--pipe | -p use pipes when talking to gdb
@end verbatim
-By default OpenOCD reads the file configuration file ``openocd.cfg''
+By default OpenOCD reads the file configuration file @file{openocd.cfg}
in the current directory. To specify a different (or multiple)
configuration file, you can use the ``-f'' option. For example:
@example
- openocd -f config1.cfg -f config2.cfg -f config3.cfg
+openocd -f config1.cfg -f config2.cfg -f config3.cfg
@end example
-Once started, OpenOCD runs as a daemon, waiting for connections from
-clients (Telnet, GDB, Other).
+OpenOCD starts by processing the configuration commands provided
+on the command line or 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 ``-d'' option.
@subsection JTAG Clock Rate
Before your @code{reset-init} handler has set up
-the PLLs and clocking, you may need to use
-a low JTAG clock rate; then you'd increase it later.
+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.
@code{reset-deassert-post} event handler that writes a chip
register to report that JTAG debugging is being done.
+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
+
@subsection ARM Core Specific Hacks
If the chip has a DCC, enable it. If the chip is an ARM9 with some
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
After it leaves this stage, configuration commands may no
longer be issued.
+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.
+
@deffn {Config Command} init
This command terminates the configuration stage and
enters the normal command mode. This can be useful to add commands to
oscillators used, the chip, the board design, and sometimes
power management software that may be active.
-The speed used during reset can be adjusted using pre_reset
-and post_reset event handlers.
+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.
@item @b{reset-assert-pre}
@* Issued as part of @command{reset} processing
after SRST and/or TRST were activated and deactivated,
-but before reset is asserted on the tap.
+but before SRST alone is re-asserted on the tap.
@item @b{reset-assert-post}
@* Issued as part of @command{reset} processing
-when reset is asserted on the tap.
+when SRST is asserted on the tap.
@item @b{reset-deassert-pre}
@* Issued as part of @command{reset} processing
-when reset is about to be released on the tap.
-
-For some chips, this may be a good place to make sure
-the JTAG clock is slow enough to work before the PLL
-has been set up to allow faster JTAG speeds.
+when SRST is about to be released on the tap.
@item @b{reset-deassert-post}
@* Issued as part of @command{reset} processing
-when reset has been released on the tap.
+when SRST has been released on the tap.
@item @b{reset-end}
@* Issued as the final step in @command{reset} processing.
@ignore
This is where you would configure PLLs and clocking, set up DRAM so
you can download programs that don't fit in on-chip SRAM, set up pin
multiplexing, and so on.
+(You may be able to switch to a fast JTAG clock rate here, after
+the target clocks are fully set up.)
@item @b{reset-start}
@* Issued as part of @command{reset} processing
before either SRST or TRST are activated.
+
+This is the most robust place to switch to a low JTAG clock rate, if
+SRST disables PLLs needed to use a fast clock.
@ignore
@item @b{reset-wait-pos}
@* Currently not used
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