachen.de/~michaels/index.php/hardware/armjtag}

@item @b{Wiggler_ntrst_inverted}
@* Yet another variation - See the source code, src/jtag/parport.c

@item @b{old_amt_wiggler}
@* Unknown - probably not on the market today

@item @b{arm-jtag}
@* Link: Most likely @url{http://www.olimex.com/dev/arm-jtag.html} [another wiggler clone]

@item @b{chameleon}
@* Link: @url{http://www.amontec.com/chameleon.shtml}

@item @b{Triton}
@* Unknown.

@item @b{Lattice}
@* ispDownload from Lattice Semiconductor
@url{http://www.latticesemi.com/lit/docs/@/devtools/dlcable.pdf}

@item @b{flashlink}
@* From ST Microsystems;
@* Link: @url{http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATA_BRIEF/DM00039500.pdf}

@end itemize

@section Other...
@itemize @bullet

@item @b{ep93xx}
@* An EP93xx based Linux machine using the GPIO pins directly.

@item @b{at91rm9200}
@* Like the EP93xx - but an ATMEL AT91RM9200 based solution using the GPIO pins on the chip.

@end itemize

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

OpenOCD uses a small ``Tcl Interpreter'' known as Jim-Tcl.
This programming language provides a simple and extensible
command interpreter.

All commands presented in this Guide are extensions to Jim-Tcl.
You can use them as simple commands, without needing to learn
much of anything about Tcl.
Alternatively, can write Tcl programs with them.

You can learn more about Jim at its website,  @url{http://jim.berlios.de}.
There is an active and responsive community, get on the mailing list
if you have any questions. Jim-Tcl maintainers also lurk on the
OpenOCD mailing list.

@itemize @bullet
@item @b{Jim vs. Tcl}
@* Jim-Tcl is a stripped down version of the well known Tcl language,
which can be found here: @url{http://www.tcl.tk}. Jim-Tcl has far
fewer features. Jim-Tcl is several dozens of .C files and .H files and
implements the basic Tcl command set. In contrast: Tcl 8.6 is a
4.2 MB .zip file containing 1540 files.

@item @b{Missing Features}
@* Our practice has been: Add/clone the real Tcl feature if/when
needed. We welcome Jim-Tcl improvements, not bloat. Also there
are a large number of optional Jim-Tcl features that are not
enabled in OpenOCD.

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

@item @b{Commands}
@* At the OpenOCD telnet command line (or via the GDB monitor command) one
can type a Tcl for() loop, set variables, etc.
Some of the commands documented in this guide are implemented
as Tcl scripts, from a @file{startup.tcl} file internal to the server.

@item @b{Historical Note}
@* Jim-Tcl was introduced to OpenOCD in spring 2008. Fall 2010,
before OpenOCD 0.5 release OpenOCD switched to using Jim Tcl
as a git submodule, which greatly simplified upgrading Jim Tcl
to benefit from new features and bugfixes in Jim Tcl.

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

@node Running
@chapter Running
@cindex command line options
@cindex logfile
@cindex directory search

Properly installing OpenOCD sets up your operating system to grant it access
to the debug adapters.  On Linux, this usually involves installing a file
in @file{/etc/udev/rules.d,} so OpenOCD has permissions.  MS-Windows needs
complex and confusing driver configuration for every peripheral.  Such issues
are unique to each operating system, and are not detailed in this User's Guide.

Then later you will invoke the OpenOCD server, with various options to
tell it how each debug session should work.
The @option{--help} option shows:
@verbatim
bash$ openocd --help

--help       | -h       display this help
--version    | -v       display OpenOCD version
--file       | -f       use configuration file <name>
--search     | -s       dir to search for config files and scripts
--debug      | -d       set debug level <0-3>
--log_output | -l       redirect log output to file <name>
--command    | -c       run <command>
@end verbatim

If you don't give any @option{-f} or @option{-c} options,
OpenOCD tries to read the configuration file @file{openocd.cfg}.
To specify one or more different
configuration files, use @option{-f} options. For example:

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

Configuration files and scripts are searched for in
@enumerate
@item the current directory,
@item any search dir specified on the command line using the @option{-s} option,
@item any search dir specified using the @command{add_script_search_dir} command,
@item @file{$HOME/.openocd} (not on Windows),
@item the site wide script library @file{$pkgdatadir/site} and
@item the OpenOCD-supplied script library @file{$pkgdatadir/scripts}.
@end enumerate
The first found file with a matching file name will be used.

@quotation Note
Don't try to use configuration script names or paths which
include the "#" character.  That character begins Tcl comments.
@end quotation

@section Simple setup, no customization

In the best case, you can use two scripts from one of the script
libraries, hook up your JTAG adapter, and start the server ... and
your JTAG setup will just work "out of the box".  Always try to
start by reusing those scripts, but assume you'll need more
customization even if this works.  @xref{OpenOCD Project Setup}.

If you find a script for your JTAG adapter, and for your board or
target, you may be able to hook up your JTAG adapter then start
the server like:

@example
openocd -f interface/ADAPTER.cfg -f board/MYBOARD.cfg
@end example

You might also need to configure which reset signals are present,
using @option{-c 'reset_config trst_and_srst'} or something similar.
If all goes well you'll see output something like

@example
Open On-Chip Debugger 0.4.0 (2010-01-14-15:06)
For bug reports, read
        http://openocd.sourceforge.net/doc/doxygen/bugs.html
Info : JTAG tap: lm3s.cpu tap/device found: 0x3ba00477
       (mfg: 0x23b, part: 0xba00, ver: 0x3)
@end example

Seeing that "tap/device found" message, and no warnings, means
the JTAG communication is working.  That's a key milestone, but
you'll probably need more project-specific setup.

@section What OpenOCD does as it starts

OpenOCD starts by processing the configuration commands provided
on the command line or, if there were no @option{-c command} or
@option{-f file.cfg} options given, in @file{openocd.cfg}.
@xref{Configuration Stage}.
At the end of the configuration stage it verifies the JTAG scan
chain defined using those commands; your configuration should
ensure that this always succeeds.
Normally, OpenOCD then starts running as a daemon.
Alternatively, commands may be used to terminate the configuration
stage early, perform work (such as updating some flash memory),
and then shut down without acting as a daemon.

Once OpenOCD starts running as a daemon, it waits for connections from
clients (Telnet, GDB, Other) and processes the commands issued through
those channels.

If you are having problems, you can enable internal debug messages via
the @option{-d} option.

Also it is possible to interleave Jim-Tcl commands w/config scripts using the
@option{-c} command line switch.

To enable debug output (when reporting problems or working on OpenOCD
itself), use the @option{-d} command line switch. This sets the
@option{debug_level} to "3", outputting the most information,
including debug messages. The default setting is "2", outputting only
informational messages, warnings and errors. You can also change this
setting from within a telnet or gdb session using @command{debug_level
<n>} (@pxref{debug_level}).

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

Note! OpenOCD will launch the GDB & telnet server even if it can not
establish a connection with the target. In general, it is possible for
the JTAG controller to be unresponsive until the target is set up
correctly via e.g. GDB monitor commands in a GDB init script.

@node OpenOCD Project Setup
@chapter OpenOCD Project Setup

To use OpenOCD with your development projects, you need to do more than
just connecting the JTAG adapter hardware (dongle) to your development board
and then starting the OpenOCD server.
You also need to configure that server so that it knows
about that adapter and board, and helps your work.
You may also want to connect OpenOCD to GDB, possibly
using Eclipse or some other GUI.

@section Hooking up the JTAG Adapter

Today's most common case is a dongle with a JTAG cable on one side
(such as a ribbon cable with a 10-pin or 20-pin IDC connector)
and a USB cable on the other.
Instead of USB, some cables use Ethernet;
older ones may use a PC parallel port, or even a serial port.

@enumerate
@item @emph{Start with power to your target board turned off},
and nothing connected to your JTAG adapter.
If you're particularly paranoid, unplug power to the board.
It's important to have the ground signal properly set up,
unless you are using a JTAG adapter which provides
galvanic isolation between the target board and the
debugging host.

@item @emph{Be sure it's the right kind of JTAG connector.}
If your dongle has a 20-pin ARM connector, you need some kind
of adapter (or octopus, see below) to hook it up to
boards using 14-pin or 10-pin connectors ... or to 20-pin
connectors which don't use ARM's pinout.

In the same vein, make sure the voltage levels are compatible.
Not all JTAG adapters have the level shifters needed to work
with 1.2 Volt boards.

@item @emph{Be certain the cable is properly oriented} or you might
damage your board.  In most cases there are only two possible
ways to connect the cable.
Connect the JTAG cable from your adapter to the board.
Be sure it's firmly connected.

In the best case, the connector is keyed to physically
prevent you from inserting it wrong.
This is most often done using a slot on the board's male connector
housing, which must match a key on the JTAG cable's female connector.
If there's no housing, then you must look carefully and
make sure pin 1 on the cable hooks up to pin 1 on the board.
Ribbon cables are frequently all grey except for a wire on one
edge, which is red.  The red wire is pin 1.

Sometimes dongles provide cables where one end is an ``octopus'' of
color coded single-wire connectors, instead of a connector block.
These are great when converting from one JTAG pinout to another,
but are tedious to set up.
Use these with connector pinout diagrams to help you match up the
adapter signals to the right board pins.

@item @emph{Connect the adapter's other end} once the JTAG cable is connected.
A USB, parallel, or serial port connector will go to the host which
you are using to run OpenOCD.
For Ethernet, consult the documentation and your network administrator.

For USB based JTAG adapters you have an easy sanity check at this point:
does the host operating system see the JTAG adapter?  If that host is an
MS-Windows host, you'll need to install a driver before OpenOCD works.

@item @emph{Connect the adapter's power supply, if needed.}
This step is primarily for non-USB adapters,
but sometimes USB adapters need extra power.

@item @emph{Power up the target board.}
Unless you just let the magic smoke escape,
you're now ready to set up the OpenOCD server
so you can use JTAG to work with that board.

@end enumerate

Talk with the OpenOCD server using
telnet (@code{telnet localhost 4444} on many systems) or GDB.
@xref{GDB and OpenOCD}.

@section Project Directory

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

A simple way to organize them all involves keeping a
single directory for your work with a given board.
When you start OpenOCD from that directory,
it searches there first for configuration files, scripts,
files accessed through semihosting,
and for code you upload to the target board.
It is also the natural place to write files,
such as log files and data you download from the board.

@section Configuration Basics

There are two basic ways of configuring OpenOCD, and
a variety of ways you can mix them.
Think of the difference as just being how you start the server:

@itemize
@item Many @option{-f file} or @option{-c command} options on the command line
@item No options, but a @dfn{user config file}
in the current directory named @file{openocd.cfg}
@end itemize

Here is an example @file{openocd.cfg} file for a setup
using a Signalyzer FT2232-based JTAG adapter to talk to
a board with an Atmel AT91SAM7X256 microcontroller:

@example
source [find interface/signalyzer.cfg]

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

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

Here is the command line equivalent of that configuration:

@example
openocd -f interface/signalyzer.cfg \
        -c "gdb_memory_map enable" \
        -c "gdb_flash_program enable" \
        -f target/sam7x256.cfg
@end example

You could wrap such long command lines in shell scripts,
each supporting a different development task.
One might re-flash the board with a specific firmware version.
Another might set up a particular debugging or run-time environment.

@quotation Important
At this writing (October 2009) the command line method has
problems with how it treats variables.
For example, after @option{-c "set VAR value"}, or doing the
same in a script, the variable @var{VAR} will have no value
that can be tested in a later script.
@end quotation

Here we will focus on the simpler solution:  one user config
file, including basic configuration plus any TCL procedures
to simplify your work.

@section User Config Files
@cindex config file, user
@cindex user config file
@cindex config file, overview

A user configuration file ties together all the parts of a project
in one place.
One of the following will match your situation best:

@itemize
@item Ideally almost everything comes from configuration files
provided by someone else.
For example, OpenOCD distributes a @file{scripts} directory
(probably in @file{/usr/share/openocd/scripts} on Linux).
Board and tool vendors can provide these too, as can individual
user sites; the @option{-s} command line option lets you say
where to find these files.  (@xref{Running}.)
The AT91SAM7X256 example above works this way.

