added warning to use GDB 6.7 or newer

[openocd.git] / doc / openocd.texi

\input texinfo  @c -*-texinfo-*-
@c %**start of header
@setfilename openocd.info
@settitle Open On-Chip Debugger (OpenOCD)
@dircategory Development
@direntry
* OpenOCD: (openocd).      Open On-Chip Debugger.
@end direntry
@c %**end of header

@include version.texi

@copying
Copyright @copyright{} 2007-2008 Spen @email{spen@@spen-soft.co.uk}
Copyright @copyright{} 2008 Oyvind Harboe @email{oyvind.harboe@@zylin.com}
@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
@title Open On-Chip Debugger (OpenOCD)
@subtitle Edition @value{EDITION} for OpenOCD version @value{VERSION}
@subtitle @value{UPDATED}
@page
@vskip 0pt plus 1filll
@insertcopying
@end titlepage

@contents

@node Top, About, , (dir)
@top OpenOCD

This manual documents edition @value{EDITION} of the Open On-Chip Debugger
(OpenOCD) version @value{VERSION}, @value{UPDATED}.

@insertcopying

@menu
* About::             About OpenOCD.
* Developers::        OpenOCD developers
* Building::          Building OpenOCD
* Running::           Running OpenOCD
* Configuration::     OpenOCD Configuration.
* Target library::    Target library
* Commands::          OpenOCD Commands
* Sample Scripts::    Sample Target Scripts
* GDB and OpenOCD::   Using GDB and OpenOCD
* TCL and OpenOCD::   Using TCL and OpenOCD
* TCL scripting API:: Tcl scripting API
* Upgrading::         Deprecated/Removed Commands
* FAQ::               Frequently Asked Questions
* License::           GNU Free Documentation License
* Index::             Main index.
@end menu

@node About
@unnumbered About
@cindex about

The Open On-Chip Debugger (OpenOCD) aims to provide debugging, in-system programming
and boundary-scan testing for embedded target devices. The targets are interfaced
using JTAG (IEEE 1149.1) compliant hardware, but this may be extended to other
connection types in the future.

OpenOCD currently supports Wiggler (clones), FTDI FT2232 based JTAG interfaces, the
Amontec JTAG Accelerator, and the Gateworks GW1602. It allows ARM7 (ARM7TDMI and ARM720t),
ARM9 (ARM920t, ARM922t, ARM926ej--s, ARM966e--s), XScale (PXA25x, IXP42x) and
Cortex-M3 (Luminary Stellaris LM3 and ST STM32) based cores to be debugged.

Flash writing is supported for external CFI compatible flashes (Intel and AMD/Spansion
command set) and several internal flashes (LPC2000, AT91SAM7, STR7x, STR9x, LM3
and STM32x). Preliminary support for using the LPC3180's NAND flash controller is included.

@node Developers
@chapter Developers
@cindex developers

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}).
Others interested in improving the state of free and open debug and testing technology
are welcome to participate.

Other developers have contributed support for additional targets and flashes as well
as numerous bugfixes and enhancements. See the AUTHORS file for regular contributors. 

The main OpenOCD web site is available at @uref{http://openocd.berlios.de/web/}

@node Building
@chapter Building
@cindex building OpenOCD

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

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

or

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

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

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

Building OpenOCD requires a recent version of the GNU autotools.
On my build system, I'm using autoconf 2.13 and automake 1.9. For building on Windows,
you have to use Cygwin. Make sure that your @env{PATH} environment variable contains no
other locations with Unix utils (like UnxUtils) - these can't handle the Cygwin
paths, resulting in obscure dependency errors (This is an observation I've gathered
from the logs of one user - correct me if I'm wrong).

You further need the appropriate driver files, if you want to build support for
a FTDI FT2232 based interface:
@itemize @bullet
@item @b{ftdi2232} libftdi (@uref{http://www.intra2net.com/opensource/ftdi/})
@item @b{ftd2xx} libftd2xx (@uref{http://www.ftdichip.com/Drivers/D2XX.htm})
@item When using the Amontec JTAGkey, you have to get the drivers from the Amontec
homepage (@uref{www.amontec.com}), as the JTAGkey uses a non-standard VID/PID. 
@end itemize

libftdi is supported under windows. Versions earlier than 0.13 will require patching.
see contrib/libftdi for more details.

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

To build OpenOCD (on both Linux and Cygwin), use the following commands:
@smallexample
 ./bootstrap 
@end smallexample
Bootstrap generates the configure script, and prepares building on your system.
@smallexample
 ./configure 
@end smallexample
Configure generates the Makefiles used to build OpenOCD.
@smallexample
 make 
@end smallexample
Make builds OpenOCD, and places the final executable in ./src/.

The configure script takes several options, specifying which JTAG interfaces
should be included:

@itemize @bullet
@item
@option{--enable-parport}
@item
@option{--enable-parport_ppdev}
@item
@option{--enable-parport_giveio}
@item
@option{--enable-amtjtagaccel}
@item
@option{--enable-ft2232_ftd2xx}
@footnote{Using the latest D2XX drivers from FTDI and following their installation
instructions, I had to use @option{--enable-ft2232_libftd2xx} for OpenOCD to
build properly.}
@item
@option{--enable-ft2232_libftdi}
@item
@option{--with-ftd2xx=/path/to/d2xx/}
@item
@option{--enable-gw16012}
@item
@option{--enable-usbprog}
@item
@option{--enable-presto_libftdi}
@item
@option{--enable-presto_ftd2xx}
@item
@option{--enable-jlink}
@end itemize

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

Cygwin users have to specify the location of the FTDI D2XX package. This should be an
absolute path containing no spaces.

Linux users should copy the various parts of the D2XX package to the appropriate
locations, i.e. /usr/include, /usr/lib. 

Miscellaneous configure options

@itemize @bullet
@item
@option{--enable-gccwarnings} - enable extra gcc warnings during build
@end itemize

@node Running
@chapter Running
@cindex running OpenOCD
@cindex --configfile
@cindex --debug_level
@cindex --logfile
@cindex --search
OpenOCD runs as a daemon, waiting for connections from clients (Telnet, GDB, Other).
Run with @option{--help} or @option{-h} to view the available command line switches.

