Albatron Technology ARM11 User Manual

bdi

JTAG interface for GNU Debugger

ARM11 / Cortex-A8

GDB

User Manual

Manual Version 1.04 for BDI2000

bdi

GDB

1 Introduction ................................................................................................................................. 4

1.1 BDI2000................................................................................................................................. 4

1.2 BDI Conﬁguration .................................................................................................................. 5

2 Installation ................................................................................................................................... 6

2.1 Connecting the BDI2000 to Target......................................................................................... 6

2.1.1 Changing Target Processor Type ................................................................................. 8

2.1.2 Adaptive Clocking.........................................................................................................9

2.2 Connecting the BDI2000 to Power Supply........................................................................... 11

2.2.1 External Power Supply............................................................................................... 11

2.2.2 Power Supply from Target System .............................................................................12

2.3 Status LED «MODE»........................................................................................................... 13

2.4 Connecting the BDI2000 to Host ......................................................................................... 14

2.4.1 Serial line communication .......................................................................................... 14

2.4.2 Ethernet communication ............................................................................................15

2.5 Installation of the Conﬁguration Software............................................................................ 16

2.5.1 Conﬁguration with a Linux / Unix host........................................................................ 17

2.5.2 Conﬁguration with a Windows host ............................................................................19

2.5.3 Recover procedure..................................................................................................... 20

2.6 Testing the BDI2000 to host connection ..............................................................................21

2.7 TFTP server for Windows NT...............................................................................................21

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 2

3 Using bdiGDB............................................................................................................................ 22

3.1 Principle of operation........................................................................................................... 22

3.2 Conﬁguration File ................................................................................................................23

3.2.1 Part [INIT]...................................................................................................................24

3.2.2 Part [TARGET] ...........................................................................................................27

3.2.3 Part [HOST]................................................................................................................ 32

3.2.4 Part [FLASH] ..............................................................................................................34

3.2.5 Part [REGS] ...............................................................................................................38

3.3 Debugging with GDB ...........................................................................................................40

3.3.1 Target setup................................................................................................................ 40

3.3.2 Connecting to the target............................................................................................. 40

3.3.3 Breakpoint Handling................................................................................................... 41

3.3.4 GDB monitor command.............................................................................................. 41

3.3.5 Target serial I/O via BDI ............................................................................................. 42

3.3.6 Target DCC I/O via BDI .............................................................................................. 43

3.4 Telnet Interface ....................................................................................................................44

3.4.1 Command list .............................................................................................................45

3.4.2 CPxx Registers ..........................................................................................................46

3.5 Multi-Core Support ..............................................................................................................47

4 Speciﬁcations............................................................................................................................ 48

5 Environmental notice................................................................................................................ 49

6 Declaration of Conformity (CE)................................................................................................ 49

7 Warranty .....................................................................................................................................50

bdi

GDB

7 Appendices

A Troubleshooting ........................................................................................................................51

B Maintenance.............................................................................................................................. 52

C Trademarks ................................................................................................................................54

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 3

bdi

GDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 4

1 Introduction

bdiGDB enhances the GNU debugger (GDB), with JTAG debugging for ARM11 and Cortex-A8 based targets. With the builtin Ethernet interface you get a very fast download speed of up to 200 Kbytes/ sec. No target communication channel (e.g. serial line) is wasted for debugging purposes. Even better, you can use fast Ethernet debugging with target systems without network capability. The host to BDI communication uses the standard GDB remote protocol.

An additional Telnet interface is available for special debug tasks (e.g. force a hardware reset, program ﬂash memory).

The following ﬁgure shows how the BDI2000 interface is connected between the host and the target:

Target System

ARM

JTAG Interface

UNIX / PC Host

GNU Debugger

(GDB)

Ethernet (10 BASE-T)

1.1 BDI2000

The BDI2000 is the main part of the bdiGDB system. This small box implements the interface between the JTAG pins of the target CPU and a 10Base-T ethernet connector. The ﬁrmware and the programable logic of the BDI2000 can be updated by the user with a simple Windows / Linux conﬁguration program. The BDI2000 supports 1.8 – 5.0 Volts target systems (3.0 – 5.0 Volts target systems with Rev. A/B). .