Three main types of non-user configuration file each have their
own subdirectory in the @file{scripts} directory:

@enumerate
@item @b{interface} -- one for each different debug adapter;
@item @b{board} -- one for each different board
@item @b{target} -- the chips which integrate CPUs and other JTAG TAPs
@end enumerate

Best case:  include just two files, and they handle everything else.
The first is an interface config file.
The second is board-specific, and it sets up the JTAG TAPs and
their GDB targets (by deferring to some @file{target.cfg} file),
declares all flash memory, and leaves you nothing to do except
meet your deadline:

@example
source [find interface/olimex-jtag-tiny.cfg]
source [find board/csb337.cfg]
@end example

Boards with a single microcontroller often won't need more
than the target config file, as in the AT91SAM7X256 example.
That's because there is no external memory (flash, DDR RAM), and
the board differences are encapsulated by application code.

@item Maybe you don't know yet what your board looks like to JTAG.
Once you know the @file{interface.cfg} file to use, you may
need help from OpenOCD to discover what's on the board.
Once you find the JTAG TAPs, you can just search for appropriate
target and board
configuration files ... or write your own, from the bottom up.
@xref{Autoprobing}.

@item You can often reuse some standard config files but
need to write a few new ones, probably a @file{board.cfg} file.
You will be using commands described later in this User's Guide,
and working with the guidelines in the next chapter.

For example, there may be configuration files for your JTAG adapter
and target chip, but you need a new board-specific config file
giving access to your particular flash chips.
Or you might need to write another target chip configuration file
for a new chip built around the Cortex M3 core.

@quotation Note
When you write new configuration files, please submit
them for inclusion in the next OpenOCD release.
For example, a @file{board/newboard.cfg} file will help the
next users of that board, and a @file{target/newcpu.cfg}
will help support users of any board using that chip.
@end quotation

@item
You may may need to write some C code.
It may be as simple as a supporting a new ft2232 or parport
based adapter; a bit more involved, like a NAND or NOR flash
controller driver; or a big piece of work like supporting
a new chip architecture.
@end itemize

Reuse the existing config files when you can.
Look first in the @file{scripts/boards} area, then @file{scripts/targets}.
You may find a board configuration that's a good example to follow.

When you write config files, separate the reusable parts
(things every user of that interface, chip, or board needs)
from ones specific to your environment and debugging approach.
@itemize

@item
For example, a @code{gdb-attach} event handler that invokes
the @command{reset init} command will interfere with debugging
early boot code, which performs some of the same actions
that the @code{reset-init} event handler does.

@item
Likewise, the @command{arm9 vector_catch} command (or
@cindex vector_catch
its siblings @command{xscale vector_catch}
and @command{cortex_m3 vector_catch}) can be a timesaver
during some debug sessions, but don't make everyone use that either.
Keep those kinds of debugging aids in your user config file,
along with messaging and tracing setup.
(@xref{Software Debug Messages and Tracing}.)

@item
You might need to override some defaults.
For example, you might need to move, shrink, or back up the target's
work area if your application needs much SRAM.

@item
TCP/IP port configuration is another example of something which
is environment-specific, and should only appear in
a user config file.  @xref{TCP/IP Ports}.
@end itemize

@section Project-Specific Utilities

A few project-specific utility
routines may well speed up your work.
Write them, and keep them in your project's user config file.

For example, if you are making a boot loader work on a
board, it's nice to be able to debug the ``after it's
loaded to RAM'' parts separately from the finicky early
code which sets up the DDR RAM controller and clocks.
A script like this one, or a more GDB-aware sibling,
may help:

@example
proc ramboot @{ @} @{
    # Reset, running the target's "reset-init" scripts
    # to initialize clocks and the DDR RAM controller.
    # Leave the CPU halted.
    reset init

    # Load CONFIG_SKIP_LOWLEVEL_INIT version into DDR RAM.
    load_image u-boot.bin 0x20000000

    # Start running.
    resume 0x20000000
@}
@end example

Then once that code is working you will need to make it
boot from NOR flash; a different utility would help.
Alternatively, some developers write to flash using GDB.
(You might use a similar script if you're working with a flash
based microcontroller application instead of a boot loader.)

@example
proc newboot @{ @} @{
    # Reset, leaving the CPU halted.  The "reset-init" event
    # proc gives faster access to the CPU and to NOR flash;
    # "reset halt" would be slower.
    reset init

    # Write standard version of U-Boot into the first two
    # sectors of NOR flash ... the standard version should
    # do the same lowlevel init as "reset-init".
    flash protect 0 0 1 off
    flash erase_sector 0 0 1
    flash write_bank 0 u-boot.bin 0x0
    flash protect 0 0 1 on

    # Reboot from scratch using that new boot loader.
    reset run
@}
@end example

You may need more complicated utility procedures when booting
from NAND.
That often involves an extra bootloader stage,
running from on-chip SRAM to perform DDR RAM setup so it can load
the main bootloader code (which won't fit into that SRAM).

Other helper scripts might be used to write production system images,
involving considerably more than just a three stage bootloader.

@section Target Software Changes

Sometimes you may want to make some small changes to the software
you're developing, to help make JTAG debugging work better.
For example, in C or assembly language code you might
use @code{#ifdef JTAG_DEBUG} (or its converse) around code
handling issues like:

@itemize @bullet

@item @b{Watchdog Timers}...
Watchog timers are typically used to automatically reset systems if
some application task doesn't periodically reset the timer.  (The
assumption is that the system has locked up if the task can't run.)
When a JTAG debugger halts the system, that task won't be able to run
and reset the timer ... potentially causing resets in the middle of
your debug sessions.

It's rarely a good idea to disable such watchdogs, since their usage
needs to be debugged just like all other parts of your firmware.
That might however be your only option.

Look instead for chip-specific ways to stop the watchdog from counting
while the system is in a debug halt state.  It may be simplest to set
that non-counting mode in your debugger startup scripts.  You may however
need a different approach when, for example, a motor could be physically
damaged by firmware remaining inactive in a debug halt state.  That might
involve a type of firmware mode where that "non-counting" mode is disabled
at the beginning then re-enabled at the end; a watchdog reset might fire
and complicate the debug session, but hardware (or people) would be
protected.@footnote{Note that many systems support a "monitor mode" debug
that is a somewhat cleaner way to address such issues.  You can think of
it as only halting part of the system, maybe just one task,
instead of the whole thing.
At this writing, January 2010, OpenOCD based debugging does not support
monitor mode debug, only "halt mode" debug.}

@item @b{ARM Semihosting}...
@cindex ARM semihosting
When linked with a special runtime library provided with many
toolchains@footnote{See chapter 8 "Semihosting" in
@uref{http://infocenter.arm.com/help/topic/com.arm.doc.dui0203i/DUI0203I_rvct_developer_guide.pdf,
ARM DUI 0203I}, the "RealView Compilation Tools Developer Guide".
The CodeSourcery EABI toolchain also includes a semihosting library.},
your target code can use I/O facilities on the debug host.  That library
provides a small set of system calls which are handled by OpenOCD.
It can let the debugger provide your system console and a file system,
helping with early debugging or providing a more capable environment
for sometimes-complex tasks like installing system firmware onto
NAND or SPI flash.

@item @b{ARM Wait-For-Interrupt}...
Many ARM chips synchronize the JTAG clock using the core clock.
Low power states which stop that core clock thus prevent JTAG access.
Idle loops in tasking environments often enter those low power states
via the @code{WFI} instruction (or its coprocessor equivalent, before ARMv7).

You may want to @emph{disable that instruction} in source code,
or otherwise prevent using that state,
to ensure you can get JTAG access at any time.@footnote{As a more
polite alternative, some processors have special debug-oriented
registers which can be used to change various features including
how the low power states are clocked while debugging.
The STM32 DBGMCU_CR register is an example; at the cost of extra
power consumption, JTAG can be used during low power states.}
For example, the OpenOCD @command{halt} command may not
work for an idle processor otherwise.

@item @b{Delay after reset}...
Not all chips have good support for debugger access
right after reset; many LPC2xxx chips have issues here.
Similarly, applications that reconfigure pins used for
JTAG access as they start will also block debugger access.

To work with boards like this, @emph{enable a short delay loop}
the first thing after reset, before "real" startup activities.
For example, one second's delay is usually more than enough
time for a JTAG debugger to attach, so that
early code execution can be debugged
or firmware can be replaced.

@item @b{Debug Communications Channel (DCC)}...
Some processors include mechanisms to send messages over JTAG.
Many ARM cores support these, as do some cores from other vendors.
(OpenOCD may be able to use this DCC internally, speeding up some
operations like writing to memory.)

Your application may want to deliver various debugging messages
over JTAG, by @emph{linking with a small library of code}
provided with OpenOCD and using the utilities there to send
various kinds of message.
@xref{Software Debug Messages and Tracing}.

@end itemize

@section Target Hardware Setup

Chip vendors often provide software development boards which
are highly configurable, so that they can support all options
that product boards may require.  @emph{Make sure that any
jumpers or switches match the system configuration you are
working with.}

Common issues include:

@itemize @bullet

@item @b{JTAG setup} ...
Boards may support more than one JTAG configuration.
Examples include jumpers controlling pullups versus pulldowns
on the nTRST and/or nSRST signals, and choice of connectors
(e.g. which of two headers on the base board,
or one from a daughtercard).
For some Texas Instruments boards, you may need to jumper the
EMU0 and EMU1 signals (which OpenOCD won't currently control).

@item @b{Boot Modes} ...
Complex chips often support multiple boot modes, controlled
by external jumpers.  Make sure this is set up correctly.
For example many i.MX boards from NXP need to be jumpered
to "ATX mode" to start booting using the on-chip ROM, when
using second stage bootloader code stored in a NAND flash chip.

Such explicit configuration is common, and not limited to
booting from NAND.  You might also need to set jumpers to
start booting using code loaded from an MMC/SD card; external
SPI flash; Ethernet, UART, or USB links; NOR flash; OneNAND
flash; some external host; or various other sources.


@item @b{Memory Addressing} ...
Boards which support multiple boot modes may also have jumpers
to configure memory addressing.  One board, for example, jumpers
external chipselect 0 (used for booting) to address either
a large SRAM (which must be pre-loaded via JTAG), NOR flash,
or NAND flash.  When it's jumpered to address NAND flash, that
board must also be told to start booting from on-chip ROM.

Your @file{board.cfg} file may also need to be told this jumper
configuration, so that it can know whether to declare NOR flash
using @command{flash bank} or instead declare NAND flash with
@command{nand device}; and likewise which probe to perform in
its @code{reset-init} handler.

A closely related issue is bus width.  Jumpers might need to
distinguish between 8 bit or 16 bit bus access for the flash
used to start booting.

@item @b{Peripheral Access} ...
Development boards generally provide access to every peripheral
on the chip, sometimes in multiple modes (such as by providing
multiple audio codec chips).
This interacts with software
configuration of pin multiplexing, where for example a
given pin may be routed either to the MMC/SD controller
or the GPIO controller.  It also often interacts with
configuration jumpers.  One jumper may be used to route
signals to an MMC/SD card slot or an expansion bus (which
might in turn affect booting); others might control which
audio or video codecs are used.

@end itemize

Plus you should of course have @code{reset-init} event handlers
which set up the hardware to match that jumper configuration.
That includes in particular any oscillator or PLL used to clock
the CPU, and any memory controllers needed to access external
memory and peripherals.  Without such handlers, you won't be
able to access those resources without working target firmware
which can do that setup ... this can be awkward when you're
trying to debug that target firmware.  Even if there's a ROM
bootloader which handles a few issues, it rarely provides full
access to all board-specific capabilities.


@node Config File Guidelines
@chapter Config File Guidelines

This chapter is aimed at any user who needs to write a config file,
including developers and integrators of OpenOCD and any user who
needs to get a new board working smoothly.
It provides guidelines for creating those files.

