OpenOCD for IMote2

OpenOCD JTAG programming for IMote2

• The following instruction works with USB JTAG cable from Olimex under Linux. The cable is available from http://microcontrollershop.com/
• The instructions are based on Ubuntu 7.10
• OpenOCD website
• ARM-USB-TINY only works with libftd2xx from FTDI

Install FTDI libftd2xx driver

• run the following as root or using sudo

gunzip libftd2xx0.4.13.tar.gz
tar -xvf libftd2xx0.4.13.tar
cp ftd2xx.h /usr/local/include
cp WinTypes.h /usr/local/include
cp libftd2xx.so.0.4.13 /usr/local/lib
cd /usr/local/lib
ln -s libftd2xx.so.0.4.13 libftd2xx.so
cd /usr/lib
ln -s /usr/local/lib/libftd2xx.so.0.4.13 libftd2xx.so
ldconfig

The closed source drivers from FTDI rely on having /proc/bus/usb available. This is not enabled in Ubuntu by default. We enable it by editing /etc/init.d/mountdevsubfs.sh and uncommenting the following lines:

#
# Magic to make /proc/bus/usb work
#
mkdir -p /dev/bus/usb/.usbfs
domount usbfs "" /dev/bus/usb/.usbfs -obusmode=0700,devmode=0600,listmode=0644
ln -s .usbfs/devices /dev/bus/usb/devices
mount --rbind /dev/bus/usb /proc/bus/usb

We now need to set up the permissions correctly for the Olimex JTAG programmer. Create a file called /etc/udev/rules.d/45-ft2232.rules with the following text:

BUS!="usb", ACTION!="add", SUBSYSTEM!=="usb_device", GOTO="kcontrol_rules_end"

SYSFS{idProduct}=="0004", SYSFS{idVendor}=="15ba", MODE="664", GROUP="adm"

LABEL="kcontrol_rules_end"

You will have to reboot your machine for the changes to take effect.

Build OpenOCD

• check out OpenOCD svn repository

svn checkout http://svn.berlios.de/svnroot/repos/openocd

• build OpenOCD

 cd openocd/trunk
 ./bootstrap
 ./configure --enable-ft2232_ftd2xx
 make

• install OpenOCD

 sudo make install
 sudo chmod 4755 /usr/local/bin/openocd
 sudo mkdir -p /usr/local/etc
 sudo cp $INTELMOTE2_CONTRIB_DIR/tools/platforms/intelmote2/openocd/arm-usb-tiny.cfg /usr/local/etc
 sudo chmod 755 /usr/local/etc/arm-usb-tiny.cfg

This will install openocd to /usr/local/bin. Be sure this is on your PATH.

Program iMote2 with OpenOCD

• Connect iMote2 to the debug board.
• Connect JTAG interface with USB to debug board and then connect to PC. (Best to connect directly to PC - going through a hub does not always work.)
• Connect USB cable to debug board and then to PC. (As above, best to connect directly rather than through a hub.) You will therefore have two USB cables running from the PC: one to the JTAG interface and the other directly to the debug board.
• Press the reset button on the iMote2.
• You can now manually install the binary on the mote by running:

$INTELMOTE2_CONTRIB_DIR/tools/platforms/intelmote2/openocd/imote2-ocd-program.py build/intelmote2/main.bin.out

Manual programming method.

The above uses our custom "imote2-ocd-program.py" program that is a wrapper for running openocd and programming the mote. You can also run openocd by hand:

 openocd -f /usr/local/etc/arm-usb-tiny.cfg

and then connect to it with:

 telnet localhost 3333

Various commands you can use:

halt
poll
resume
flash info 0

Accessing serial data

To read data from the node's serial port, use port /dev/ttyUSB1 (/dev/ttyUSB0 is used for programming), and set serial settings to baud rate 115200 7 bits, even parity, 1 stop bit. Using 'minicom' will show the data being printed by printUART().

Using GDB

It is possible to use GDB to debug the iMote2 while it is running.

• Compile your binary using the "debug" flag:

make intelmote2 debug install.100

• After the mote is installed with the new binary, start up openocd:

openocd -f /usr/local/etc/arm-usb-tiny.cfg

• Run xscale-elf-gdb (which should have been installed with the xscale toolchain):

xscale-elf-gdb build/intelmote2/main.exe

• Tell gdb to use localhost:4444 as the debugging target. (This is the port that openocd listens on for gdb commands.)

(gdb) target remote localhost:4444

• Then continue:

(gdb) cont

• You can then hit Ctrl-C to halt the mote, and inspect what is going on. For example,

(gdb) info reg
(gdb) where

and so forth.