BDI2000

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ee

bdi

GDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 5

1.2 BDI Conﬁguration

As an initial setup, the IP address of the BDI2000, the IP address of the host with the conﬁguration ﬁle and the name of the conﬁguration ﬁle is stored within the ﬂash of the BDI2000. Every time the BDI2000 is powered on, it reads the conﬁguration ﬁle via TFTP. Following an example of a typical conﬁguration ﬁle:

; bdiGDB configuration for ARM Integrator CM1136JF-S ; -------------------------------------------------; [INIT] WM32 0x1000000C 0x00000005 ;REMAP=1, MISC LED ON ;

[TARGET] CPUTYPE ARM1136 CLOCK 1 ;JTAG clock (0=Adaptive,1=16MHz,2=8MHz,3=4MHz, ...) POWERUP 3000 ;start delay after power-up detected in ms ENDIAN LITTLE ;memory model (LITTLE | BIG) VECTOR CATCH 0x1f ;catch D_Abort, P_Abort, SWI, Undef and Reset BREAKMODE HARD ;SOFT or HARD ; SCANPRED 0 0 ;no JTAG devices before the ARM1136 SCANSUCC 1 4 ;the ETMBUF after the ARM1136 core ;

[HOST] IP 151.120.25.119 FILE E:\cygwin\home\demo\pid7t\fibo.x FORMAT ELF LOAD MANUAL ;load file MANUAL or AUTO after reset

[FLASH] WORKSPACE 0x00001000 ;workspace in target RAM for fast programming algorithm CHIPTYPE AM29BX8 ;Flash type (AM29F | AM29BX8 | AM29BX16 | I28BX8 | I28BX16) CHIPSIZE 0x100000 ;The size of one flash chip in bytes BUSWIDTH 32 ;The width of the flash memory bus in bits (8 | 16 | 32) FILE $arm1136.cfg FORMAT BIN 0x00010000

[REGS] FILE $reg1136.def

Based on the information in the conﬁguration ﬁle, the target is automatically initialized after every reset.

bdi

GDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 6

2 Installation

2.1 Connecting the BDI2000 to Target

The enclosed cables to the target system are designed for the ARM Development Boards. In case where the target system has the same connector layout, the cable (14 pin or 20 pin) can be directly connected.

!

In order to ensure reliable operation of the BDI (EMC, runtimes, etc.) the target cable length must not exceed 20 cm (8").

Rev. A

Target System

BDI2000

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Rev. B/C

Target System

BDI2000

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ARM

1

2

BDI TRGT MODE BDI MAIN BDI OPTION

ee

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The green LED «TRGT» marked light up when target is powered up

1

2

BDI TRGT MODE TARGET A TARGET B

ee

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The green LED «TRGT» marked light up when target is powered up

9

10

13

14

9 1

10

13

14

1

2

1

2

1

2

19

20

14 pin Target

Connector

1 - Vcc Target 2 - GROUND 3 - TRST 4 - GROUND 5 - TDI

6 - NC

7 - TMS 8 - NC 9 - TCK

10 - NC

11 - TDO 12 - RESET

13 - NC 14 - NC

19

20

14 pin Target

Connector

1 - Vcc Target 2 - GROUND 3 - TRST 4 - GROUND 5 - TDI

6 - NC

7 - TMS 8 - NC 9 - TCK

10 - NC

11 - TDO 12 - RESET

13 - NC 14 - NC

20 pin Multi-ICE

Connector

1 - Vcc Target

2 - NC

3 - TRST

4 - NC

5 - TDI

6 - NC

7 - TMS 8 - GROUND 9 - TCK 10 - GROUND

11 - NC 12 - NC

13 - TDO

14 - NC

15 - RESET

16 - NC 17 - NC 18 - NC 19 - NC 20 - NC

20 pin Multi-ICE

Connector

1 - Vcc Target

2 - NC

3 - TRST

4 - NC

5 - TDI

6 - NC

7 - TMS 8 - GROUND 9 - TCK 10 - GROUND

11 - NC 12 - NC

13 - TDO

14 - NC

15 - RESET

16 - NC 17 - NC 18 - NC 19 - NC 20 - NC

For BDI MAIN / TARGET A connector signals see table on next page.