You should find the following directories under @t{$(INSTALLDIR)/scripts},
with files including the ones listed here.
Use them as-is where you can; or as models for new files.
@itemize @bullet
@item @file{interface} ...
These are for debug adapters.
Files that configure JTAG adapters go here.
@example
$ ls interface
arm-jtag-ew.cfg          hitex_str9-comstick.cfg  oocdlink.cfg
arm-usb-ocd.cfg          icebear.cfg              openocd-usb.cfg
at91rm9200.cfg           jlink.cfg                parport.cfg
axm0432.cfg              jtagkey2.cfg             parport_dlc5.cfg
calao-usb-a9260-c01.cfg  jtagkey.cfg              rlink.cfg
calao-usb-a9260-c02.cfg  jtagkey-tiny.cfg         sheevaplug.cfg
calao-usb-a9260.cfg      luminary.cfg             signalyzer.cfg
chameleon.cfg            luminary-icdi.cfg        stm32-stick.cfg
cortino.cfg              luminary-lm3s811.cfg     turtelizer2.cfg
dummy.cfg                olimex-arm-usb-ocd.cfg   usbprog.cfg
flyswatter.cfg           olimex-jtag-tiny.cfg     vsllink.cfg
$
@end example
@item @file{board} ...
think Circuit Board, PWA, PCB, they go by many names.  Board files
contain initialization items that are specific to a board.
They reuse target configuration files, since the same
microprocessor chips are used on many boards,
but support for external parts varies widely.  For
example, the SDRAM initialization sequence for the board, or the type
of external flash and what address it uses.  Any initialization
sequence to enable that external flash or SDRAM should be found in the
board file. Boards may also contain multiple targets:  two CPUs; or
a CPU and an FPGA.
@example
$ ls board
arm_evaluator7t.cfg               keil_mcb1700.cfg
at91rm9200-dk.cfg                 keil_mcb2140.cfg
at91sam9g20-ek.cfg                linksys_nslu2.cfg
atmel_at91sam7s-ek.cfg            logicpd_imx27.cfg
atmel_at91sam9260-ek.cfg          mini2440.cfg
atmel_sam3u_ek.cfg                olimex_LPC2378STK.cfg
crossbow_tech_imote2.cfg          olimex_lpc_h2148.cfg
csb337.cfg                        olimex_sam7_ex256.cfg
csb732.cfg                        olimex_sam9_l9260.cfg
digi_connectcore_wi-9c.cfg        olimex_stm32_h103.cfg
dm355evm.cfg                      omap2420_h4.cfg
dm365evm.cfg                      osk5912.cfg
dm6446evm.cfg                     pic-p32mx.cfg
eir.cfg                           propox_mmnet1001.cfg
ek-lm3s1968.cfg                   pxa255_sst.cfg
ek-lm3s3748.cfg                   sheevaplug.cfg
ek-lm3s811.cfg                    stm3210e_eval.cfg
ek-lm3s9b9x.cfg                   stm32f10x_128k_eval.cfg
hammer.cfg                        str910-eval.cfg
hitex_lpc2929.cfg                 telo.cfg
hitex_stm32-performancestick.cfg  ti_beagleboard.cfg
hitex_str9-comstick.cfg           topas910.cfg
iar_str912_sk.cfg                 topasa900.cfg
imx27ads.cfg                      unknown_at91sam9260.cfg
imx27lnst.cfg                     x300t.cfg
imx31pdk.cfg                      zy1000.cfg
$
@end example
@item @file{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.
@example
$ ls target
aduc702x.cfg     imx27.cfg     pxa255.cfg
ar71xx.cfg       imx31.cfg     pxa270.cfg
at91eb40a.cfg    imx35.cfg     readme.txt
at91r40008.cfg   is5114.cfg    sam7se512.cfg
at91rm9200.cfg   ixp42x.cfg    sam7x256.cfg
at91sam3u1c.cfg  lm3s1968.cfg  samsung_s3c2410.cfg
at91sam3u1e.cfg  lm3s3748.cfg  samsung_s3c2440.cfg
at91sam3u2c.cfg  lm3s6965.cfg  samsung_s3c2450.cfg
at91sam3u2e.cfg  lm3s811.cfg   samsung_s3c4510.cfg
at91sam3u4c.cfg  lm3s9b9x.cfg  samsung_s3c6410.cfg
at91sam3u4e.cfg  lpc1768.cfg   sharp_lh79532.cfg
at91sam3uXX.cfg  lpc2103.cfg   smdk6410.cfg
at91sam7sx.cfg   lpc2124.cfg   smp8634.cfg
at91sam9260.cfg  lpc2129.cfg   stm32f1x.cfg
c100.cfg         lpc2148.cfg   str710.cfg
c100config.tcl   lpc2294.cfg   str730.cfg
c100helper.tcl   lpc2378.cfg   str750.cfg
c100regs.tcl     lpc2478.cfg   str912.cfg
cs351x.cfg       lpc2900.cfg   telo.cfg
davinci.cfg      mega128.cfg   ti_dm355.cfg
dragonite.cfg    netx500.cfg   ti_dm365.cfg
epc9301.cfg      omap2420.cfg  ti_dm6446.cfg
feroceon.cfg     omap3530.cfg  tmpa900.cfg
icepick.cfg      omap5912.cfg  tmpa910.cfg
imx21.cfg        pic32mx.cfg   xba_revA3.cfg
$
@end example
@item @emph{more} ... browse for other library files which may be useful.
For example, there are various generic and CPU-specific utilities.
@end itemize

The @file{openocd.cfg} user config
file may override features in any of the above files by
setting variables before sourcing the target file, or by adding
commands specific to their situation.

@section Interface Config Files

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

@example
source [find interface/FOOBAR.cfg]
@end example

A preconfigured interface file should exist for every debug adapter
in use today with OpenOCD.
That said, perhaps some of these config files
have only been used by the developer who created it.

A separate chapter gives information about how to set these up.
@xref{Debug Adapter Configuration}.
Read the OpenOCD source code (and Developer's Guide)
if you have a new kind of hardware interface
and need to provide a driver for it.

@section Board Config Files
@cindex config file, board
@cindex board config file

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

@example
source [find board/FOOBAR.cfg]
@end example

The point of a board config file is to package everything
about a given board that user config files need to know.
In summary the board files should contain (if present)

@enumerate
@item One or more @command{source [target/...cfg]} statements
@item NOR flash configuration (@pxref{NOR Configuration})
@item NAND flash configuration (@pxref{NAND Configuration})
@item Target @code{reset} handlers for SDRAM and I/O configuration
@item JTAG adapter reset configuration (@pxref{Reset Configuration})
@item All things that are not ``inside a chip''
@end enumerate

Generic things inside target chips belong in target config files,
not board config files.  So for example a @code{reset-init} event
handler should know board-specific oscillator and PLL parameters,
which it passes to target-specific utility code.

The most complex task of a board config file is creating such a
@code{reset-init} event handler.
Define those handlers last, after you verify the rest of the board
configuration works.

@subsection Communication Between Config files

In addition to target-specific utility code, another way that
board and target config files communicate is by following a
convention on how to use certain variables.

The full Tcl/Tk language supports ``namespaces'', but 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.

Complex board config files can do the things like this,
for a board with three chips:

@example
# Chip #1: PXA270 for network side, big endian
set CHIPNAME network
set ENDIAN big
source [find target/pxa270.cfg]
# on return: _TARGETNAME = network.cpu
# other commands can refer to the "network.cpu" target.
$_TARGETNAME configure .... events for this CPU..

# Chip #2: PXA270 for video side, little endian
set CHIPNAME video
set ENDIAN little
source [find target/pxa270.cfg]
# on return: _TARGETNAME = video.cpu
# other commands can refer to the "video.cpu" target.
$_TARGETNAME configure .... events for this CPU..

# Chip #3: Xilinx FPGA for glue logic
set CHIPNAME xilinx
unset ENDIAN
source [find target/spartan3.cfg]
@end example

That example is oversimplified because it doesn't show any flash memory,
or the @code{reset-init} event handlers to initialize external DRAM
or (assuming it needs it) load a configuration into the FPGA.
Such features are usually needed for low-level work with many boards,
where ``low level'' implies that the board initialization software may
not be working.  (That's a common reason to need JTAG tools.  Another
is to enable working with microcontroller-based systems, which often
have no debugging support except a JTAG connector.)

Target config files may also export utility functions to board and user
config files.  Such functions should use name prefixes, to help avoid
naming collisions.

Board files could also accept input variables from user config files.
For example, there might be a @code{J4_JUMPER} setting used to identify
what kind of flash memory a development board is using, or how to set
up other clocks and peripherals.

@subsection Variable Naming Convention
@cindex variable names

Most boards have only one instance of a chip.
However, it should be easy to create a board with more than
one such chip (as shown above).
Accordingly, we encourage these conventions for naming
variables associated with different @file{target.cfg} files,
to promote consistency and
so that board files can override target defaults.

Inputs to target config files include:

@itemize @bullet
@item @code{CHIPNAME} ...
This gives a name to the overall chip, and is used as part of
tap identifier dotted names.
While the default is normally provided by the chip manufacturer,
board files may need to distinguish between instances of a chip.
@item @code{ENDIAN} ...
By default @option{little} - although chips may hard-wire @option{big}.
Chips that can't change endianness don't need to use this variable.
@item @code{CPUTAPID} ...
When OpenOCD examines the JTAG chain, it can be told verify the
chips against the JTAG IDCODE register.
The target file will hold one or more defaults, but sometimes the
chip in a board will use a different ID (perhaps a newer revision).
@end itemize

Outputs from target config files include:

@itemize @bullet
@item @code{_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, the names are @code{_TARGETNAME0},
@code{_TARGETNAME1}, ... etc.
@end itemize

@subsection The reset-init Event Handler
@cindex event, reset-init
@cindex reset-init handler

Board config files run in the OpenOCD configuration stage;
they can't use TAPs or targets, since they haven't been
fully set up yet.
This means you can't write memory or access chip registers;
you can't even verify that a flash chip is present.
That's done later in event handlers, of which the target @code{reset-init}
handler is one of the most important.

Except on microcontrollers, the basic job of @code{reset-init} event
handlers is setting up flash and DRAM, as normally handled by boot loaders.
Microcontrollers rarely use boot loaders; they run right out of their
on-chip flash and SRAM memory.  But they may want to use one of these
handlers too, if just for developer convenience.

@quotation Note
Because this is so very board-specific, and chip-specific, no examples
are included here.
Instead, look at the board config files distributed with OpenOCD.
If you have a boot loader, its source code will help; so will
configuration files for other JTAG tools
(@pxref{Translating Configuration Files}).
@end quotation

Some of this code could probably be shared between different boards.
For example, setting up a DRAM controller often doesn't differ by
much except the bus width (16 bits or 32?) and memory timings, so a
reusable TCL procedure loaded by the @file{target.cfg} file might take
those as parameters.
Similarly with oscillator, PLL, and clock setup;
and disabling the watchdog.
Structure the code cleanly, and provide comments to help
the next developer doing such work.
(@emph{You might be that next person} trying to reuse init code!)

The last thing normally done in a @code{reset-init} handler is probing
whatever flash memory was configured.  For most chips that needs to be
done while the associated target is halted, either because JTAG memory
access uses the CPU or to prevent conflicting CPU access.

@subsection JTAG Clock Rate

Before your @code{reset-init} handler has set up
the PLLs and clocking, you may need to run with
a low JTAG clock rate.
@xref{JTAG Speed}.
Then you'd increase that rate after your handler has
made it possible to use the faster JTAG clock.
When the initial low speed is board-specific, for example
because it depends on a board-specific oscillator speed, then
you should probably set it up in the board config file;
if it's target-specific, it belongs in the target config file.

For most ARM-based processors the fastest JTAG clock@footnote{A FAQ
@uref{http://www.arm.com/support/faqdev/4170.html} gives details.}
is one sixth of the CPU clock; or one eighth for ARM11 cores.
Consult chip documentation to determine the peak JTAG clock rate,
which might be less than that.

@quotation Warning
On most ARMs, JTAG clock detection is coupled to the core clock, so
software using a @option{wait for interrupt} operation blocks JTAG access.
Adaptive clocking provides a partial workaround, but a more complete
solution just avoids using that instruction with JTAG debuggers.
@end quotation

If both the chip and the board support adaptive clocking,
use the @command{jtag_rclk}
command, in case your board is used with JTAG adapter which
also supports it.  Otherwise use @command{adapter_khz}.
Set the slow rate at the beginning of the reset sequence,
and the faster rate as soon as the clocks are at full speed.

