This chapter is based on http://openocd.org/doc-release/README.
The compilation took place on a plain-vanilla “Debian GNU/Linux 9.6 (stretch)”.Except for libusb-1.0-0-dev all packages are already installed.
make is already the newest version (4.1-9.1). libtool is already the newest version (2.4.6-2). pkg-config is already the newest version (0.29-4+b1). autoconf is already the newest version (2.69-10). automake is already the newest version (1:1.15-6). texinfo is already the newest version (6.3.0.dfsg.1-1+b2). libusb-1.0-0 is already the newest version (2:1.0.21-1). libusb-1.0-0 set to manually installed. The following NEW packages will be installed: libusb-1.0-0-dev libusb-1.0-doc
The sources are the current snapshot of the git archive. git clone git://git.code.sf.net/p/openocd/code openocd yields:
Cloning into 'openocd'... remote: Enumerating objects: 59586, done. remote: Counting objects: 100% (59586/59586), done. remote: Compressing objects: 100% (23697/23697), done. remote: Total 59586 (delta 48907), reused 43359 (delta 35727) Receiving objects: 100% (59586/59586), 13.64 MiB | 355.00 KiB/s, done. Resolving deltas: 100% (48907/48907), done.
cd openocd followed by git pull proves that the sources are up-to-date:
Already up-to-date.
The remaining dependencies are downloaded by a script: ./bootstrap:
+ aclocal + libtoolize --automake --copy + autoconf + autoheader + automake --gnu --add-missing --copy configure.ac:26: installing './compile' configure.ac:37: installing './config.guess' configure.ac:37: installing './config.sub' configure.ac:16: installing './install-sh' configure.ac:16: installing './missing' Makefile.am:46: warning: wildcard $(srcdir: non-POSIX variable name Makefile.am:46: (probably a GNU make extension) Makefile.am: installing './INSTALL' Makefile.am: installing './depcomp' Makefile.am:23: installing './mdate-sh' Makefile.am:23: installing './texinfo.tex' Setting up submodules Submodule 'jimtcl' (http://repo.or.cz/r/jimtcl.git) registered for path 'jimtcl' Submodule 'src/jtag/drivers/libjaylink' (http://repo.or.cz/r/libjaylink.git) registered for path 'src/jtag/drivers/libjaylink' Submodule 'tools/git2cl' (http://repo.or.cz/r/git2cl.git) registered for path 'tools/git2cl' Cloning into '/home/h/openocd/jimtcl'... Cloning into '/home/h/openocd/src/jtag/drivers/libjaylink'... Cloning into '/home/h/openocd/tools/git2cl'... Submodule path 'jimtcl': checked out 'a9bf5975fd0f89974d689a2d9ebd0873c8d64787' Submodule path 'src/jtag/drivers/libjaylink': checked out '8645845c1abebd004e991ba9a7f808f4fd0c608b' Submodule path 'tools/git2cl': checked out '8373c9f74993e218a08819cbcdbab3f3564bbeba' Generating build system... libtoolize: putting auxiliary files in AC_CONFIG_AUX_DIR, 'build-aux'. libtoolize: copying file 'build-aux/config.guess' libtoolize: copying file 'build-aux/config.sub' libtoolize: copying file 'build-aux/install-sh' libtoolize: copying file 'build-aux/ltmain.sh' libtoolize: putting macros in AC_CONFIG_MACRO_DIRS, 'm4'. libtoolize: copying file 'm4/libtool.m4' libtoolize: copying file 'm4/ltoptions.m4' libtoolize: copying file 'm4/ltsugar.m4' libtoolize: copying file 'm4/ltversion.m4' libtoolize: copying file 'm4/lt~obsolete.m4' configure.ac:42: installing 'build-aux/ar-lib' configure.ac:37: installing 'build-aux/compile' configure.ac:30: installing 'build-aux/missing' Makefile.am: installing './INSTALL' libjaylink/Makefile.am: installing 'build-aux/depcomp' Bootstrap complete. Quick build instructions: ./configure ....