bdi

GDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 7

BDI MAIN / TARGET A Connector Signals

Pin Name Describtion

1 reserved This pin is currently not used.

2 TRST

3+5 GND

4 TCK

6 TMS

7 RESET

8 TDI

9 Vcc Target

10 TDO

JTAG Test Reset

This open-drain / push-pull output of the BDI2000 resets the JTAG TAP controller on the target. Default driver type is open-drain.

System Ground

JTAG Test Clock

This output of the BDI2000 connects to the target TCK line.

JTAG Test Mode Select

This output of the BDI2000 connects to the target TMS line.

This open collector output of the BDI2000 is used to reset the target system.

JTAG Test Data In

This output of the BDI2000 connects to the target TDI line.

1.8 – 5.0V:

This is the target reference voltage. It indicates that the target has power and it is also used to create the logic-level reference for the input comparators. It also controls the output logic levels to the target. It is normally fed from Vdd I/O on the target board.

3.0 – 5.0V with Rev. A/B :

This input to the BDI2000 is used to detect if the target is powered up. If there is a current limiting resistor between this pin and the target Vdd, it should be 100 Ohm or less.

JTAG Test Data Out

This input to the BDI2000 connects to the target TDO line.

The BDI2000 works also with targets which have no dedicated TRST

pin. For this kind of targets, the BDI cannot force the target to debug mode immediately after reset. The target always begins execution of application code until the BDI has ﬁnished programming the Debug Control Register.

bdi

GDB

2.1.1 Changing Target Processor Type

Before you can use the BDI2000 with an other target processor type (e.g. ARM <--> PPC), a new setup has to be done (see chapter 2.5). During this process the target cable must be disconnected from the target system. The BDI2000 needs to be supplied with 5 Volts via the BDI OPTION connector (Rev. A) or via the POWER connector (Rev. B/C). For more information see chapter 2.2.1 «External Power Supply»).

To avoid data line conﬂicts, the BDI2000 must be disconnected from the target system while programming the logic for an other target CPU.

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 8

!

bdi

GDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 9

2.1.2 Adaptive Clocking

Adaptive clocking is a feature which ensures that the BDI2000 never loses synchronization with the target device, whatever the target clock speed is. To achieve this, BDI2000 uses two signals TCK and RTCK. When adaptive clocking is selected, BDI2000 issues a TCK signal and waits for the Returned TCK (RTCK) to come back. BDI2000 does not progress to the next TCK until RTCK is received. For more information about adaptive clocking see ARM documentation.

Note :

Adaptive clocking is only supported with BDI2000 Rev.B/C and a special target cable. This special cable can be ordered separately from Abatron.

Rev. B/C

Target System

BDI2000

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ARM

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1

2

BDI TRGT MODE TARGET A TARGET B

ee

The green LED «TRGT» marked light up when target is powered up

15 1

16

20 pin Multi-ICE

Connector

19

20

2

1 - Vcc Target

2 - NC

3 - TRST

4 - NC

5 - TDI

6 - NC

7 - TMS 8 - GROUND 9 - TCK 10 - GROUND 11 - RTCK

12 - NC

13 - TDO

14 - NC

15 - RESET

16 - NC 17 - NC 18 - NC 19 - NC 20 - NC

For TARGET B connector signals see table on next page.

bdi

GDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 10

BDI TARGET B Connector Signals:

Pin Name Describtion

1 TDO

2 reserved

3 TDI

4 reserved

5RTCK Returned JTAG Test Clock

6 Vcc Target 1.8 – 5.0V:

7 TCK JTAG Test Clock

8 TRST

JTAG Test Data Out

This input to the BDI2000 connects to the target TDO line.