@anchor{The init_board procedure}
@subsection The init_board procedure
@cindex init_board procedure

The concept of @code{init_board} procedure is very similar to @code{init_targets} (@xref{The init_targets procedure}.)
- it's a replacement of ``linear'' configuration scripts. This procedure is meant to be executed when OpenOCD enters run
stage (@xref{Entering the Run Stage},) after @code{init_targets}. The idea to have spearate @code{init_targets} and
@code{init_board} procedures is to allow the first one to configure everything target specific (internal flash,
internal RAM, etc.) and the second one to configure everything board specific (reset signals, chip frequency,
reset-init event handler, external memory, etc.). Additionally ``linear'' board config file will most likely fail when
target config file uses @code{init_targets} scheme (``linear'' script is executed before @code{init} and
@code{init_targets} - after), so separating these two configuration stages is very convenient, as the easiest way to
overcome this problem is to convert board config file to use @code{init_board} procedure. Board config scripts don't
need to override @code{init_targets} defined in target config files when they only need to to add some specifics.

Just as @code{init_targets}, the @code{init_board} procedure can be overriden by ``next level'' script (which sources
the original), allowing greater code reuse.

@example
### board_file.cfg ###

# source target file that does most of the config in init_targets
source [find target/target.cfg]

proc enable_fast_clock @{@} @{
    # enables fast on-board clock source
    # configures the chip to use it
@}

# initialize only board specifics - reset, clock, adapter frequency
proc init_board @{@} @{
    reset_config trst_and_srst trst_pulls_srst

    $_TARGETNAME configure -event reset-init @{
        adapter_khz 1
        enable_fast_clock
        adapter_khz 10000
    @}
@}
@end example

@section Target Config Files
@cindex config file, target
@cindex target config file

Board config files communicate with target config files using
naming conventions as described above, and may source one or
more target config files like this:

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

The point of a target config file is to package everything
about a given chip that board config files need to know.
In summary the target files should contain

@enumerate
@item Set defaults
@item Add TAPs to the scan chain
@item Add CPU targets (includes GDB support)
@item CPU/Chip/CPU-Core specific features
@item On-Chip flash
@end enumerate

As a rule of thumb, a target file sets up only one chip.
For a microcontroller, that will often include a single TAP,
which is a CPU needing a GDB target, and its on-chip flash.

More complex chips may include multiple TAPs, and the target
config file may need to define them all before OpenOCD
can talk to the chip.
For example, some phone chips have JTAG scan chains that include
an ARM core for operating system use, a DSP,
another ARM core embedded in an image processing engine,
and other processing engines.

@subsection Default Value Boiler Plate Code

All target configuration files should start with code like this,
letting board config files express environment-specific
differences in how things should be set up.

@example
# Boards may override chip names, perhaps based on role,
# but the default should match what the vendor uses
if @{ [info exists CHIPNAME] @} @{
   set  _CHIPNAME $CHIPNAME
@} else @{
   set  _CHIPNAME sam7x256
@}

# ONLY use ENDIAN with targets that can change it.
if @{ [info exists ENDIAN] @} @{
   set  _ENDIAN $ENDIAN
@} else @{
   set  _ENDIAN little
@}

# TAP identifiers may change as chips mature, for example with
# new revision fields (the "3" here).  Pick a good default; you
# can pass several such identifiers to the "jtag newtap" command.
if @{ [info exists CPUTAPID ] @} @{
   set _CPUTAPID $CPUTAPID
@} else @{
   set _CPUTAPID 0x3f0f0f0f
@}
@end example
@c but 0x3f0f0f0f is for an str73x part ...

@emph{Remember:} Board config files may include multiple target
config files, or the same target file multiple times
(changing at least @code{CHIPNAME}).

Likewise, the target configuration file should define
@code{_TARGETNAME} (or @code{_TARGETNAME0} etc) and
use it later on when defining debug targets:

@example
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME arm7tdmi -chain-position $_TARGETNAME
@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 Declaration}, 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 -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}, so
it adds a different TAP each time.

If there are nonzero @option{-expected-id} values,
OpenOCD attempts to verify the actual tap id against those values.
It will issue error messages if there is mismatch, which
can help to pinpoint problems in OpenOCD configurations.

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

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

@itemize
@item @file{target/omap3530.cfg} -- with disabled ARM and DSP,
plus a JRC to enable them
@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;
note that @code{$_ENDIAN} is not needed, since OpenOCD defaults
to little endian, and this chip doesn't support changing that.

@example
set _TARGETNAME $_CHIPNAME.cpu
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

@anchor{Define CPU targets working in SMP}
@subsection Define CPU targets working in SMP
@cindex SMP
After setting targets, you can define a list of targets working in SMP.

@example
set _TARGETNAME_1 $_CHIPNAME.cpu1
set _TARGETNAME_2 $_CHIPNAME.cpu2
target create $_TARGETNAME_1 cortex_a8 -chain-position $_CHIPNAME.dap \
-coreid 0 -dbgbase $_DAP_DBG1
target create $_TARGETNAME_2 cortex_a8 -chain-position $_CHIPNAME.dap \
-coreid 1 -dbgbase $_DAP_DBG2
#define 2 targets working in smp.
target smp $_CHIPNAME.cpu2 $_CHIPNAME.cpu1
@end example
In the above example on cortex_a8, 2 cpus are working in SMP.
In SMP only one GDB instance is created and :
@itemize @bullet
@item a set of hardware breakpoint sets the same breakpoint on all targets in the list.
@item halt command triggers the halt of all targets in the list.
@item resume command triggers the write context and the restart of all targets in the list.
@item following a breakpoint: the target stopped by the breakpoint is displayed to the GDB session.
@item dedicated GDB serial protocol packets are implemented for switching/retrieving the target
displayed by the GDB session @pxref{Using openocd SMP with GDB}.
@end itemize

The SMP behaviour can be disabled/enabled dynamically. On cortex_a8 following
command have been implemented.
@itemize @bullet
@item cortex_a8 smp_on : enable SMP mode, behaviour is as described above.
@item cortex_a8 smp_off : disable SMP mode, the current target is the one
displayed in the GDB session, only this target is now controlled by GDB
session. This behaviour is useful during system boot up.
@item cortex_a8 smp_gdb : display/fix the core id displayed in GDB session see
following example.
@end itemize

@example
>cortex_a8 smp_gdb
gdb coreid  0 -> -1
#0 : coreid 0 is displayed to GDB ,
#-> -1 : next resume triggers a real resume
> cortex_a8 smp_gdb 1
gdb coreid  0 -> 1
#0 :coreid 0 is displayed to GDB ,
#->1  : next resume displays coreid 1 to GDB
> resume
> cortex_a8 smp_gdb
gdb coreid  1 -> 1
#1 :coreid 1 is displayed to GDB ,
#->1 : next resume displays coreid 1 to GDB
> cortex_a8 smp_gdb -1
gdb coreid  1 -> -1
#1 :coreid 1 is displayed to GDB,
#->-1 : next resume triggers a real resume
@end example


@subsection Chip Reset Setup

As a rule, you should put the @command{reset_config} command
into the board file.  Most things you think you know about a
chip can be tweaked by the board.

Some chips have specific ways the TRST and SRST signals are
managed. In the unusual case that these are @emph{chip specific}
and can never be changed by board wiring, they could go here.
For example, some chips can't support JTAG debugging without
both signals.

Provide a @code{reset-assert} event handler if you can.
Such a handler uses JTAG operations to reset the target,
letting this target config be used in systems which don't
provide the optional SRST signal, or on systems where you
don't want to reset all targets at once.
Such a handler might write to chip registers to force a reset,
use a JRC to do that (preferable -- the target may be wedged!),
or force a watchdog timer to trigger.
(For Cortex-M3 targets, this is not necessary.  The target
driver knows how to use trigger an NVIC reset when SRST is
not available.)

Some chips need special attention during reset handling if
they're going to be used with JTAG.
An example might be needing to send some commands right
after the target's TAP has been reset, providing a
@code{reset-deassert-post} event handler that writes a chip
register to report that JTAG debugging is being done.
Another would be reconfiguring the watchdog so that it stops
counting while the core is halted in the debugger.

JTAG clocking constraints often change during reset, and in
some cases target config files (rather than board config files)
are the right places to handle some of those issues.
For example, immediately after reset most chips run using a
slower clock than they will use later.
That means that after reset (and potentially, as OpenOCD
first starts up) they must use a slower JTAG clock rate
than they will use later.
@xref{JTAG Speed}.

@quotation Important
When you are debugging code that runs right after chip
reset, getting these issues right is critical.
In particular, if you see intermittent failures when
OpenOCD verifies the scan chain after reset,
look at how you are setting up JTAG clocking.
@end quotation

@anchor{The init_targets procedure}
@subsection The init_targets procedure
@cindex init_targets procedure

Target config files can either be ``linear'' (script executed line-by-line when parsed in configuration stage,
@xref{Configuration Stage},) or they can contain a special procedure called @code{init_targets}, which will be executed
when entering run stage (after parsing all config files or after @code{init} command, @xref{Entering the Run Stage}.)
Such procedure can be overriden by ``next level'' script (which sources the original). This concept faciliates code
reuse when basic target config files provide generic configuration procedures and @code{init_targets} procedure, which
can then be sourced and enchanced or changed in a ``more specific'' target config file. This is not possible with
``linear'' config scripts, because sourcing them executes every initialization commands they provide.

@example
### generic_file.cfg ###

proc setup_my_chip @{chip_name flash_size ram_size@} @{
    # basic initialization procedure ...
@}

proc init_targets @{@} @{
    # initializes generic chip with 4kB of flash and 1kB of RAM
    setup_my_chip MY_GENERIC_CHIP 4096 1024
@}

### specific_file.cfg ###

source [find target/generic_file.cfg]

proc init_targets @{@} @{
    # initializes specific chip with 128kB of flash and 64kB of RAM
    setup_my_chip MY_CHIP_WITH_128K_FLASH_64KB_RAM 131072 65536
@}
@end example

The easiest way to convert ``linear'' config files to @code{init_targets} version is to enclose every line of ``code''
(i.e. not @code{source} commands, procedures, etc.) in this procedure.

For an example of this scheme see LPC2000 target config files.

The @code{init_boards} procedure is a similar concept concerning board config files (@xref{The init_board procedure}.)

@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 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 Hardware 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

@anchor{Translating Configuration Files}
@section Translating Configuration Files
@cindex translation
If you have a configuration file for another hardware debugger
or toolset (Abatron, BDI2000, BDI3000, CCS,
Lauterbach, Segger, Macraigor, etc.), translating
it into OpenOCD syntax is often quite straightforward. The most tricky
part of creating a configuration script is oftentimes the reset init
sequence where e.g. PLLs, DRAM and the like is set up.

One trick that you can use when translating is to write small
Tcl procedures to translate the syntax into OpenOCD syntax. This
can avoid manual translation errors and make it easier to
convert other scripts later on.

Example of transforming quirky arguments to a simple search and
replace job:

@example
#   Lauterbach syntax(?)
#
#       Data.Set c15:0x042f %long 0x40000015
#
#   OpenOCD syntax when using procedure below.
#
#       setc15 0x01 0x00050078

proc setc15 @{regs value@} @{
    global TARGETNAME

    echo [format "set p15 0x%04x, 0x%08x" $regs $value]

    arm mcr 15 [expr ($regs>>12)&0x7] \
        [expr ($regs>>0)&0xf] [expr ($regs>>4)&0xf] \
        [expr ($regs>>8)&0x7] $value
@}
@end example



@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.

@anchor{Configuration Stage}
@section Configuration Stage
@cindex configuration stage
@cindex config 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.
Normally, configuration commands are only available
inside startup scripts.

In this manual, the definition of a configuration command is
presented as a @emph{Config Command}, not as a @emph{Command}
which may be issued interactively.
The runtime @command{help} command also highlights configuration
commands, and those which may be issued at any time.

Those configuration commands include declaration of TAPs,
flash banks,
the interface used for JTAG communication,
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.

@anchor{Entering the Run Stage}
@section Entering the Run Stage

The first thing OpenOCD does after leaving the configuration
stage is to verify that it can talk to the scan chain
(list of TAPs) which has been configured.
It will warn if it doesn't find TAPs it expects to find,
or finds TAPs that aren't supposed to be there.
You should see no errors at this point.
If you see errors, resolve them by correcting the
commands you used to configure the server.
Common errors include using an initial JTAG speed that's too
fast, and not providing the right IDCODE values for the TAPs
on the scan chain.