It reads its configuration by default from the file openocd.cfg located in the current
working directory. This may be overwritten with the @option{-f <configfile>} command line
switch.  The @option{-f} command line switch can be specified multiple times, in which case the config files
are executed in order. 

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

To enable debug output (when reporting problems or working on OpenOCD itself), use
the @option{-d} command line switch. This sets the 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 (@option{debug_level <n>}).

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

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

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 Configuration
@chapter Configuration
@cindex configuration
OpenOCD runs as a daemon, and reads it current configuration
by default from the file openocd.cfg in the current directory. A different configuration
file can be specified with the  @option{-f <conf.file>} command line switch specified when starting OpenOCD.

The configuration file is used to specify on which ports the daemon listens for new
connections, the JTAG interface used to connect to the target, the layout of the JTAG
chain, the targets that should be debugged, and connected flashes.

@section Daemon configuration

@itemize @bullet
@item @b{init} This command terminates the configuration stage and enters the normal
command mode. This can be useful to add commands to the startup scripts and commands
such as resetting the target, programming flash, etc. To reset the CPU upon startup,
add "init" and "reset" at the end of the config script or at the end of the
OpenOCD command line using the @option{-c} command line switch.
@cindex init
@item @b{telnet_port} <@var{number}>
@cindex telnet_port
Port on which to listen for incoming telnet connections 
@item @b{gdb_port} <@var{number}>
@cindex gdb_port
First port on which to listen for incoming GDB connections. The GDB port for the
first target will be gdb_port, the second target will listen on gdb_port + 1, and so on. 
@item @b{gdb_breakpoint_override} <@var{hard/soft/disabled}>
@cindex gdb_breakpoint_override
hard/soft/disabled - force breakpoint type for gdb 'break' commands.
The raison d'etre for this option is to support GDB GUI's without 
a hard/soft breakpoint concept where the default OpenOCD and
GDB behaviour is not sufficient. Note that GDB will use hardware
breakpoints if the memory map has been set up for flash regions.

This option replaces older arm7_9 target commands that addressed
the same issue.
@item @b{gdb_detach} <@var{resume|reset|halt|nothing}>
@cindex gdb_detach
Configures what OpenOCD will do when gdb detaches from the daeman.
Default behaviour is <@var{resume}>
@item @b{gdb_memory_map} <@var{enable|disable}>
@cindex gdb_memory_map
Set to <@var{enable}> to cause OpenOCD to send the memory configuration to gdb when
requested. gdb will then know when to set hardware breakpoints, and program flash
using the gdb load command. @option{gdb_flash_program enable} will also need enabling
for flash programming to work.
Default behaviour is <@var{enable}>
@item @b{gdb_flash_program} <@var{enable|disable}>
@cindex gdb_flash_program
Set to <@var{enable}> to cause OpenOCD to program the flash memory when a
vFlash packet is received.
Default behaviour is <@var{enable}>
 at item @b{tcl_port} <@var{number}>
 at cindex tcl_port
Port on which to listen for incoming TCL syntax. This port is intended as
a simplified RPC connection that can be used by clients to issue commands
and get the output from the TCL engine.
@end itemize

@section JTAG interface configuration

@itemize @bullet
@item @b{interface} <@var{name}>
@cindex interface
Use the interface driver <@var{name}> to connect to the target. Currently supported
interfaces are
@itemize @minus
@item @b{parport}
PC parallel port bit-banging (Wigglers, PLD download cable, ...)
@end itemize
@itemize @minus
@item @b{amt_jtagaccel}
Amontec Chameleon in its JTAG Accelerator configuration connected to a PC's EPP
mode parallel port
@end itemize
@itemize @minus
@item @b{ft2232}
FTDI FT2232 based devices using either the open-source libftdi or the binary only
FTD2XX driver. The FTD2XX is superior in performance, but not available on every
platform. The libftdi uses libusb, and should be portable to all systems that provide
libusb.
@end itemize
@itemize @minus
@item @b{ep93xx}
Cirrus Logic EP93xx based single-board computer bit-banging (in development)
@end itemize
@itemize @minus
@item @b{presto}
ASIX PRESTO USB JTAG programmer.
@end itemize
@itemize @minus
@item @b{usbprog}
usbprog is a freely programmable USB adapter.
@end itemize
@itemize @minus
@item @b{gw16012}
Gateworks GW16012 JTAG programmer.
@end itemize
@itemize @minus
@item @b{jlink}
Segger jlink usb adapter
@end itemize
@end itemize

@itemize @bullet
@item @b{jtag_speed} <@var{reset speed}>
@cindex jtag_speed
Limit the maximum speed of the JTAG interface. Usually, a value of zero means maximum
speed. The actual effect of this option depends on the JTAG interface used. 

The speed used during reset can be adjusted using setting jtag_speed during
pre_reset and post_reset events.
@itemize @minus

@item wiggler: maximum speed / @var{number}
@item ft2232: 6MHz / (@var{number}+1)
@item amt jtagaccel: 8 / 2**@var{number}
@item jlink: maximum speed in kHz (0-12000), 0 will use RTCK
@end itemize

Note: Make sure the jtag clock is no more than @math{1/6th × CPU-Clock}. This is
especially true for synthesized cores (-S).

@item @b{jtag_khz} <@var{reset speed kHz}>
@cindex jtag_khz
Same as jtag_speed, except that the speed is specified in maximum kHz. If
the device can not support the rate asked for, or can not translate from
kHz to jtag_speed, then an error is returned. 0 means RTCK. If RTCK
is not supported, then an error is reported.

@item @b{reset_config} <@var{signals}> [@var{combination}] [@var{trst_type}] [@var{srst_type}]
@cindex reset_config
The configuration of the reset signals available on the JTAG interface AND the target.
If the JTAG interface provides SRST, but the target doesn't connect that signal properly,
then OpenOCD can't use it. <@var{signals}> can be @option{none}, @option{trst_only},
@option{srst_only} or @option{trst_and_srst}.

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

The [@var{trst_type}] and [@var{srst_type}] parameters allow the driver type of the
reset lines to be specified. Possible values are @option{trst_push_pull} (default)
and @option{trst_open_drain} for the test reset signal, and @option{srst_open_drain}
(default) and @option{srst_push_pull} for the system reset. These values only affect
JTAG interfaces with support for different drivers, like the Amontec JTAGkey and JTAGAccelerator. 