JTAG Test Data In

This output of the BDI2000 connects to the target TDI line.

This input to the BDI2000 connects to the target RTCK line.

This is the target reference voltage. It indicates that the target has power and it is also used to create the logic-level reference for the input comparators. It also controls the output logic levels to the target. It is normally fed from Vdd I/O on the target board.

3.0 – 5.0V with Rev. A/B :

This input to the BDI2000 is used to detect if the target is powered up. If there is a current limiting resistor between this pin and the target Vdd, it should be 100 Ohm or less.

This output of the BDI2000 connects to the target TCK line.

JTAG Test Reset

This open-drain / push-pull output of the BDI2000 resets the JTAG TAP controller on the target. Default driver type is open-drain.

9 TMS JTAG Test Mode Select

This output of the BDI2000 connects to the target TMS line.

10 reserved

11 reserved

12 GROUND System Ground

13 RESET

14 reseved

15 reseved

16 GROUND System Ground

System Reset

This open-drain output of the BDI2000 is used to reset the target system.

bdiGDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 11

2.2 Connecting the BDI2000 to Power Supply

2.2.1 External Power Supply

The BDI2000 needs to be supplied with 5 Volts (max. 1A) via the BDI OPTION connector (Rev. A) or via POWER connector (Rev. B/C). The available power supply from Abatron (option) or the enclosed power cable can be directly connected. In order to ensure reliable operation of the BDI2000, keep the power supply cable as short as possible.

!

For error-free operation, the power supply to the BDI2000 must be between 4.75V and 5.25V DC.

The maximal tolerable supply voltage is 5.25 VDC. Any higher voltage or a wrong polarity might destroy the electronics.

Rev. A

The green LED «BDI» marked light up when 5V power is connected to the BDI2000

Rev. B/C

Rev. B Version

BDI TRGT MODE BDI MAIN BDI OPTION

GND 3

4

RS232 POWER LI TX RX 10 BASE-T

13

14

1 Vcc

2

Vcc

GND

BDI OPTION

Connector

1 - NOT USED

2 - GROUND

3 - NOT USED

1

2

4 - GROUND

5 - NOT USED

6 - GROUND

7 - NOT USED

8 - GROUND

9 - NOT USED

10 - GROUND

11 - NOT USED

12 - Vcc (+5V)

13 - Vcc Target (+5V)

14 - Vcc (+5V)

POWER

Connector

1 - Vcc (+5V)

2 - VccTGT

3 - GROUND

4 - NOT USED

BDI TRGT MODE TARGET A TARGET B

The green LED «BDI» marked light up when 5V power is connected to the BDI2000

Please switch on the system in the following sequence:

• 1 --> external power supply

• 2 --> target system

bdiGDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 12

2.2.2 Power Supply from Target System

The BDI2000 needs to be supplied with 5 Volts (max. 1A) via BDI MAIN target connector (Rev. A) or via TARGET A connector (Rev. B/C). This mode can only be used when the target system runs with 5V and the pin «Vcc Target» is able to deliver a current up to 1A@5V. For pin description and layout see chapter 2.1 «Connecting the BDI2000 to Target». Insert the enclosed Jumper as shown in ﬁgure below. Please ensure that the jumper is inserted correctly.

!

For error-free operation, the power supply to the BDI2000 must be between 4.75V and 5.25V DC.

The maximal tolerable supply voltage is 5.25 VDC. Any higher voltage or a wrong polarity might destroy the electronics.