Once OpenOCD has entered the run stage, a number of commands
become available.
A number of these relate to the debug targets you may have declared.
For example, the @command{mww} command will not be available until
a target has been successfuly instantiated.
If you want to use those commands, you may need to force
entry to the run stage.

@deffn {Config Command} init
This command terminates the configuration stage and
enters the run stage.  This helps when you need to have
the startup scripts manage tasks 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

@deffn {Overridable Procedure} jtag_init
This is invoked at server startup to verify that it can talk
to the scan chain (list of TAPs) which has been configured.

The default implementation first tries @command{jtag arp_init},
which uses only a lightweight JTAG reset before examining the
scan chain.
If that fails, it tries again, using a harder reset
from the overridable procedure @command{init_reset}.

Implementations must have verified the JTAG scan chain before
they return.
This is done by calling @command{jtag arp_init}
(or @command{jtag arp_init-reset}).
@end deffn

@anchor{TCP/IP Ports}
@section TCP/IP Ports
@cindex TCP port
@cindex server
@cindex port
@cindex security
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).

For reasons including security, you may wish to prevent remote
access using one or more of these ports.
In such cases, just specify the relevant port number as zero.
If you disable all access through TCP/IP, you will need to
use the command line @option{-pipe} option.

@deffn {Command} gdb_port [number]
@cindex GDB server
Normally gdb listens to a TCP/IP port, but GDB can also
communicate via pipes(stdin/out or named pipes). The name
"gdb_port" stuck because it covers probably more than 90% of
the normal use cases.

No arguments reports GDB port. "pipe" means listen to stdin
output to stdout, an integer is base port number, "disable"
disables the gdb server.

When using "pipe", also use log_output to redirect the log
output to a file so as not to flood the stdin/out pipes.

The -p/--pipe option is deprecated and a warning is printed
as it is equivalent to passing in -c "gdb_port pipe; log_output openocd.log".

Any other string is interpreted as named pipe to listen to.
Output pipe is the same name as input pipe, but with 'o' appended,
e.g. /var/gdb, /var/gdbo.

The GDB port for the first target will be the base 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.
When specified as zero, this port is not activated.
@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 Configuration}, about configuring individual targets.
@xref{Target Events}, about configuring target-specific event handling.

@anchor{gdb_breakpoint_override}
@deffn {Command} gdb_breakpoint_override [@option{hard}|@option{soft}|@option{disable}]
Force breakpoint type for gdb @command{break} commands.
This option supports GDB GUIs 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.
@end deffn

@anchor{gdb_flash_program}
@deffn {Config Command} gdb_flash_program (@option{enable}|@option{disable})
Set to @option{enable} to cause OpenOCD to program the flash memory when a
vFlash packet is received.
The default behaviour is @option{enable}.
@end deffn

@deffn {Config Command} gdb_memory_map (@option{enable}|@option{disable})
Set to @option{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 @option{enable}.
@xref{gdb_flash_program}.
@end deffn

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

@anchor{Event Polling}
@section Event Polling

Hardware debuggers are parts of asynchronous systems,
where significant events can happen at any time.
The OpenOCD server needs to detect some of these events,
so it can report them to through TCL command line
or to GDB.

Examples of such events include:

@itemize
@item One of the targets can stop running ... maybe it triggers
a code breakpoint or data watchpoint, or halts itself.
@item Messages may be sent over ``debug message'' channels ... many
targets support such messages sent over JTAG,
for receipt by the person debugging or tools.
@item Loss of power ... some adapters can detect these events.
@item Resets not issued through JTAG ... such reset sources
can include button presses or other system hardware, sometimes
including the target itself (perhaps through a watchdog).
@item Debug instrumentation sometimes supports event triggering
such as ``trace buffer full'' (so it can quickly be emptied)
or other signals (to correlate with code behavior).
@end itemize

None of those events are signaled through standard JTAG signals.
However, most conventions for JTAG connectors include voltage
level and system reset (SRST) signal detection.
Some connectors also include instrumentation signals, which
can imply events when those signals are inputs.

In general, OpenOCD needs to periodically check for those events,
either by looking at the status of signals on the JTAG connector
or by sending synchronous ``tell me your status'' JTAG requests
to the various active targets.
There is a command to manage and monitor that polling,
which is normally done in the background.

@deffn Command poll [@option{on}|@option{off}]
Poll the current target for its current state.
(Also, @pxref{target curstate}.)
If that target is in debug mode, architecture
specific information about the current state is printed.
An optional parameter
allows background polling to be enabled and disabled.

You could use this from the TCL command shell, or
from GDB using @command{monitor poll} command.
Leave background polling enabled while you're using GDB.
@example
> poll
background polling: on
target state: halted
target halted in ARM state due to debug-request, \
               current mode: Supervisor
cpsr: 0x800000d3 pc: 0x11081bfc
MMU: disabled, D-Cache: disabled, I-Cache: enabled
>
@end example
@end deffn

@node Debug Adapter Configuration
@chapter Debug Adapter Configuration
@cindex config file, interface
@cindex interface config file

Correctly installing OpenOCD includes making your operating system give
OpenOCD access to debug adapters.  Once that has been done, Tcl commands
are used to select which one is used, and to configure how it is used.

@quotation Note
Because OpenOCD started out with a focus purely on JTAG, you may find
places where it wrongly presumes JTAG is the only transport protocol
in use.  Be aware that recent versions of OpenOCD are removing that
limitation.  JTAG remains more functional than most other transports.
Other transports do not support boundary scan operations, or may be
specific to a given chip vendor.  Some might be usable only for
programming flash memory, instead of also for debugging.
@end quotation

Debug 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 debug adapter you are
using. Depending on the type of adapter, you may need to use one or
more additional commands to further identify or configure the adapter.

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

@deffn Command {interface_list}
List the debug adapter drivers that have been built into
the running copy of OpenOCD.
@end deffn
@deffn Command {interface transports} transport_name+
Specifies the transports supported by this debug adapter.
The adapter driver builds-in similar knowledge; use this only
when external configuration (such as jumpering) changes what
the hardware can support.
@end deffn



@deffn Command {adapter_name}
Returns the name of the debug adapter 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.
(Note that USB serial numbers can be arbitrary Unicode strings,
and are not restricted to containing only decimal digits.)
@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,
either for the local Cortex-M3 (SRST only)
or in a passthrough mode (neither SRST nor TRST)
This layout can not support the SWO trace mechanism, and should be
used only for older boards (before rev C).
@item @b{luminary_icdi} This layout should be used with most Luminary
eval boards, including Rev C LM3S811 eval boards and the eponymous
ICDI boards, to debug either the local Cortex-M3 or in passthrough mode
to debug some other target.  It can support the SWO trace mechanism.
@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{jtagkey2} Amontec JTAGkey2 (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{redbee-econotag} Integrated with a Redbee development board.
@item @b{redbee-usb} Integrated with a Redbee USB-stick development board.
@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} {remote_bitbang}
Drive JTAG from a remote process. This sets up a UNIX or TCP socket connection
with a remote process and sends ASCII encoded bitbang requests to that process
instead of directly driving JTAG.

The remote_bitbang driver is useful for debugging software running on
processors which are being simulated.

@deffn {Config Command} {remote_bitbang_port} number
Specifies the TCP port of the remote process to connect to or 0 to use UNIX
sockets instead of TCP.
@end deffn

@deffn {Config Command} {remote_bitbang_host} hostname
Specifies the hostname of the remote process to connect to using TCP, or the
name of the UNIX socket to use if remote_bitbang_port is 0.
@end deffn

For example, to connect remotely via TCP to the host foobar you might have
something like:

@example
interface remote_bitbang
remote_bitbang_port 3335
remote_bitbang_host foobar
@end example

To connect to another process running locally via UNIX sockets with socket
named mysocket:

@example
interface remote_bitbang
remote_bitbang_port 0
remote_bitbang_host mysocket
@end example
@end deffn

@deffn {Interface Driver} {usb_blaster}
USB JTAG/USB-Blaster compatibles over one of the userspace libraries
for FTDI chips.  These interfaces have several commands, used to
configure the driver before initializing the JTAG scan chain:

@deffn {Config Command} {usb_blaster_device_desc} description
Provides the USB device description (the @emph{iProduct string})
of the FTDI FT245 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} {usb_blaster_vid_pid} vid pid
The vendor ID and product ID of the FTDI FT245 device. If not specified,
default values are used.
Currently, only one @var{vid}, @var{pid} pair may be given, e.g. for
Altera USB-Blaster (default):
@example
usb_blaster_vid_pid 0x09FB 0x6001
@end example
The following VID/PID is for Kolja Waschk's USB JTAG:
@example
usb_blaster_vid_pid 0x16C0 0x06AD
@end example
@end deffn

@deffn {Command} {usb_blaster} (@option{pin6}|@option{pin8}) (@option{0}|@option{1})
Sets the state of the unused GPIO pins on USB-Blasters (pins 6 and 8 on the
female JTAG header). These pins can be used as SRST and/or TRST provided the
appropriate connections are made on the target board.

For example, to use pin 6 as SRST (as with an AVR board):
@example
$_TARGETNAME configure -event reset-assert \
      "usb_blaster pin6 1; wait 1; usb_blaster pin6 0"
@end example
@end deffn

@end deffn

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

@deffn {Config Command} {parport_port} [port_number]
Display either the address of the I/O port
(default: 0x378 for LPT1) or the number of the @file{/dev/parport} device.
If a parameter is provided, first switch to use that port.
This is a write-once setting.
@end deffn
@end deffn

@deffn {Interface Driver} {jlink}
Segger jlink USB adapter
@c command:     jlink caps
@c     dumps jlink capabilities
@c command:     jlink config
@c     access J-Link configurationif no argument this will dump the config
@c command:     jlink config kickstart [val]
@c     set Kickstart power on JTAG-pin 19.
@c command:     jlink config mac_address [ff:ff:ff:ff:ff:ff]
@c     set the MAC Address
@c command:     jlink config ip [A.B.C.D[/E] [F.G.H.I]]
@c     set the ip address of the J-Link Pro, "
@c     where A.B.C.D is the ip,
@c     E the bit of the subnet mask
@c     F.G.H.I the subnet mask
@c command:     jlink config reset
@c     reset the current config
@c command:     jlink config save
@c     save the current config
@c command:     jlink config usb_address [0x00 to 0x03 or 0xff]
@c     set the USB-Address,
@c     This will change the product id
@c command:     jlink info
@c     dumps status
@c command:     jlink hw_jtag (2|3)
@c     sets version 2 or 3
@c command:      jlink pid
@c     set the pid of the interface we want to use
@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
Set the layout of the parallel port cable used to connect to the target.
This is a write-once setting.
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} [port_number]
Display either the address of the I/O port
(default: 0x378 for LPT1) or the number of the @file{/dev/parport} device.
If a parameter is provided, first switch to use that port.
This is a write-once setting.

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 Command {parport_toggling_time} [nanoseconds]
Displays how many nanoseconds the hardware needs to toggle TCK;
the parport driver uses this value to obey the
@command{adapter_khz} configuration.
When the optional @var{nanoseconds} parameter is given,
that setting is changed before displaying the current value.

The default setting should work reasonably well on commodity PC hardware.
However, you may want to calibrate for your specific hardware.
@quotation Tip
To measure the toggling time with a logic analyzer or a digital storage
oscilloscope, follow the procedure below:
@example
> parport_toggling_time 1000
> adapter_khz 500
@end example
This sets the maximum JTAG clock speed of the hardware, but
the actual speed probably deviates from the requested 500 kHz.
Now, measure the time between the two closest spaced TCK transitions.
You can use @command{runtest 1000} or something similar to generate a
large set of samples.
Update the setting to match your measurement:
@example
> parport_toggling_time <measured nanoseconds>
@end example
Now the clock speed will be a better match for @command{adapter_khz rate}
commands given in OpenOCD scripts and event handlers.