The default configuration ./configure covers the required adapters:
checking for makeinfo... makeinfo checking for a BSD-compatible install... /usr/bin/install -c checking whether build environment is sane... yes ⋮ libjaylink configuration summary: - Package version ................ 0.2.0-git-8645845 - Library version ................ 0:0:0 - Installation prefix ............ /usr/local - Building on .................... x86_64-pc-linux-gnu - Building for ................... x86_64-pc-linux-gnu Enabled transports: - USB ............................ yes - TCP ............................ yes OpenOCD configuration summary -------------------------------------------------- MPSSE mode of FTDI based devices yes (auto) ST-Link JTAG Programmer yes (auto) TI ICDI JTAG Programmer yes (auto) Keil ULINK JTAG Programmer yes (auto) Altera USB-Blaster II Compatible yes (auto) Bitbang mode of FT232R based devices yes (auto) Versaloon-Link JTAG Programmer yes (auto) TI XDS110 Debug Probe yes (auto) OSBDM (JTAG only) Programmer yes (auto) eStick/opendous JTAG Programmer yes (auto) Andes JTAG Programmer yes (auto) USBProg JTAG Programmer no Raisonance RLink JTAG Programmer no Olimex ARM-JTAG-EW Programmer no CMSIS-DAP Compliant Debugger no Cypress KitProg Programmer no Altera USB-Blaster Compatible no ASIX Presto Adapter no OpenJTAG Adapter no SEGGER J-Link Programmer yes (auto)
time make
⋮ real 1m55.945s user 1m27.988s sys 0m6.088s
The installation goes to /usr/local and must thus be doe as root. make install:
ST-Link/V3 support seems to be in the OpenOCD source code archive since 2018-10-09. The compiled revision openocd --version is:
Open On-Chip Debugger 0.10.0+dev-00634-gdb070eb8 (2018-12-30-23:05)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
The recently compiled version is invoked because it is in /usr/local as can be seen by type openocd:
openocd is /usr/local/bin/openocd
The new version comes with all the configuration files. cat /usr/local/share/openocd/scripts/interface/stlink.cfg tells that there is indeed support
for STLink/V3:
# # STMicroelectronics ST-LINK/V1, ST-LINK/V2, ST-LINK/V2-1, STLINK-V3 in-circuit # debugger/programmer # interface hla hla_layout stlink hla_device_desc "ST-LINK" hla_vid_pid 0x0483 0x3744 0x0483 0x3748 0x0483 0x374b 0x0483 0x374d 0x0483 0x374e 0x0483 0x374f 0x0483 0x3752 0x0483 0x3753 # Optionally specify the serial number of ST-LINK/V2 usb device. ST-LINK/V2 # devices seem to have serial numbers with unreadable characters. ST-LINK/V2 # firmware version >= V2.J21.S4 recommended to avoid issues with adapter serial # number reset issues. # eg. #hla_serial "\xaa\xbc\x6e\x06\x50\x75\xff\x55\x17\x42\x19\x3f"
Note that the last line in the configuration file is outdated. Serial numbers are no longer supplied a C-strings. They are now plain hex string and the example above should read #hla_serial "AABC6E065075FF551742193F".
The following is for the emacs IDE and the recent GNU toolchain.
Follow the instruction in UM2243 Rev 2, “section 15.2 How to adapt an STM32L476 Nucleo-64 to power the MCU from the Arduino
AREF pin” to cut off the on-board ST-Link/V2-1 from the MCU. But to use the USB-power, leave JP5 in U5V position.
| ST-Link/V3, MB1440B | Nucleo-L476RG | Wire Color | ||||
|---|---|---|---|---|---|---|
| Signal | Connector | Pin | Signal | Connector | Pin | |
| T_VCC | CN6 | 1 | 3V3 | CN6 | 4 | green |
| CLK/T_SWCLK | 2 | PA14 | CN7 | 15 | blue | |
| GND | 3 | GND | CN6 | 6 | violet | |
| DIO/T_SWDIO | 4 | PA13 | CN7 | 13 | black | |
| NRST/T_NRST | 5 | NRST | CN7 | 14 | red | |
Connect the ST-Link/V3 (for the SWD signals) and the on-board ST-Link/V2-1 (for the power supply) with the computer. I’ll make a tiny board for that.
The configuration files of the new OpenOCD differ from those of the AC6 distribution (“System Workbench for STM32 IDE”). Whereas the latter
(e.g. /home/h/Ac6/SystemWorkbench/plugins/fr.ac6.mcu.debug_2.3.1.201811131241/resources/openocd/scripts/st_board/nucleo_l476rg.cfg) unconditionally used ST-Link/V2-1 by including
“interface/stlink-v2-1.cfg” (now deprecated), the new revision of OpenOCD uses “interface/stlink.cfg” for all versions of
ST-Links. /usr/local/share/openocd/scripts/board/st_nucleo_l4.cfg reads:
# Should work with all STM32L4 Nucleo Dev Boards. # http://www.st.com/en/evaluation-tools/stm32-mcu-nucleo.html source [find interface/stlink.cfg] transport select hla_swd source [find target/stm32l4x.cfg] # use hardware reset reset_config srst_only srst_nogate
The local (= in-project) configuration file for the new OpenOCD should therefore start with “source [find board/st_nucleo_l4.cfg]”. For a full working version of a configuration
file, see below.
But before a non-root user can access the ST-Link/V3, the file “/etc/udev/rules.d/49-stlinkv3.rules” must be set up:
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374f", MODE:="666", TAG+="uaccess", SYMLINK+="stlinkv3_%n"
The mode is set here to “0666” so that the wole world can access the ST-Link/V3.