@item @b{jtag_device} <@var{IR length}> <@var{IR capture}> <@var{IR mask}> <@var{IDCODE instruction}>
@cindex jtag_device
Describes the devices that form the JTAG daisy chain, with the first device being
the one closest to TDO. The parameters are the length of the instruction register
(4 for all ARM7/9s), the value captured during Capture-IR (0x1 for ARM7/9), and a mask
of bits that should be validated when doing IR scans (all four bits (0xf) for ARM7/9).
The IDCODE instruction will in future be used to query devices for their JTAG
identification code. This line is the same for all ARM7 and ARM9 devices.
Other devices, like CPLDs, require different parameters. An example configuration
line for a Xilinx XC9500 CPLD would look like this:
@smallexample
jtag_device 8 0x01 0x0e3 0xfe
@end smallexample
The instruction register (IR) is 8 bits long, during Capture-IR 0x01 is loaded into
the IR, but only bits 0-1 and 5-7 should be checked, the others (2-4) might vary.
The IDCODE instruction is 0xfe.

@item @b{jtag_nsrst_delay} <@var{ms}>
@cindex jtag_nsrst_delay
How long (in milliseconds) OpenOCD should wait after deasserting nSRST before
starting new JTAG operations. 
@item @b{jtag_ntrst_delay} <@var{ms}>
@cindex jtag_ntrst_delay
How long (in milliseconds) OpenOCD should wait after deasserting nTRST before
starting new JTAG operations. 

The jtag_n[st]rst_delay options are useful if reset circuitry (like a reset supervisor,
or on-chip features) keep a reset line asserted for some time after the external reset
got deasserted.
@end itemize

@section parport options

@itemize @bullet
@item @b{parport_port} <@var{number}>
@cindex parport_port
Either the address of the I/O port (default: 0x378 for LPT1) or the number of
the @file{/dev/parport} device

When using PPDEV to access the parallel port, use the number of the parallel port:
@option{parport_port 0} (the default). If @option{parport_port 0x378} is specified
you may encounter a problem.
@item @b{parport_cable} <@var{name}>
@cindex parport_cable
The layout of the parallel port cable used to connect to the target.
Currently supported cables are 
@itemize @minus
@item @b{wiggler}
@cindex wiggler
The original Wiggler layout, also supported by several clones, such
as the Olimex ARM-JTAG
@item @b{wiggler2}
@cindex wiggler2
Same as original wiggler except an led is fitted on D5.
@item @b{wiggler_ntrst_inverted}
@cindex wiggler_ntrst_inverted
Same as original wiggler except TRST is inverted.
@item @b{old_amt_wiggler}
@cindex old_amt_wiggler
The Wiggler configuration that comes with Amontec's Chameleon Programmer. The new
version available from the website uses the original Wiggler layout ('@var{wiggler}')
@item @b{chameleon}
@cindex 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}
@cindex dlc5
The Xilinx Parallel cable III.
@item @b{triton}
@cindex 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{flashlink}
@cindex flashlink
The ST Parallel cable.
@item @b{arm-jtag}
@cindex arm-jtag
Same as original wiggler except SRST and TRST connections reversed and
TRST is also inverted.
@item @b{altium}
@cindex altium
Altium Universal JTAG cable.
@end itemize
@item @b{parport_write_on_exit} <@var{on|off}>
@cindex parport_write_on_exit
This will configure the parallel driver to write a known value to the parallel
interface on exiting OpenOCD
@end itemize

@section amt_jtagaccel options
@itemize @bullet
@item @b{parport_port} <@var{number}>
@cindex parport_port
Either the address of the I/O port (default: 0x378 for LPT1) or the number of the
@file{/dev/parport} device 
@end itemize
@section ft2232 options

@itemize @bullet
@item @b{ft2232_device_desc} <@var{description}>
@cindex ft2232_device_desc
The USB device description of the FTDI FT2232 device. If not specified, the FTDI
default value is used. This setting is only valid if compiled with FTD2XX support.
@item @b{ft2232_layout} <@var{name}>
@cindex ft2232_layout
The layout of the FT2232 GPIO signals used to control output-enables and reset
signals. Valid layouts are
@itemize @minus
@item @b{usbjtag}
"USBJTAG-1" layout described in the original OpenOCD diploma thesis
@item @b{jtagkey}
Amontec JTAGkey and JTAGkey-tiny
@item @b{signalyzer}
Signalyzer
@item @b{olimex-jtag}
Olimex ARM-USB-OCD
@item @b{m5960}
American Microsystems M5960
@item @b{evb_lm3s811}
Luminary Micro EVB_LM3S811 as a JTAG interface (not onboard processor), no TRST or
SRST signals on external connector
@item @b{comstick}
Hitex STR9 comstick 
@item @b{stm32stick}
Hitex STM32 Performance Stick
@item @b{flyswatter}
Tin Can Tools Flyswatter
@item @b{turtelizer2}
egnite Software turtelizer2
@item @b{oocdlink}
OOCDLink
@end itemize

@item @b{ft2232_vid_pid} <@var{vid}> <@var{pid}>
The vendor ID and product ID of the FTDI FT2232 device. If not specified, the FTDI
default values are used. Multiple <@var{vid}>, <@var{pid}> pairs may be given, eg.
@smallexample
ft2232_vid_pid 0x0403 0xcff8 0x15ba 0x0003
@end smallexample
@item @b{ft2232_latency} <@var{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 packages 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 itemize

@section ep93xx options
@cindex ep93xx options
Currently, there are no options available for the ep93xx interface.

@page
@section Target configuration

@itemize @bullet
@item @b{target} <@var{type}> <@var{endianess}> <@var{JTAG pos}>
<@var{variant}>
@cindex target
Defines a target that should be debugged. Currently supported types are:
@itemize @minus
@item @b{arm7tdmi}
@item @b{arm720t}
@item @b{arm9tdmi}
@item @b{arm920t}
@item @b{arm922t}
@item @b{arm926ejs}
@item @b{arm966e}
@item @b{cortex_m3}
@item @b{feroceon}
@item @b{xscale}
@end itemize

If you want to use a target board that is not on this list, see Adding a new
target board

Endianess may be @option{little} or @option{big}.