You can do something similar with many digital multimeters, but note
that you'll probably need to run the clock continuously for several
seconds before it decides what clock rate to show.  Adjust the
toggling time up or down until the measured clock rate is a good
match for the adapter_khz rate you specified; be conservative.
@end quotation
@end deffn

@deffn {Config Command} {parport_write_on_exit} (@option{on}|@option{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 on LPT2 might look something like this:

@example
interface parport
parport_port 0x278
parport_cable wiggler
@end example
@end deffn

@deffn {Interface Driver} {presto}
ASIX PRESTO USB JTAG programmer.
@deffn {Config Command} {presto_serial} serial_string
Configures the USB serial number of the Presto device to use.
@end deffn
@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} {stlink}
ST Micro ST-LINK adapter.

@deffn {Config Command} {stlink_device_desc} description
Currently Not Supported.
@end deffn

@deffn {Config Command} {stlink_serial} serial
Currently Not Supported.
@end deffn

@deffn {Config Command} {stlink_layout} (@option{sg}|@option{usb})
Specifies the stlink layout to use.
@end deffn

@deffn {Config Command} {stlink_vid_pid} vid pid
The vendor ID and product ID of the STLINK device.
@end deffn

@deffn {Config Command} {stlink_api} api_level
Manually sets the stlink api used, valid options are 1 or 2.
@end deffn
@end deffn

@deffn {Interface Driver} {opendous}
opendous-jtag is a freely programmable USB adapter.
@end deffn

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

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

@deffn Command power [@option{on}|@option{off}]
Turn power switch to target on/off.
No arguments: print status.
@end deffn

@section Transport Configuration
@cindex Transport
As noted earlier, depending on the version of OpenOCD you use,
and the debug adapter you are using,
several transports may be available to
communicate with debug targets (or perhaps to program flash memory).
@deffn Command {transport list}
displays the names of the transports supported by this
version of OpenOCD.
@end deffn

@deffn Command {transport select} transport_name
Select which of the supported transports to use in this OpenOCD session.
The transport must be supported by the debug adapter hardware  and by the
version of OPenOCD you are using (including the adapter's driver).
No arguments: returns name of session's selected transport.
@end deffn

@subsection JTAG Transport
@cindex JTAG
JTAG is the original transport supported by OpenOCD, and most
of the OpenOCD commands support it.
JTAG transports expose a chain of one or more Test Access Points (TAPs),
each of which must be explicitly declared.
JTAG supports both debugging and boundary scan testing.
Flash programming support is built on top of debug support.
@subsection SWD Transport
@cindex SWD
@cindex Serial Wire Debug
SWD (Serial Wire Debug) is an ARM-specific transport which exposes one
Debug Access Point (DAP, which must be explicitly declared.
(SWD uses fewer signal wires than JTAG.)
SWD is debug-oriented, and does not support  boundary scan testing.
Flash programming support is built on top of debug support.
(Some processors support both JTAG and SWD.)
@deffn Command {swd newdap} ...
Declares a single DAP which uses SWD transport.
Parameters are currently the same as "jtag newtap" but this is
expected to change.
@end deffn
@deffn Command {swd wcr trn prescale}
Updates TRN (turnaraound delay) and prescaling.fields of the
Wire Control Register (WCR).
No parameters: displays current settings.
@end deffn

@subsection SPI Transport
@cindex SPI
@cindex Serial Peripheral Interface
The Serial Peripheral Interface (SPI) is a general purpose transport
which uses four wire signaling.  Some processors use it as part of a
solution for flash programming.

@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, and the scan chain verification which
follows reset, can be adjusted using a @code{reset-start}
target event handler.
It can then be reconfigured to a faster speed by a
@code{reset-init} target event handler after it reprograms those
CPU clocks, or manually (if something else, such as a boot loader,
sets up those clocks).
@xref{Target Events}.
When the initial low JTAG speed is a chip characteristic, perhaps
because of a required oscillator speed, provide such a handler
in the target config file.
When that speed is a function of a board-specific characteristic
such as which speed oscillator is used, it belongs in the board
config file instead.
In both cases it's safest to also set the initial JTAG clock rate
to that same slow speed, so that OpenOCD never starts up using a
clock speed that's faster than the scan chain can support.

@example
jtag_rclk 3000
$_TARGET.cpu configure -event reset-start @{ jtag_rclk 3000 @}
@end example

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{adapter_khz}, but only for (ARM) cores and boards
which support adaptive clocking.

@deffn {Command} adapter_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.

Chip data sheets generally include a top JTAG clock rate.
The actual rate is often a function of a CPU core clock,
and is normally less than that peak rate.
For example, most ARM cores accept at most one sixth of the CPU clock.

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 adaptive clocking
@cindex RTCK
This Tcl proc (defined in @file{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}.)
They can also interact with JTAG routers.
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
user 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 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}.)

@anchor{SRST and TRST Issues}
@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 either 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.
Missing TRST is not a problem, since JTAG-level resets can
be triggered using with TMS signaling.

@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{adapter_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).
Many systems treat combined assertion of SRST and TRST as a
trigger for a harder reset than SRST alone.
Such custom reset handling is discussed later in this chapter.
@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} adapter_nsrst_assert_width milliseconds
Minimum amount of time (in milliseconds) OpenOCD should wait
after asserting nSRST (active-low system reset) before
allowing it to be deasserted.
@end deffn

@deffn {Command} adapter_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_assert_width milliseconds
Minimum amount of time (in milliseconds) OpenOCD should wait
after asserting nTRST (active-low JTAG TAP reset) before
allowing it to be deasserted.
@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 displays or modifies the reset configuration
of your combination of JTAG board and target in target
configuration scripts.

Information earlier in this section describes the kind of problems
the command is intended to address (@pxref{SRST and TRST Issues}).
As a rule this command belongs only in board config files,
describing issues like @emph{board doesn't connect TRST};
or in user config files, addressing limitations derived
from a particular combination of interface and board.
(An unlikely example would be using a TRST-only adapter
with a board that only wires up SRST.)

The @var{mode_flag} options can be specified in any order, but only one
of each type -- @var{signals}, @var{combination},
@var{gates},
@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}).

@itemize
@item
@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 and/or TRST through the JTAG connector,
you must declare that so those signals can be used.
@end quotation

@item
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. NXP
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}.

@item
The @var{gates} tokens control flags that describe some cases where
JTAG may be unvailable during reset.
@option{srst_gates_jtag} (default)
indicates that asserting SRST gates the
JTAG clock. This means that no communication can happen on JTAG
while SRST is asserted.
Its converse is @option{srst_nogate}, indicating that JTAG commands
can safely be issued while SRST is active.
@end itemize

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 JTAG Accelerator.  Also, they are necessarily ignored if the
relevant signal (TRST or SRST) is not connected.

@itemize
@item
Possible @var{trst_type} driver modes for the test reset signal (TRST)
are the default @option{trst_push_pull}, 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.

@item
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 itemize
@end deffn

@section Custom Reset Handling
@cindex events

OpenOCD has several ways to help support the various reset
mechanisms provided by chip and board vendors.
The commands shown in the previous section give standard parameters.
There are also @emph{event handlers} associated with TAPs or Targets.
Those handlers are Tcl procedures you can provide, which are invoked
at particular points in the reset sequence.

@emph{When SRST is not an option} you must set
up a @code{reset-assert} event handler for your target.
For example, some JTAG adapters don't include the SRST signal;
and some boards have multiple targets, and you won't always
want to reset everything at once.

After configuring those mechanisms, you might still
find your board doesn't start up or reset correctly.
For example, maybe it needs a slightly different sequence
of SRST and/or TRST manipulations, because of quirks that
the @command{reset_config} mechanism doesn't address;
or asserting both might trigger a stronger reset, which
needs special attention.

Experiment with lower level operations, such as @command{jtag_reset}
and the @command{jtag arp_*} operations shown here,
to find a sequence of operations that works.
@xref{JTAG Commands}.
When you find a working sequence, it can be used to override
@command{jtag_init}, which fires during OpenOCD startup
(@pxref{Configuration Stage});
or @command{init_reset}, which fires during reset processing.

You might also want to provide some project-specific reset
schemes.  For example, on a multi-target board the standard
@command{reset} command would reset all targets, but you
may need the ability to reset only one target at time and
thus want to avoid using the board-wide SRST signal.

@deffn {Overridable Procedure} init_reset mode
This is invoked near the beginning of the @command{reset} command,
usually to provide as much of a cold (power-up) reset as practical.
By default it is also invoked from @command{jtag_init} if
the scan chain does not respond to pure JTAG operations.
The @var{mode} parameter is the parameter given to the
low level reset command (@option{halt},
@option{init}, or @option{run}), @option{setup},
or potentially some other value.

The default implementation just invokes @command{jtag arp_init-reset}.
Replacements will normally build on low level JTAG
operations such as @command{jtag_reset}.
Operations here must not address individual TAPs
(or their associated targets)
until the JTAG scan chain has first been verified to work.

Implementations must have verified the JTAG scan chain before
they return.
This is done by calling @command{jtag arp_init}
(or @command{jtag arp_init-reset}).
@end deffn

@deffn Command {jtag arp_init}
This validates the scan chain using just the four
standard JTAG signals (TMS, TCK, TDI, TDO).
It starts by issuing a JTAG-only reset.
Then it performs checks to verify that the scan chain configuration
matches the TAPs it can observe.
Those checks include checking IDCODE values for each active TAP,
and verifying the length of their instruction registers using
TAP @code{-ircapture} and @code{-irmask} values.
If these tests all pass, TAP @code{setup} events are
issued to all TAPs with handlers for that event.
@end deffn

@deffn Command {jtag arp_init-reset}
This uses TRST and SRST to try resetting
everything on the JTAG scan chain
(and anything else connected to SRST).
It then invokes the logic of @command{jtag arp_init}.
@end deffn


@node TAP Declaration
@chapter TAP Declaration
@cindex TAP declaration
@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
@cindex scan chain

TAPs are part of a hardware @dfn{scan chain},
which is daisy chain of TAPs.
They also need to be added to
OpenOCD's software mirror of that hardware list,
giving each member a name and associating other data with it.
Simple scan chains, with a single TAP, are common in
systems with a single microcontroller or microprocessor.
More complex chips may have several TAPs internally.
Very complex scan chains 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.

You can display the list with the @command{scan_chain} command.
(Don't confuse this with the list displayed by the @command{targets}
command, presented in the next chapter.
That only displays TAPs for CPUs which are configured as
debugging targets.)
Here's what the scan chain might look like for a chip more than one TAP:

@verbatim
   TapName            Enabled IdCode     Expected   IrLen IrCap IrMask
-- ------------------ ------- ---------- ---------- ----- ----- ------
 0 omap5912.dsp          Y    0x03df1d81 0x03df1d81    38 0x01  0x03
 1 omap5912.arm          Y    0x0692602f 0x0692602f     4 0x01  0x0f
 2 omap5912.unknown      Y    0x00000000 0x00000000     8 0x01  0x03
@end verbatim

OpenOCD can detect some of that information, but not all
of it.  @xref{Autoprobing}.
Unfortunately those TAPs can't always be autoconfigured,
because not all devices provide good support for that.
JTAG doesn't require supporting IDCODE instructions, and
chips with JTAG routers may not link TAPs into the chain
until they are told to do so.

The configuration mechanism currently supported by OpenOCD
requires explicit configuration of all TAP devices using
@command{jtag newtap} commands, as detailed later in this chapter.
A command like this would declare one tap and name it @code{chip1.cpu}:

@example
jtag newtap chip1 cpu -irlen 4 -expected-id 0x3ba00477
@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 declared is very important.}
It must match the order in the JTAG scan chain, both inside
a single chip and between them.
@xref{FAQ TAP Order}.

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}}.
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}.

@deffn Command {jtag names}
Returns the names of all current TAPs in the scan chain.
Use @command{jtag cget} or @command{jtag tapisenabled}
to examine attributes and state of each TAP.
@example
foreach t [jtag names] @{
    puts [format "TAP: %s\n" $t]
@}
@end example
@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.
@end deffn

@c FIXME!  "jtag cget" should be able to return all TAP
@c attributes, like "$target_name cget" does for targets.

@c Probably want "jtag eventlist", and a "tap-reset" event
@c (on entry to RESET state).