Rev. A

BDI OPTION

Connector

Rev. B/C

BDI TRGT MODE BDI MAIN BDI OPTION

1

2

1

2

13

14

Jumper

The green LEDs «BDI» and «TRGT» marked light up when target is powered up and the jumper is inserted correctly

3

4

RS232 POWER LI TX RX 10 BASE-T

BDI TRGT MODE TARGET A TARGET B

1 - NOT USED 2 - GROUND 3 - NOT USED 4 - GROUND 5 - NOT USED 6 - GROUND 7 - NOT USED 8 - GROUND 9 - NOT USED 10 - GROUND 11 - NOT USED 12 - Vcc (+5V)

13 - Vcc Target (+5V) 14 - Vcc BDI2000 (+5V)

POWER

Connector

1 - Vcc BDI2000 (+5V) 2 - Vcc Target (+5V)

3 - GROUND 4 - NOT USED

The green LEDs «BDI» and «TRGT» marked light up when target is powered up and the jumper is inserted correctly

bdiGDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 13

2.3 Status LED «MODE»

The built in LED indicates the following BDI states:

Rev. A

BDI TRGT MODE BDI MAIN BDI OPTION

Rev. B/C

BDI TRGT MODE TARGET A TARGET B

MODE LED BDI STATES

OFF The BDI is ready for use, the ﬁrmware is already loaded.

ON The power supply for the BDI2000 is < 4.75VDC.

BLINK The BDI «loader mode» is active (an invalid ﬁrmware is loaded or loading ﬁrmware is active).

bdiGDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 14

2.4 Connecting the BDI2000 to Host

2.4.1 Serial line communication

Serial line communication is only used for the initial conﬁguration of the bdiGDB system.

The host is connected to the BDI through the serial interface (COM1...COM4). The communication cable (included) between BDI and Host is a serial cable. There is the same connector pinout for the BDI and for the Host side (Refer to Figure below).

Rev. A

RS232 Connector

(for PC host)

5 2 3 7 8 6 1 4

GND

RD

TD

RTS

CTS

DSR

DCD

DTR

5 2 3 7 8 6 1 4

GND

RD

TD

RTS

CTS

DSR

DCD

DTR

Rev. B/C

RS232 Connector

(for PC host)

54321

9876

RS232 LI TX RX 10 BASE-T

PC Host

RS232

54321

Target System

ARM

BDI2000

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Target System

ARM

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5 2 3 7 8 6 1 4

GND

RD

TD

RTS

CTS

DSR

DCD

DTR

5 2 3 7 8 6 1 4

GND

RD

TD

RTS

CTS

DSR

DCD

DTR

RS232 POWER LI TX RX 10 BASE-T

9876

PC Host

BDI2000

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ee

RS232

bdiGDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 15

2.4.2 Ethernet communication

The BDI2000 has a built-in 10 BASE-T Ethernet interface (see ﬁgure below). Connect an UTP (Unshilded Twisted Pair) cable to the BD2000. For thin Ethernet coaxial networks you can connect a commercially available media converter (BNC-->10 BASE-T) between your network and the BDI2000. Contact your network administrator if you have questions about the network.

Rev. A

18

10 BASE-T

Connector

1 - TD+ 2 - TD 3 - RD+

4 - NC 5 - NC

6 - RD-

7 - NC 8 - NC

RS232 LI TX RX 10 BASE-T

Rev. B/C

18

Target System

ARM

RS232 POWER LI TX RX 10 BASE-T

BDI2000

PC Host

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Ethernet (10 BASE-T)

The following explains the meanings of the built-in LED lights:

LED Name Description

LI Link When this LED light is ON, data link is successful between the UTP

port of the BDI2000 and the hub to which it is connected.

TX Transmit When this LED light BLINKS, data is being transmitted through the UTP

port of the BDI2000

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RX Receive When this LED light BLINKS, data is being received through the UTP

port of the BDI2000

bdiGDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 16

2.5 Installation of the Conﬁguration Software

On the enclosed diskette you will ﬁnd the BDI conﬁguration software and the ﬁrmware required for the BDI2000. For Windows NT users there is also a TFTP server included.