@item @b{target_script} <@var{target#}> <@var{event}> <@var{script_file}>
@cindex target_script
Event is one of the following:
@option{pre_reset}, @option{reset}, @option{post_reset}, @option{post_halt},
@option{pre_resume} or @option{gdb_program_config}.
@option{post_reset} and @option{reset} will produce the same results.

@item @b{working_area} <@var{target#}> <@var{address}> <@var{size}>
<@var{backup}|@var{nobackup}>
@cindex working_area
Specifies a working area for the debugger to use. This may be used to speed-up
downloads to target memory and flash operations, or to perform otherwise unavailable
operations (some coprocessor operations on ARM7/9 systems, for example). The last
parameter decides whether the memory should be preserved (<@var{backup}>) or can simply be overwritten (<@var{nobackup}>). If possible, use
a working_area that doesn't need to be backed up, as performing a backup slows down operation. 
@end itemize

@subsection arm7tdmi options
@cindex arm7tdmi options
target arm7tdmi <@var{endianess}> <@var{jtag#}>
The arm7tdmi target definition requires at least one additional argument, specifying
the position of the target in the JTAG daisy-chain. The first JTAG device is number 0.
The optional [@var{variant}] parameter has been removed in recent versions.
The correct feature set is determined at runtime. 

@subsection arm720t options
@cindex arm720t options
ARM720t options are similar to ARM7TDMI options.

@subsection arm9tdmi options
@cindex arm9tdmi options
ARM9TDMI options are similar to ARM7TDMI options. Supported variants are
@option{arm920t}, @option{arm922t} and @option{arm940t}.
This enables the hardware single-stepping support found on these cores.

@subsection arm920t options
@cindex arm920t options
ARM920t options are similar to ARM9TDMI options.

@subsection arm966e options
@cindex arm966e options
ARM966e options are similar to ARM9TDMI options.

@subsection cortex_m3 options
@cindex cortex_m3 options
use variant <@var{variant}> @option{lm3s} when debugging luminary lm3s targets. This will cause
openocd to use a software reset rather than asserting SRST to avoid a issue with clearing
the debug registers. This is fixed in Fury Rev B, DustDevil Rev B, Tempest, these revisions will
be detected and the normal reset behaviour used.

@subsection xscale options
@cindex xscale options
Supported variants are @option{ixp42x}, @option{ixp45x}, @option{ixp46x},
@option{pxa250}, @option{pxa255}, @option{pxa26x}.

@section Flash configuration
@cindex Flash configuration

@itemize @bullet
@item @b{flash bank} <@var{driver}> <@var{base}> <@var{size}> <@var{chip_width}>
<@var{bus_width}> <@var{target#}> [@var{driver_options ...}]
@cindex flash bank
Configures a flash bank at <@var{base}> of <@var{size}> bytes and <@var{chip_width}>
and <@var{bus_width}> bytes using the selected flash <driver>.
@end itemize

@subsection lpc2000 options
@cindex lpc2000 options

@b{flash bank lpc2000} <@var{base}> <@var{size}> 0 0 <@var{target#}> <@var{variant}>
<@var{clock}> [@var{calc_checksum}]
LPC flashes don't require the chip and bus width to be specified. Additional
parameters are the <@var{variant}>, which may be @var{lpc2000_v1} (older LPC21xx and LPC22xx)
or @var{lpc2000_v2} (LPC213x, LPC214x, LPC210[123], LPC23xx and LPC24xx), the number
of the target this flash belongs to (first is 0), the frequency at which the core
is currently running (in kHz - must be an integral number), and the optional keyword
@var{calc_checksum}, telling the driver to calculate a valid checksum for the exception
vector table. 

@subsection cfi options
@cindex cfi options

@b{flash bank cfi} <@var{base}> <@var{size}> <@var{chip_width}> <@var{bus_width}>
<@var{target#}> [@var{jedec_probe}|@var{x16_as_x8}]
CFI flashes require the number of the target they're connected to as an additional
argument. The CFI driver makes use of a working area (specified for the target)
to significantly speed up operation. 

@var{chip_width} and @var{bus_width} are specified in bytes.

The @var{jedec_probe} option is used to detect certain non-CFI flash roms, like AM29LV010 and similar types.

@var{x16_as_x8} ???

@subsection at91sam7 options
@cindex at91sam7 options

@b{flash bank at91sam7} 0 0 0 0 <@var{target#}>
AT91SAM7 flashes only require the @var{target#}, all other values are looked up after
reading the chip-id and type. 

@subsection str7 options
@cindex str7 options

@b{flash bank str7x} <@var{base}> <@var{size}> 0 0 <@var{target#}> <@var{variant}>
variant can be either STR71x, STR73x or STR75x. 

@subsection str9 options
@cindex str9 options

@b{flash bank str9x} <@var{base}> <@var{size}> 0 0 <@var{target#}>
The str9 needs the flash controller to be configured prior to Flash programming, eg.
@smallexample
str9x flash_config 0 4 2 0 0x80000
@end smallexample
This will setup the BBSR, NBBSR, BBADR and NBBADR registers respectively. 

@subsection str9 options (str9xpec driver)

@b{flash bank str9xpec} <@var{base}> <@var{size}> 0 0 <@var{target#}>
Before using the flash commands the turbo mode will need enabling using str9xpec
@option{enable_turbo} <@var{num>.}

Only use this driver for locking/unlocking the device or configuring the option bytes.
Use the standard str9 driver for programming.

@subsection stellaris (LM3Sxxx) options
@cindex stellaris (LM3Sxxx) options

@b{flash bank stellaris} <@var{base}> <@var{size}> 0 0 <@var{target#}>
stellaris flash plugin only require the @var{target#}. 

@subsection stm32x options
@cindex stm32x options

@b{flash bank stm32x} <@var{base}> <@var{size}> 0 0 <@var{target#}>
stm32x flash plugin only require the @var{target#}. 