To switch between the on-board ST-Link/V2-1 and the new ST-Link/V3, an ID for each device is required. This can be acquired by lsusb -d 0483: -v | egrep
'iSerial|iProduct| ID ':
Bus 001 Device 075: ID 0483:374f STMicroelectronics iProduct 2 ST-LINK/V3 iSerial 3 004300403137510539383538 Bus 001 Device 072: ID 0483:374b STMicroelectronics ST-LINK/V2.1 (Nucleo-F103RB) iProduct 2 STM32 STLink iSerial 3 066CFF323535474B43125623
or by ls -l /dev/serial/by-id:
total 0 lrwxrwxrwx 1 root root 13 Dec 31 11:24 usb-STMicroelectronics_ST-LINK_V3_004300403137510539383538-if02 -> ../../ttyACM1 lrwxrwxrwx 1 root root 13 Dec 31 02:20 usb-STMicroelectronics_STM32_STLink_066CFF323535474B43125623-if02 -> ../../ttyACM0
Now, the IDs go into the local OpenOCD configuration. I addition to the serial numbers the port numbers must be set up:
For a Nucleo-L476RG, create the file “stm32l476rg_nucleo.cfg”:
# This is an NUCLEO-L476RG board with a single STM32L476RGTx chip source [find board/st_nucleo_l4.cfg] set WORKAREASIZE 0x18000 transport select "hla_swd" set CHIPNAME STM32L476RGTx set BOARDNAME NUCLEO-L476RG # Enable debug when in low power modes set ENABLE_LOW_POWER 1 # Stop Watchdog counters when halt set STOP_WATCHDOG 1 # STlink Debug clock frequency set CLOCK_FREQ 4000 # use hardware reset, connect under reset # connect_assert_srst needed if low power mode application running (WFI...) reset_config srst_only srst_nogate connect_assert_srst set CONNECT_UNDER_RESET 1 # hla_serial "066CFF323535474B43125623" # telnet_port 4444 # gdb_port 3333 # tcl_port 6666 # hla_serial "0672FF485457725187052924" # telnet_port 4445 # gdb_port 3334 # tcl_port 6667 hla_serial "004300403137510539383538" telnet_port 4446 gdb_port 3335 tcl_port 6668
Only the serial number of the ST-Link/V3 is uncommented. Therefore, the device is started up with openocd -f stm32l476rg_nucleo.cfg on a separate
console (gdbserver-console):
Open On-Chip Debugger 0.10.0+dev-00634-gdb070eb8 (2018-12-30-23:05)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 500 kHz
adapter_nsrst_delay: 100
none separate
srst_only separate srst_nogate srst_open_drain connect_deassert_srst
Warn : Transport "hla_swd" was already selected
srst_only separate srst_nogate srst_open_drain connect_assert_srst
Info : Listening on port 6668 for tcl connections
Info : Listening on port 4446 for telnet connections
Info : clock speed 500 kHz
Info : STLINK V3J1M1B1S1 (API v3) VID:PID 0483:374F
Info : Target voltage: 3.298805
Info : stm32l4x.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3335 for gdb connections
To link to the arm-none-eabi-gdb, enter M-x load-file. The loaded file contains:
;;; Load the file with “M-x load-file prep” ;;; (setq gud-gdb-command-name "/opt/gcc-arm-none-eabi-8-2018-q4-major/bin/arm-none-eabi-gdb -i=mi")
Then, from emacs M-x gdb yields:
Run gdb (like this): /opt/gcc-arm-none-eabi-8-2018-q4-major/bin/arm-none-eabi-gdb -i=mi main.elf
Connect to the target with target remote localhost:3335. The debugging window of emacs shows:
Remote debugging using localhost:3335 0x00000000 in ?? ()
and the gdb-server console displays:
Info : accepting 'gdb' connection on tcp/3335 Info : Halt timed out, wake up GDB. Error: timed out while waiting for target halted Info : device id = 0x10076415 Warn : STM32 flash size failed, probe inaccurate - assuming 1024k flash Info : flash size = 1024kbytes Warn : negative reply, retrying Warn : negative reply, retrying
The current revision of OpenOCD seems to have some issues in finding out the flash size. But after some seconds it comes up with the right values.
Now everything is set up for flashing the program with load:
Loading section .isr_vector, size 0x188 lma 0x8000000 Loading section .text, size 0x1dd0 lma 0x8000188 Loading section .init_array, size 0x8 lma 0x8001f58 Loading section .fini_array, size 0x8 lma 0x8001f60 Start address 0x8001ea0, load size 8040 Transfer rate: 13 KB/sec, 2010 bytes/write.
Steping a single instruction n gives:
82 movs r1, #0
And the code window of emacs reads:
Reset_Handler: ldr sp, =_estack /* Atollic update: set stack pointer */ /* Copy the data segment initializers from flash to SRAM */ ☛ movs r1, #0 b LoopCopyDataInit ⋮
Printing the stack pointer p $sp yields:
$1 = (void *) 0x20018000
Looks good! ☺