@section TAP Names
@cindex dotted name

When TAP objects are declared 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 relied on; it will be removed by mid-2010.
Update all of your scripts to use TAP names rather than numbers,
by paying attention to the runtime warnings they trigger.
Using TAP numbers in target configuration scripts prevents
reusing those scripts on boards with multiple targets.
@end quotation

@section TAP Declaration Commands

@c shouldn't this be(come) a {Config Command}?
@anchor{jtag newtap}
@deffn Command {jtag newtap} chipname tapname configparams...
Declares 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{-irlen} @var{NUMBER}
@*The length in bits of the
instruction register, such as 4 or 5 bits.
@end itemize

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

@itemize @bullet
@item @code{-disable} (or @code{-enable})
@*Use the @code{-disable} parameter to flag a TAP which is not
linked in to the scan chain after a reset using either TRST
or the JTAG state machine's @sc{reset} state.
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 @var{number} represents a 32-bit IDCODE
which you expect to find when the scan 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).
Specify @var{number} as zero to suppress warnings about IDCODE
values that were found but not included in the list.

Provide this value if at all possible, since it lets OpenOCD
tell when the scan chain it sees isn't right.  These values
are provided in vendors' chip documentation, usually a technical
reference manual.  Sometimes you may need to probe the JTAG
hardware to find these values.
@xref{Autoprobing}.
@item @code{-ignore-version}
@*Specify this to ignore the JTAG version field in the @code{-expected-id}
option.  When vendors put out multiple versions of a chip, or use the same
JTAG-level ID for several largely-compatible chips, it may be more practical
to ignore the version field than to update config files to handle all of
the various chip IDs. The version field is defined as bit 28-31 of the IDCODE.
@item @code{-ircapture} @var{NUMBER}
@*The bit pattern loaded by the TAP into the JTAG shift register
on entry to the @sc{ircapture} state, such as 0x01.
JTAG requires the two LSBs of this value to be 01.
By default, @code{-ircapture} and @code{-irmask} are set
up to verify that two-bit value.  You may provide
additional bits, if you know them, or indicate that
a TAP doesn't conform to the JTAG specification.
@item @code{-irmask} @var{NUMBER}
@*A mask used with @code{-ircapture}
to verify that instruction scans work correctly.
Such scans are not used by OpenOCD except to verify that
there seems to be no problems with JTAG scan chain operations.
@end itemize
@end deffn

@section Other TAP commands

@deffn Command {jtag cget} dotted.name @option{-event} name
@deffnx Command {jtag configure} dotted.name @option{-event} name string
At this writing this TAP attribute
mechanism is used only for event handling.
(It is not a direct analogue of the @code{cget}/@code{configure}
mechanism for debugger targets.)
See the next section for information about the available events.

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.
@end deffn

@anchor{TAP Events}
@section TAP Events
@cindex events
@cindex TAP events

OpenOCD includes two event mechanisms.
The one presented here applies to all JTAG TAPs.
The other applies to debugger targets,
which are associated with certain TAPs.

The TAP events currently defined are:

@itemize @bullet
@item @b{post-reset}
@* The TAP has just completed a JTAG reset.
The tap may still be in the JTAG @sc{reset} state.
Handlers for these events might perform initialization sequences
such as issuing TCK cycles, TMS sequences to ensure
exit from the ARM SWD mode, and more.

Because the scan chain has not yet been verified, handlers for these events
@emph{should not issue commands which scan the JTAG IR or DR registers}
of any particular target.
@b{NOTE:} As this is written (September 2009), nothing prevents such access.
@item @b{setup}
@* The scan chain has been reset and verified.
This handler may enable TAPs as needed.
@item @b{tap-disable}
@* The TAP needs to be disabled.  This handler should
implement @command{jtag tapdisable}
by issuing the relevant JTAG commands.
@item @b{tap-enable}
@* The TAP needs to be enabled.  This handler should
implement @command{jtag tapenable}
by issuing the relevant JTAG commands.
@end itemize

If you need some action after each JTAG reset, which isn't actually
specific to any TAP (since you can't yet trust the scan chain's
contents to be accurate), you might:

@example
jtag configure CHIP.jrc -event post-reset @{
  echo "JTAG Reset done"
  ... non-scan jtag operations to be done after reset
@}
@end example


@anchor{Enabling and Disabling TAPs}
@section Enabling and Disabling TAPs
@cindex JTAG Route Controller
@cindex jrc

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.

In OpenOCD, tap enabling/disabling is invoked by the Tcl commands
shown below, and is implemented using TAP event handlers.
So for example, when defining a TAP for a CPU connected to
a JTAG router, your @file{target.cfg} file
should define TAP event handlers using
code that looks something like this:

@example
jtag configure CHIP.cpu -event tap-enable @{
  ... jtag operations using CHIP.jrc
@}
jtag configure CHIP.cpu -event tap-disable @{
  ... jtag operations using CHIP.jrc
@}
@end example

Then you might want that CPU's TAP enabled almost all the time:

@example
jtag configure $CHIP.jrc -event setup "jtag tapenable $CHIP.cpu"
@end example

Note how that particular setup event handler declaration
uses quotes to evaluate @code{$CHIP} when the event is configured.
Using brackets @{ @} would cause it to be evaluated later,
at runtime, when it might have a different value.

@deffn Command {jtag tapdisable} dotted.name
If necessary, disables the tap
by sending it a @option{tap-disable} event.
Returns the string "1" if the tap
specified by @var{dotted.name} is enabled,
and "0" if it is disabled.
@end deffn

@deffn Command {jtag tapenable} dotted.name
If necessary, enables the tap
by sending it a @option{tap-enable} event.
Returns the string "1" if the tap
specified by @var{dotted.name} is enabled,
and "0" if it is disabled.
@end deffn

@deffn Command {jtag tapisenabled} dotted.name
Returns the string "1" if the tap
specified by @var{dotted.name} is enabled,
and "0" if it is disabled.

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

@anchor{Autoprobing}
@section Autoprobing
@cindex autoprobe
@cindex JTAG autoprobe

TAP configuration is the first thing that needs to be done
after interface and reset configuration.  Sometimes it's
hard finding out what TAPs exist, or how they are identified.
Vendor documentation is not always easy to find and use.

To help you get past such problems, OpenOCD has a limited
@emph{autoprobing} ability to look at the scan chain, doing
a @dfn{blind interrogation} and then reporting the TAPs it finds.
To use this mechanism, start the OpenOCD server with only data
that configures your JTAG interface, and arranges to come up
with a slow clock (many devices don't support fast JTAG clocks
right when they come out of reset).

For example, your @file{openocd.cfg} file might have:

@example
source [find interface/olimex-arm-usb-tiny-h.cfg]
reset_config trst_and_srst
jtag_rclk 8
@end example

When you start the server without any TAPs configured, it will
attempt to autoconfigure the TAPs.  There are two parts to this:

@enumerate
@item @emph{TAP discovery} ...
After a JTAG reset (sometimes a system reset may be needed too),
each TAP's data registers will hold the contents of either the
IDCODE or BYPASS register.
If JTAG communication is working, OpenOCD will see each TAP,
and report what @option{-expected-id} to use with it.
@item @emph{IR Length discovery} ...
Unfortunately JTAG does not provide a reliable way to find out
the value of the @option{-irlen} parameter to use with a TAP
that is discovered.
If OpenOCD can discover the length of a TAP's instruction
register, it will report it.
Otherwise you may need to consult vendor documentation, such
as chip data sheets or BSDL files.
@end enumerate

In many cases your board will have a simple scan chain with just
a single device.  Here's what OpenOCD reported with one board
that's a bit more complex:

@example
clock speed 8 kHz
There are no enabled taps.  AUTO PROBING MIGHT NOT WORK!!
AUTO auto0.tap - use "jtag newtap auto0 tap -expected-id 0x2b900f0f ..."
AUTO auto1.tap - use "jtag newtap auto1 tap -expected-id 0x07926001 ..."
AUTO auto2.tap - use "jtag newtap auto2 tap -expected-id 0x0b73b02f ..."
AUTO auto0.tap - use "... -irlen 4"
AUTO auto1.tap - use "... -irlen 4"
AUTO auto2.tap - use "... -irlen 6"
no gdb ports allocated as no target has been specified
@end example

Given that information, you should be able to either find some existing
config files to use, or create your own.  If you create your own, you
would configure from the bottom up:  first a @file{target.cfg} file
with these TAPs, any targets associated with them, and any on-chip
resources; then a @file{board.cfg} with off-chip resources, clocking,
and so forth.

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

This chapter discusses how to set up GDB debug targets for CPUs.
You can also access these targets without GDB
(@pxref{Architecture and Core Commands},
and @ref{Target State handling}) and
through various kinds of NAND and NOR flash commands.
If you have multiple CPUs you can have multiple such targets.

We'll start by looking at how to examine the targets you have,
then look at how to add one more target and how to configure it.

@section Target List
@cindex target, current
@cindex target, list

All targets that have been set up are part of a list,
where each member has a name.
That name should normally be the same as the TAP name.
You can display the list with the @command{targets}
(plural!) command.
This display often has only one CPU; here's what it might
look like with more than one:
@verbatim
    TargetName         Type       Endian TapName            State
--  ------------------ ---------- ------ ------------------ ------------
 0* at91rm9200.cpu     arm920t    little at91rm9200.cpu     running
 1  MyTarget           cortex_m3  little mychip.foo         tap-disabled
@end verbatim

One member of that list is the @dfn{current target}, which
is implicitly referenced by many commands.
It's the one marked with a @code{*} near the target name.
In particular, memory addresses often refer to the address
space seen by that current target.
Commands like @command{mdw} (memory display words)
and @command{flash erase_address} (erase NOR flash blocks)
are examples; and there are many more.

Several commands let you examine the list of targets:

@deffn Command {target count}
@emph{Note: target numbers are deprecated; don't use them.
They will be removed shortly after August 2010, including this command.
Iterate target using @command{target names}, not by counting.}

Returns the number of targets, @math{N}.
The highest numbered target is @math{N - 1}.
@example
set c [target count]
for @{ set x 0 @} @{ $x < $c @} @{ incr x @} @{
    # Assuming you have created this function
    print_target_details $x
@}
@end example
@end deffn

@deffn Command {target current}
Returns the name of the current target.
@end deffn

@deffn Command {target names}
Lists the names of all current targets in the list.
@example
foreach t [target names] @{
    puts [format "Target: %s\n" $t]
@}
@end example
@end deffn

@deffn Command {target number} number
@emph{Note: target numbers are deprecated; don't use them.
They will be removed shortly after August 2010, including this command.}

The list of targets is numbered starting at zero.
This command returns the name of the target at index @var{number}.
@example
set thename [target number $x]
puts [format "Target %d is: %s\n" $x $thename]
@end example
@end deffn

@c yep, "target list" would have been better.
@c plus maybe "target setdefault".

@deffn Command targets [name]
@emph{Note: the name of this command is plural.  Other target
command names are singular.}

With no parameter, this command displays a table of all known
targets in a user friendly form.

With a parameter, this command sets the current target to
the given target with the given @var{name}; this is
only relevant on boards which have more than one target.
@end deffn

@section Target CPU Types and Variants
@cindex target type
@cindex CPU type
@cindex CPU variant

Each target has a @dfn{CPU type}, as shown in the output of
the @command{targets} command.  You need to specify that type
when calling @command{target create}.
The CPU type indicates more than just the instruction set.
It also indicates how that instruction set is implemented,
what kind of debug support it integrates,
whether it has an MMU (and if so, what kind),
what core-specific commands may be available
(@pxref{Architecture and Core Commands}),
and more.

For some CPU types, OpenOCD also defines @dfn{variants} which
indicate differences that affect their handling.
For example, a particular implementation bug might need to be
worked around in some chip versions.

It's easy to see what target types are supported,
since there's a command to list them.
However, there is currently no way to list what target variants
are supported (other than by reading the OpenOCD source code).