@subsection aduc702x options
@cindex aduc702x options

@b{flash bank aduc702x} <@var{base}> <@var{size}> 0 0 <@var{target#}>
aduc702x flash plugin require the flash @var{base}, @var{size} and @var{target#}.

@node Target library
@chapter Target library
@cindex Target library

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

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

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


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


To list the target scripts available:

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

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


@node Commands
@chapter Commands
@cindex commands

OpenOCD allows user interaction through a GDB server (default: port 3333),
a telnet interface (default: port 4444), and a TCL interface (default: port 5555). The command line interpreter
is available from both the telnet interface and a GDB session. To issue commands to the
interpreter from within a GDB session, use the @option{monitor} command, e.g. use
@option{monitor poll} to issue the @option{poll} command. All output is relayed through the
GDB session.

The TCL interface is used as a simplified RPC mechanism that feeds all the
input into the TCL interpreter and returns the output from the evaluation of
the commands.

@section Daemon

@itemize @bullet
@item @b{sleep} <@var{msec}>
@cindex sleep
Wait for n milliseconds before resuming. Useful in connection with script files
(@var{script} command and @var{target_script} configuration). 

@item @b{shutdown}
@cindex shutdown
Close the OpenOCD daemon, disconnecting all clients (GDB, Telnet, Other). 

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

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

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

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

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

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

@item @b{script} <@var{file}>
@cindex script
Execute commands from <file> 

@end itemize

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

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

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

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

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

@item @b{reset} [@option{run}|@option{halt}|@option{init}]
@cindex reset
Perform a hard-reset. The optional parameter specifies what should happen after the reset.

With no arguments a "reset run" is executed
@itemize @minus
@item @b{run}
@cindex reset run
Let the target run.
@item @b{halt}
@cindex reset halt
Immediately halt the target (works only with certain configurations).
@item @b{init}
@cindex reset init
Immediately halt the target, and execute the reset script (works only with certain
configurations)
@end itemize
@end itemize

@subsection Memory access commands
These commands allow accesses of a specific size to the memory system:
@itemize @bullet
@item @b{mdw} <@var{addr}> [@var{count}]
@cindex mdw
display memory words 
@item @b{mdh} <@var{addr}> [@var{count}]
@cindex mdh
display memory half-words 
@item @b{mdb} <@var{addr}> [@var{count}]
@cindex mdb
display memory bytes 
@item @b{mww} <@var{addr}> <@var{value}>
@cindex mww
write memory word 
@item @b{mwh} <@var{addr}> <@var{value}>
@cindex mwh
write memory half-word 
@item @b{mwb} <@var{addr}> <@var{value}>
@cindex mwb
write memory byte 

@item @b{load_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
@cindex load_image
Load image <@var{file}> to target memory at <@var{address}> 
@item @b{dump_image} <@var{file}> <@var{address}> <@var{size}>
@cindex dump_image
Dump <@var{size}> bytes of target memory starting at <@var{address}> to a
(binary) <@var{file}>.
@item @b{verify_image} <@var{file}> <@var{address}> [@option{bin}|@option{ihex}|@option{elf}]
@cindex verify_image
Verify <@var{file}> against target memory starting at <@var{address}>.
This will first attempt comparison using a crc checksum, if this fails it will try a binary compare.
@end itemize

@subsection Flash commands
@cindex Flash commands
@itemize @bullet
@item @b{flash banks}
@cindex flash banks
List configured flash banks 
@item @b{flash info} <@var{num}>
@cindex flash info
Print info about flash bank <@option{num}> 
@item @b{flash probe} <@var{num}>
@cindex flash probe
Identify the flash, or validate the parameters of the configured flash. Operation
depends on the flash type. 
@item @b{flash erase_check} <@var{num}>
@cindex flash erase_check
Check erase state of sectors in flash bank <@var{num}>. This is the only operation that
updates the erase state information displayed by @option{flash info}. That means you have
to issue an @option{erase_check} command after erasing or programming the device to get
updated information. 
@item @b{flash protect_check} <@var{num}>
@cindex flash protect_check
Check protection state of sectors in flash bank <num>. 
@option{flash erase_sector} using the same syntax. 
@item @b{flash erase_sector} <@var{num}> <@var{first}> <@var{last}>
@cindex flash erase_sector
Erase sectors at bank <@var{num}>, starting at sector <@var{first}> up to and including
<@var{last}>. Sector numbering starts at 0. Depending on the flash type, erasing may
require the protection to be disabled first (e.g. Intel Advanced Bootblock flash using
the CFI driver).
@item @b{flash erase_address} <@var{address}> <@var{length}>
@cindex flash erase_address
Erase sectors starting at <@var{address}> for <@var{length}> bytes
@item @b{flash write_bank} <@var{num}> <@var{file}> <@var{offset}>
@cindex flash write_bank
Write the binary <@var{file}> to flash bank <@var{num}>, starting at
<@option{offset}> bytes from the beginning of the bank.
@item @b{flash write_image} [@var{erase}] <@var{file}> [@var{offset}] [@var{type}]
@cindex flash write_image
Write the image <@var{file}> to the current target's flash bank(s). A relocation
[@var{offset}] can be specified and the file [@var{type}] can be specified
explicitly as @option{bin} (binary), @option{ihex} (Intel hex), @option{elf}
(ELF file) or @option{s19} (Motorola s19). Flash memory will be erased prior to programming
if the @option{erase} parameter is given.
@item @b{flash protect} <@var{num}> <@var{first}> <@var{last}> <@option{on}|@option{off}>
@cindex flash protect
Enable (@var{on}) or disable (@var{off}) protection of flash sectors <@var{first}> to
<@var{last}> of @option{flash bank} <@var{num}>.
@end itemize

@page
@section Target Specific Commands
@cindex Target Specific Commands

@subsection AT91SAM7 specific commands
@cindex AT91SAM7 specific commands
The flash configuration is deduced from the chip identification register. The flash
controller handles erases automatically on a page (128/265 byte) basis so erase is
not necessary for flash programming. AT91SAM7 processors with less than 512K flash
only have a single flash bank embedded on chip. AT91SAM7xx512 have two flash planes
that can be erased separatly. Only an EraseAll command is supported by the controller
for each flash plane and this is called with
@itemize @bullet
@item @b{flash erase} <@var{num}> @var{first_plane} @var{last_plane}
bulk erase flash planes first_plane to last_plane. 
@item @b{at91sam7 gpnvm} <@var{num}> <@var{bit}> <@option{set}|@option{clear}>
@cindex at91sam7 gpnvm
set or clear a gpnvm bit for the processor 
@end itemize