@anchor{target types}
@deffn Command {target types}
Lists all supported target types.
At this writing, the supported CPU types and variants are:

@itemize @bullet
@item @code{arm11} -- this is a generation of ARMv6 cores
@item @code{arm720t} -- this is an ARMv4 core with an MMU
@item @code{arm7tdmi} -- this is an ARMv4 core
@item @code{arm920t} -- this is an ARMv4 core with an MMU
@item @code{arm926ejs} -- this is an ARMv5 core with an MMU
@item @code{arm966e} -- this is an ARMv5 core
@item @code{arm9tdmi} -- this is an ARMv4 core
@item @code{avr} -- implements Atmel's 8-bit AVR instruction set.
(Support for this is preliminary and incomplete.)
@item @code{cortex_a8} -- this is an ARMv7 core with an MMU
@item @code{cortex_m3} -- this is an ARMv7 core, supporting only the
compact Thumb2 instruction set.
@item @code{dragonite} -- resembles arm966e
@item @code{dsp563xx} -- implements Freescale's 24-bit DSP.
(Support for this is still incomplete.)
@item @code{fa526} -- resembles arm920 (w/o Thumb)
@item @code{feroceon} -- resembles arm926
@item @code{mips_m4k} -- a MIPS core.  This supports one variant:
@item @code{xscale} -- this is actually an architecture,
not a CPU type.  It is based on the ARMv5 architecture.
There are several variants defined:
@itemize @minus
@item @code{ixp42x}, @code{ixp45x}, @code{ixp46x},
@code{pxa27x} ... instruction register length is 7 bits
@item @code{pxa250}, @code{pxa255},
@code{pxa26x} ... instruction register length is 5 bits
@item @code{pxa3xx} ... instruction register length is 11 bits
@end itemize
@end itemize
@end deffn

To avoid being confused by the variety of ARM based cores, remember
this key point: @emph{ARM is a technology licencing company}.
(See: @url{http://www.arm.com}.)
The CPU name used by OpenOCD will reflect the CPU design that was
licenced, not a vendor brand which incorporates that design.
Name prefixes like arm7, arm9, arm11, and cortex
reflect design generations;
while names like ARMv4, ARMv5, ARMv6, and ARMv7
reflect an architecture version implemented by a CPU design.

@anchor{Target Configuration}
@section Target Configuration

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.

Although you can set up a target in one step, it's often clearer if you
use shorter commands and do it in two steps:  create it, then configure
optional parts.
All operations on the target after it's created will use a new
command, created as part of target creation.

The two main things to configure after target creation are
a work area, which usually has target-specific defaults even
if the board setup code overrides them later;
and event handlers (@pxref{Target Events}), which tend
to be much more board-specific.
The key steps you use might look something like this

@example
target create MyTarget cortex_m3 -chain-position mychip.cpu
$MyTarget configure -work-area-phys 0x08000 -work-area-size 8096
$MyTarget configure -event reset-deassert-pre @{ jtag_rclk 5 @}
$MyTarget configure -event reset-init @{ myboard_reinit @}
@end example

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 more.

@quotation Warning
On more complex chips, the work area can become
inaccessible when application code
(such as an operating system)
enables or disables the MMU.
For example, the particular MMU context used to acess the virtual
address will probably matter ... and that context might not have
easy access to other addresses needed.
At this writing, OpenOCD doesn't have much MMU intelligence.
@end quotation

It's often very useful to define a @code{reset-init} event handler.
For systems that are normally used with a boot loader,
common tasks include updating clocks and initializing memory
controllers.
That may be needed to let you write the boot loader into flash,
in order to ``de-brick'' your board; or to load programs into
external DDR memory without having run the boot loader.

@deffn Command {target create} target_name type configparams...
This command creates a GDB debug target that refers to a specific JTAG tap.
It enters that target into a list, and creates a new
command (@command{@var{target_name}}) which is used for various
purposes including additional configuration.

@itemize @bullet
@item @var{target_name} ...  is the name of the debug target.
By convention this should be the same as the @emph{dotted.name}
of the TAP associated with this target, which must be specified here
using the @code{-chain-position @var{dotted.name}} configparam.

This name is also used to create the target object command,
referred to here as @command{$target_name},
and in other places the target needs to be identified.
@item @var{type} ... specifies the target type.  @xref{target types}.
@item @var{configparams} ...  all parameters accepted by
@command{$target_name configure} are permitted.
If the target is big-endian, set it here with @code{-endian big}.
If the variant matters, set it here with @code{-variant}.

You @emph{must} set the @code{-chain-position @var{dotted.name}} here.
@end itemize
@end deffn

@deffn Command {$target_name configure} configparams...
The options accepted by this command may also be
specified as parameters to @command{target create}.
Their values can later be queried one at a time by
using the @command{$target_name cget} command.

@emph{Warning:} changing some of these after setup is dangerous.
For example, moving a target from one TAP to another;
and changing its endianness or variant.

@itemize @bullet

@item @code{-chain-position} @var{dotted.name} -- names the TAP
used to access this target.

@item @code{-endian} (@option{big}|@option{little}) -- specifies
whether the CPU uses big or little endian conventions

@item @code{-event} @var{event_name} @var{event_body} --
@xref{Target Events}.
Note that this updates a list of named event handlers.
Calling this twice with two different event names assigns
two different handlers, but calling it twice with the
same event name assigns only one handler.

@item @code{-variant} @var{name} -- specifies a variant of the target,
which OpenOCD needs to know about.

@item @code{-work-area-backup} (@option{0}|@option{1}) -- says
whether the work area gets backed up; by default,
@emph{it is not backed up.}
When possible, use a working_area that doesn't need to be backed up,
since performing a backup slows down operations.
For example, the beginning of an SRAM block is likely to
be used by most build systems, but the end is often unused.

@item @code{-work-area-size} @var{size} -- specify work are size,
in bytes.  The same size applies regardless of whether its physical
or virtual address is being used.

@item @code{-work-area-phys} @var{address} -- set the work area
base @var{address} to be used when no MMU is active.

@item @code{-work-area-virt} @var{address} -- set the work area
base @var{address} to be used when an MMU is active.
@emph{Do not specify a value for this except on targets with an MMU.}
The value should normally correspond to a static mapping for the
@code{-work-area-phys} address, set up by the current operating system.

@item @code{-rtos} @var{rtos_type} -- enable rtos support for target,
@var{rtos_type} can be one of @option{auto}|@option{eCos}|@option{threadx}|
@option{freertos}|@option{linux}.

@end itemize
@end deffn

@section Other $target_name Commands
@cindex object command

The Tcl/Tk language has the concept of object commands,
and OpenOCD adopts that same model for targets.

A good Tk 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 first
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, and its object commands are invoked the same way.

@example
str912.cpu    mww 0x1234 0x42
omap3530.cpu  mww 0x5555 123
@end example

The commands supported by OpenOCD target objects are:

@deffn Command {$target_name arp_examine}
@deffnx Command {$target_name arp_halt}
@deffnx Command {$target_name arp_poll}
@deffnx Command {$target_name arp_reset}
@deffnx Command {$target_name arp_waitstate}
Internal OpenOCD scripts (most notably @file{startup.tcl})
use these to deal with specific reset cases.
They are not otherwise documented here.
@end deffn

@deffn Command {$target_name array2mem} arrayname width address count
@deffnx Command {$target_name mem2array} arrayname width address count
These provide an efficient script-oriented interface to memory.
The @code{array2mem} primitive writes bytes, halfwords, or words;
while @code{mem2array} reads them.
In both cases, the TCL side uses an array, and
the target side uses raw memory.

The efficiency comes from enabling the use of
bulk JTAG data transfer operations.
The script orientation comes from working with data
values that are packaged for use by TCL scripts;
@command{mdw} type primitives only print data they retrieve,
and neither store nor return those values.

@itemize
@item @var{arrayname} ... is the name of an array variable
@item @var{width} ... is 8/16/32 - indicating the memory access size
@item @var{address} ... is the target memory address
@item @var{count} ... is the number of elements to process
@end itemize
@end deffn

@deffn Command {$target_name cget} queryparm
Each configuration parameter accepted by
@command{$target_name configure}
can be individually queried, to return its current value.
The @var{queryparm} is a parameter name
accepted by that command, such as @code{-work-area-phys}.
There are a few special cases:

@itemize @bullet
@item @code{-event} @var{event_name} -- returns the handler for the
event named @var{event_name}.
This is a special case because setting a handler requires
two parameters.
@item @code{-type} -- returns the target type.
This is a special case because this is set using
@command{target create} and can't be changed
using @command{$target_name configure}.
@end itemize

For example, if you wanted to summarize information about
all the targets you might use something like this:

@example
foreach name [target names] @{
    set y [$name cget -endian]
    set z [$name cget -type]
    puts [format "Chip %d is %s, Endian: %s, type: %s" \
                 $x $name $y $z]
@}
@end example
@end deffn

@anchor{target curstate}
@deffn Command {$target_name curstate}
Displays the current target state:
@code{debug-running},
@code{halted},
@code{reset},
@code{running}, or @code{unknown}.
(Also, @pxref{Event Polling}.)
@end deffn

@deffn Command {$target_name eventlist}
Displays a table listing all event handlers
currently associated with this target.
@xref{Target Events}.
@end deffn

@deffn Command {$target_name invoke-event} event_name
Invokes the handler for the event named @var{event_name}.
(This is primarily intended for use by OpenOCD framework
code, for example by the reset code in @file{startup.tcl}.)
@end deffn

@deffn Command {$target_name mdw} addr [count]
@deffnx Command {$target_name mdh} addr [count]
@deffnx Command {$target_name mdb} addr [count]
Display contents of address @var{addr}, as
32-bit words (@command{mdw}), 16-bit halfwords (@command{mdh}),
or 8-bit bytes (@command{mdb}).
If @var{count} is specified, displays that many units.
(If you want to manipulate the data instead of displaying it,
see the @code{mem2array} primitives.)
@end deffn

@deffn Command {$target_name mww} addr word
@deffnx Command {$target_name mwh} addr halfword
@deffnx Command {$target_name mwb} addr byte
Writes the specified @var{word} (32 bits),
@var{halfword} (16 bits), or @var{byte} (8-bit) pattern,
at the specified address @var{addr}.
@end deffn

@anchor{Target Events}
@section Target Events
@cindex target events
@cindex events
At various times, certain things can happen, or you want them to happen.
For example:
@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 Is using SRST appropriate (and possible) on your system?
Or instead of that, do you need to issue JTAG commands to trigger reset?
SRST usually resets everything on the scan chain, which can be inappropriate.
@item During reset, do you need to write to certain memory locations
to set up system clocks or
to reconfigure the SDRAM?
How about configuring the watchdog timer, or other peripherals,
to stop running while you hold the core stopped for debugging?
@end itemize

All of the above items can be addressed by target event handlers.
These are set up by @command{$target_name configure -event} or
@command{target create ... -event}.

The programmer's model matches the @code{-command} option used in Tcl/Tk
buttons and events.  The two examples below act the same, but one creates
and invokes a small procedure while the other inlines it.

@example
proc my_attach_proc @{ @} @{
    echo "Reset..."
    reset halt
@}
mychip.cpu configure -event gdb-attach my_attach_proc
mychip.cpu configure -event gdb-attach @{
    echo "Reset..."
    # To make flash probe and gdb load to flash work we need a reset init.
    reset init
@}
@end example

The following target events are defined:

@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
@ignore
@item @b{examine-end}
@* Currently not used (goal: when JTAG examine completes)
@item @b{examine-start}
@* Currently not used (goal: when JTAG examine starts)
@end ignore
@item @b{gdb-attach}
@* When GDB connects. This is before any communication with the target, so this
can be used to set up the target so it is possible to probe flash. Probing flash
is necessary during gdb connect if gdb load is to write the image to flash. Another
use of the flash memory map is for GDB to automatically hardware/software breakpoints
depending on whether the breakpoint is in RAM or read only memory.
@item @b{gdb-detach}
@* When GDB disconnects
@item @b{gdb-end}
@* When the target 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 target steps, gdb is trying to start/resume the target
@item @b{halted}
@* The target has halted
@ignore
@item @b{old-gdb_program_config}
@* DO NOT USE THIS: Used internally
@item @b{old-pre_resume}
@* DO NOT USE THIS: Used internally
@end ignore
@item @b{reset-assert-pre}
@* Issued as part of @command{reset} processing
after @command{reset_init} was triggered
but before either SRST alone is re-asserted on the scan chain,
or @code{reset-assert} is triggered.
@item @b{reset-assert}
@* Issued as part of @command{reset} processing
after @command{reset-assert-pre} was triggered.
When such a handler is present, cores which support this event will use
it instead of asserting SRST.
This support is essential for debugging with JTAG interfaces which
don't include an SRST line (JTAG doesn't require SRST), and for
selective reset on scan chains that have multiple targets.
@item @b{reset-assert-post}
@* Issued as part of @command{reset} processing
after @code{reset-assert} has been triggered.
or the target asserted SRST on the entire scan chain.