@subsection STR9 specific commands
@cindex STR9 specific commands
These are flash specific commands when using the str9xpec driver.
@itemize @bullet
@item @b{str9xpec enable_turbo} <@var{num}>
@cindex str9xpec enable_turbo
enable turbo mode, simply this will remove the str9 from the chain and talk
directly to the embedded flash controller. 
@item @b{str9xpec disable_turbo} <@var{num}>
@cindex str9xpec disable_turbo
restore the str9 into jtag chain. 
@item @b{str9xpec lock} <@var{num}>
@cindex str9xpec lock
lock str9 device. The str9 will only respond to an unlock command that will
erase the device. 
@item @b{str9xpec unlock} <@var{num}>
@cindex str9xpec unlock
unlock str9 device. 
@item @b{str9xpec options_read} <@var{num}>
@cindex str9xpec options_read
read str9 option bytes. 
@item @b{str9xpec options_write} <@var{num}>
@cindex str9xpec options_write
write str9 option bytes. 
@end itemize

@subsection STR9 configuration
@cindex STR9 configuration
@itemize @bullet
@item @b{str9x flash_config} <@var{bank}> <@var{BBSR}> <@var{NBBSR}>
<@var{BBADR}> <@var{NBBADR}>
@cindex str9x flash_config
Configure str9 flash controller.
@smallexample
eg. str9x flash_config 0 4 2 0 0x80000
This will setup
BBSR - Boot Bank Size register
NBBSR - Non Boot Bank Size register
BBADR - Boot Bank Start Address register
NBBADR - Boot Bank Start Address register
@end smallexample
@end itemize

@subsection STR9 option byte configuration
@cindex STR9 option byte configuration
@itemize @bullet
@item @b{str9xpec options_cmap} <@var{num}> <@option{bank0}|@option{bank1}>
@cindex str9xpec options_cmap
configure str9 boot bank. 
@item @b{str9xpec options_lvdthd} <@var{num}> <@option{2.4v}|@option{2.7v}>
@cindex str9xpec options_lvdthd
configure str9 lvd threshold. 
@item @b{str9xpec options_lvdsel} <@var{num}> <@option{vdd}|@option{vdd_vddq}>
@cindex str9xpec options_lvdsel
configure str9 lvd source. 
@item @b{str9xpec options_lvdwarn} <@var{bank}> <@option{vdd}|@option{vdd_vddq}>
@cindex str9xpec options_lvdwarn
configure str9 lvd reset warning source. 
@end itemize

@subsection STM32x specific commands
@cindex STM32x specific commands
 
These are flash specific commands when using the stm32x driver.
@itemize @bullet
@item @b{stm32x lock} <@var{num}>
@cindex stm32x lock
lock stm32 device. 
@item @b{stm32x unlock} <@var{num}>
@cindex stm32x unlock
unlock stm32 device. 
@item @b{stm32x options_read} <@var{num}>
@cindex stm32x options_read
read stm32 option bytes. 
@item @b{stm32x options_write} <@var{num}> <@option{SWWDG}|@option{HWWDG}>
<@option{RSTSTNDBY}|@option{NORSTSTNDBY}> <@option{RSTSTOP}|@option{NORSTSTOP}>
@cindex stm32x options_write
write stm32 option bytes. 
@item @b{stm32x mass_erase} <@var{num}>
@cindex stm32x mass_erase
mass erase flash memory. 
@end itemize

@subsection Stellaris specific commands
@cindex Stellaris specific commands
 
These are flash specific commands when using the Stellaris driver.
@itemize @bullet
@item @b{stellaris mass_erase} <@var{num}>
@cindex stellaris mass_erase
mass erase flash memory. 
@end itemize

@page
@section Architecture Specific Commands
@cindex Architecture Specific Commands

@subsection ARMV4/5 specific commands
@cindex ARMV4/5 specific commands

These commands are specific to ARM architecture v4 and v5, like all ARM7/9 systems
or Intel XScale (XScale isn't supported yet).
@itemize @bullet
@item @b{armv4_5 reg}
@cindex armv4_5 reg
Display a list of all banked core registers, fetching the current value from every
core mode if necessary. OpenOCD versions before rev. 60 didn't fetch the current
register value. 
@item @b{armv4_5 core_mode} [@var{arm}|@var{thumb}]
@cindex armv4_5 core_mode
Displays the core_mode, optionally changing it to either ARM or Thumb mode.
The target is resumed in the currently set @option{core_mode}. 
@end itemize

@subsection ARM7/9 specific commands
@cindex ARM7/9 specific commands

These commands are specific to ARM7 and ARM9 targets, like ARM7TDMI, ARM720t,
ARM920t or ARM926EJ-S.
@itemize @bullet
@item @b{arm7_9 dbgrq} <@var{enable}|@var{disable}>
@cindex arm7_9 dbgrq
Enable use of the DBGRQ bit to force entry into debug mode. This should be
safe for all but ARM7TDMI--S cores (like Philips LPC). 
@item @b{arm7_9 fast_memory_access} <@var{enable}|@var{disable}>
@cindex arm7_9 fast_memory_access
Allow OpenOCD to read and write memory without checking completion of
the operation. This provides a huge speed increase, especially with USB JTAG
cables (FT2232), but might be unsafe if used with targets running at a very low
speed, like the 32kHz startup clock of an AT91RM9200. 
@item @b{arm7_9 dcc_downloads} <@var{enable}|@var{disable}>
@cindex arm7_9 dcc_downloads
Enable the use of the debug communications channel (DCC) to write larger (>128 byte)
amounts of memory. DCC downloads offer a huge speed increase, but might be potentially
unsafe, especially with targets running at a very low speed. This command was introduced
with OpenOCD rev. 60. 
@end itemize

@subsection ARM720T specific commands
@cindex ARM720T specific commands

@itemize @bullet
@item @b{arm720t cp15} <@var{num}> [@var{value}]
@cindex arm720t cp15
display/modify cp15 register <@option{num}> [@option{value}].
@item @b{arm720t md<bhw>_phys} <@var{addr}> [@var{count}]
@cindex arm720t md<bhw>_phys
Display memory at physical address addr. 
@item @b{arm720t mw<bhw>_phys} <@var{addr}> <@var{value}>
@cindex arm720t mw<bhw>_phys
Write memory at physical address addr.
@item @b{arm720t virt2phys} <@var{va}>
@cindex arm720t virt2phys
Translate a virtual address to a physical address. 
@end itemize

@subsection ARM9TDMI specific commands
@cindex ARM9TDMI specific commands

@itemize @bullet
@item @b{arm9tdmi vector_catch} <@var{all}|@var{none}>
@cindex arm9tdmi vector_catch
Catch arm9 interrupt vectors, can be @option{all} @option{none} or any of the following:
@option{reset} @option{undef} @option{swi} @option{pabt} @option{dabt} @option{reserved}
@option{irq} @option{fiq}.

Can also be used on other arm9 based cores, arm966, arm920t and arm926ejs.
@end itemize

@subsection ARM966E specific commands
@cindex ARM966E specific commands

@itemize @bullet
@item @b{arm966e cp15} <@var{num}> [@var{value}]
@cindex arm966e cp15
display/modify cp15 register <@option{num}> [@option{value}].
@end itemize

@subsection ARM920T specific commands
@cindex ARM920T specific commands

@itemize @bullet
@item @b{arm920t cp15} <@var{num}> [@var{value}]
@cindex arm920t cp15
display/modify cp15 register <@option{num}> [@option{value}].
@item @b{arm920t cp15i} <@var{num}> [@var{value}] [@var{address}]
@cindex arm920t cp15i
display/modify cp15 (interpreted access) <@option{opcode}> [@option{value}] [@option{address}]
@item @b{arm920t cache_info}
@cindex arm920t cache_info
Print information about the caches found. This allows you to see if your target
is a ARM920T (2x16kByte cache) or ARM922T (2x8kByte cache). 
@item @b{arm920t md<bhw>_phys} <@var{addr}> [@var{count}]
@cindex arm920t md<bhw>_phys
Display memory at physical address addr. 
@item @b{arm920t mw<bhw>_phys} <@var{addr}> <@var{value}>
@cindex arm920t mw<bhw>_phys
Write memory at physical address addr. 
@item @b{arm920t read_cache} <@var{filename}>
@cindex arm920t read_cache
Dump the content of ICache and DCache to a file. 
@item @b{arm920t read_mmu} <@var{filename}>
@cindex arm920t read_mmu
Dump the content of the ITLB and DTLB to a file. 
@item @b{arm920t virt2phys} <@var{va}>
@cindex arm920t virt2phys
Translate a virtual address to a physical address. 
@end itemize

@subsection ARM926EJS specific commands
@cindex ARM926EJS specific commands

@itemize @bullet
@item @b{arm926ejs cp15} <@var{num}> [@var{value}]
@cindex arm926ejs cp15
display/modify cp15 register <@option{num}> [@option{value}].
@item @b{arm926ejs cache_info}
@cindex arm926ejs cache_info
Print information about the caches found.
@item @b{arm926ejs md<bhw>_phys} <@var{addr}> [@var{count}]
@cindex arm926ejs md<bhw>_phys
Display memory at physical address addr. 
@item @b{arm926ejs mw<bhw>_phys} <@var{addr}> <@var{value}>
@cindex arm926ejs mw<bhw>_phys
Write memory at physical address addr. 
@item @b{arm926ejs virt2phys} <@var{va}>
@cindex arm926ejs virt2phys
Translate a virtual address to a physical address. 
@end itemize

@page
@section Debug commands
@cindex Debug commands
The following commands give direct access to the core, and are most likely
only useful while debugging OpenOCD.
@itemize @bullet
@item @b{arm7_9 write_xpsr} <@var{32-bit value}> <@option{0=cpsr}, @option{1=spsr}>
@cindex arm7_9 write_xpsr
Immediately write either the current program status register (CPSR) or the saved
program status register (SPSR), without changing the register cache (as displayed
by the @option{reg} and @option{armv4_5 reg} commands). 
@item @b{arm7_9 write_xpsr_im8} <@var{8-bit value}> <@var{rotate 4-bit}>
<@var{0=cpsr},@var{1=spsr}>
@cindex arm7_9 write_xpsr_im8
Write the 8-bit value rotated right by 2*rotate bits, using an immediate write
operation (similar to @option{write_xpsr}). 
@item @b{arm7_9 write_core_reg} <@var{num}> <@var{mode}> <@var{value}>
@cindex arm7_9 write_core_reg
Write a core register, without changing the register cache (as displayed by the
@option{reg} and @option{armv4_5 reg} commands). The <@var{mode}> argument takes the
encoding of the [M4:M0] bits of the PSR. 
@end itemize

@page
@section JTAG commands
@cindex JTAG commands
@itemize @bullet
@item @b{scan_chain}
@cindex scan_chain
Print current scan chain configuration. 
@item @b{jtag_reset} <@var{trst}> <@var{srst}>
@cindex jtag_reset
Toggle reset lines. 
@item @b{endstate} <@var{tap_state}>
@cindex endstate
Finish JTAG operations in <@var{tap_state}>. 
@item @b{runtest} <@var{num_cycles}>
@cindex runtest
Move to Run-Test/Idle, and execute <@var{num_cycles}> 
@item @b{statemove} [@var{tap_state}]
@cindex statemove
Move to current endstate or [@var{tap_state}] 
@item @b{irscan} <@var{device}> <@var{instr}> [@var{dev2}] [@var{instr2}] ...
@cindex irscan
Execute IR scan <@var{device}> <@var{instr}> [@var{dev2}] [@var{instr2}] ... 
@item @b{drscan} <@var{device}> [@var{dev2}] [@var{var2}] ...
@cindex drscan
Execute DR scan <@var{device}> [@var{dev2}] [@var{var2}] ... 
@item @b{verify_ircapture} <@option{enable}|@option{disable}>
@cindex verify_ircapture
Verify value captured during Capture-IR. Default is enabled.
@item @b{var} <@var{name}> [@var{num_fields}|@var{del}] [@var{size1}] ... 
@cindex var
Allocate, display or delete variable <@var{name}> [@var{num_fields}|@var{del}] [@var{size1}] ... 
@item @b{field} <@var{var}> <@var{field}> [@var{value}|@var{flip}]
@cindex field
Display/modify variable field <@var{var}> <@var{field}> [@var{value}|@var{flip}].
@end itemize

@page
@section Target Requests
@cindex Target Requests
OpenOCD can handle certain target requests, currently debugmsg are only supported for arm7_9 and cortex_m3.
See libdcc in the contrib dir for more details.
@itemize @bullet
@item @b{target_request debugmsgs} <@var{enable}|@var{disable}>
@cindex target_request debugmsgs
Enable/disable target debugmsgs requests. debugmsgs enable messages to be sent to the debugger while the target is running.
@end itemize

@node Sample Scripts
@chapter Sample Scripts
@cindex scripts

This page shows how to use the target library.

The configuration script can be divided in the following section:
@itemize @bullet
@item daemon configuration
@item interface
@item jtag scan chain
@item target configuration
@item flash configuration 
@end itemize

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

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


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

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


A connection is typically started as follows:
@smallexample
target remote localhost:3333
@end smallexample
This would cause gdb to connect to the gdbserver on the local pc using port 3333.

To see a list of available OpenOCD commands type @option{monitor help} on the
gdb commandline.

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

Previous versions of OpenOCD required the following gdb options to increase
the packet size and speed up gdb communication.
@smallexample
set remote memory-write-packet-size 1024
set remote memory-write-packet-size fixed
set remote memory-read-packet-size 1024
set remote memory-read-packet-size fixed
@end smallexample
This is now handled in the @option{qSupported} PacketSize.

@section Programming using gdb
@cindex Programming using gdb

By default the target memory map is sent to gdb, this can be disabled by
the following OpenOCD config option:
@smallexample
gdb_memory_map disable
@end smallexample
For this to function correctly a valid flash config must also be configured
in OpenOCD. For faster performance you should also configure a valid 
working area.

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

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

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

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

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

If the target needs configuring before gdb programming, a script can be executed.
@smallexample
target_script 0 gdb_program_config config.script
@end smallexample

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

@node TCL and OpenOCD
@chapter TCL and OpenOCD
@cindex TCL and OpenOCD
OpenOCD embeds a TCL interpreter (see JIM) for command parsing and scripting
support.

The TCL interpreter can be invoked from the interactive command line, files, and a network port.

The command and file interfaces are fairly straightforward, while the network
port is geared toward intergration with external clients. A small example
of an external TCL script that can connect to openocd is shown below.

@verbatim
# Simple tcl client to connect to openocd
puts "Use empty line to exit"
set fo [socket 127.0.0.1 6666]
puts -nonewline stdout "> "
flush stdout
while {[gets stdin line] >= 0} {
    if {$line eq {}} break
    puts $fo $line
    flush $fo
    gets $fo line
    puts $line
    puts -nonewline stdout "> "
    flush stdout
}
close $fo
@end verbatim

This script can easily be modified to front various GUIs or be a sub
component of a larger framework for control and interaction.


@node TCL scripting API
@chapter TCL scripting API
@cindex TCL scripting API
API rules

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

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

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

@verbatim

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

If one does this:

 >  set foo

The result is:

    me Duane you Oyvind mouse Micky duck Donald

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

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

Low level commands are prefixed with "openocd_", e.g. openocd_flash_banks
is the low level API upon which "flash banks" is implemented.

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


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

@itemize @bullet
@item @b{load_binary}
@cindex load_binary
use @option{load_image} command with same args
@item @b{target}
@cindex target
@option{target} no longer take the reset_init, reset_run, run_and_halt, run_and_init. The @option{reset} command
always does a @option{reset run} when passed no arguments.
@item @b{dump_binary}
@cindex dump_binary
use @option{dump_image} command with same args
@item @b{flash erase}
@cindex flash erase
use @option{flash erase_sector} command with same args
@item @b{flash write}
@cindex flash write
use @option{flash write_bank} command with same args
@item @b{flash write_binary}
@cindex flash write_binary
use @option{flash write_bank} command with same args
@item @b{arm7_9 fast_writes}
@cindex arm7_9 fast_writes
use @option{arm7_9 fast_memory_access} command with same args
@item @b{flash auto_erase}
@cindex flash auto_erase
use @option{flash write_image} command passing @option{erase} as the first parameter.
@item @b{daemon_startup}
@cindex daemon_startup
this config option has been removed, simply adding @option{init} and @option{reset halt} to
the end of your config script will give the same behaviour as using @option{daemon_startup reset}
and @option{target cortex_m3 little reset_halt 0}.
@item @b{arm7_9 sw_bkpts}
@cindex arm7_9 sw_bkpts
On by default. See also @option{gdb_breakpoint_override}. 
@item @b{arm7_9 force_hw_bkpts}
@cindex arm7_9 force_hw_bkpts
Use @option{gdb_breakpoint_override} instead. Note that GDB will use hardware breakpoints
for flash if the gdb memory map has been set up(default when flash is declared in
target configuration).
@item @b{run_and_halt_time}
@cindex run_and_halt_time
This command has been removed for simpler reset behaviour, it can be simulated with the
following commands:
@smallexample
reset run
sleep 100
halt
@end smallexample
@end itemize

@node FAQ
@chapter FAQ
@cindex faq
@enumerate
@item OpenOCD complains about a missing cygwin1.dll.

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

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

GDB issues software breakpoints when a normal breakpoint is requested, or to implement
source-line single-stepping. On ARMv4T systems, like ARM7TDMI, ARM720t or ARM920t,
software breakpoints consume one of the two available hardware breakpoints.  

@item When erasing or writing LPC2000 on-chip flash, the operation fails sometimes
and works sometimes fine.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@item Do I have to keep a specific order for the commands in the configuration file?

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

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

TODO.
                                                        
@end enumerate

@include fdl.texi

@node Index
@unnumbered Index

@printindex cp

@bye