The following ﬁles are on the diskette.

b20a11gd.exe Windows conﬁguration program

b20a11gd.hlp Windows help ﬁle for the conﬁguration program

b20a11gd.xxx Firmware for the BDI2000

armjed20.xxx JEDEC ﬁle for the BDI2000 (Rev. A/B) logic device

armjed21.xxx JEDEC ﬁle for the BDI2000 (Rev. C) logic device

tftpsrv.exe TFTP server for WindowsNT/ Windows95 (WIN32 console application)

*.cfg Conﬁguration ﬁles

*.def Register deﬁnition ﬁles

bdisetup.zip ZIP Archive with the Setup Tool sources for Linux / UNIX hosts.

Overview of an installation / conﬁguration process:

• Create a new directory on your hard disk

• Copy the entire contents of the enclosed diskette into this directory

• Linux only: extract the setup tool sources and build the setup tool

• Use the setup tool to load/update the BDI ﬁrmware/logic Note: A new BDI has no ﬁrmware/logic loaded.

• Use the setup tool to transmit the initial conﬁguration parameters

- IP address of the BDI.

- IP address of the host with the conﬁguration ﬁle.

- Name of the conﬁguration ﬁle. This ﬁle is accessed via TFTP.

- Optional network parameters (subnet mask, default gateway).

Activating BOOTP:

The BDI can get the network conﬁguration and the name of the conﬁguration ﬁle also via BOOTP. For this simple enter 0.0.0.0 as the BDI’s IP address (see following chapters). If present, the subnet mask and the default gateway (router) is taken from the BOOTP vendor-speciﬁc ﬁeld as deﬁned in RFC 1533.

With the Linux setup tool, simply use the default parameters for the -c option:

[root@LINUX_1 bdisetup]# ./bdisetup -c -p/dev/ttyS0 -b57

The MAC address is derived from the serial number as follows: MAC: 00-0C-01-xx-xx-xx , repace the xx-xx-xx with the 6 left digits of the serial number Example: SN# 93123457 ==>> 00-0C-01-93-12-34

bdiGDB

for GNU Debugger, BDI2000 (ARM11/Cortex-A8) User Manual 17

2.5.1 Conﬁguration with a Linux / Unix host

The ﬁrmware / logic update and the initial conﬁguration of the BDI2000 is done with a command line utility. In the ZIP Archive bdisetup.zip are all sources to build this utility. More information about this utility can be found at the top in the bdisetup.c source ﬁle. There is also a make ﬁle included. Starting the tool without any parameter displays information about the syntax and parameters.

!

To avoid data line conﬂicts, the BDI2000 must be disconnected from the target system while programming the logic for an other target CPU (see Chapter 2.1.1).

Following the steps to bring-up a new BDI2000:

1. Build the setup tool:

The setup tool is delivered only as source ﬁles. This allows to build the tool on any Linux / Unix host. To build the tool, simply start the make utility.

[root@LINUX_1 bdisetup]# make cc -O2 -c -o bdisetup.o bdisetup.c cc -O2 -c -o bdicnf.o bdicnf.c cc -O2 -c -o bdidll.o bdidll.c cc -s bdisetup.o bdicnf.o bdidll.o -o bdisetup

2. Check the serial connection to the BDI:

With "bdisetup -v" you may check the serial connection to the BDI. The BDI will respond with information about the current loaded ﬁrmware and network conﬁguration. Note: Login as root, otherwise you probably have no access to the serial port.

[root@LINUX_1 bdisetup]# ./bdisetup -v -p/dev/ttyS0 -b57 BDI Type : BDI2000 Rev.C (SN: 92152150) Loader : V1.05 Firmware : unknown Logic : unknown MAC : 00-0c-01-92-15-21 IP Addr : 255.255.255.255 Subnet : 255.255.255.255 Gateway : 255.255.255.255 Host IP : 255.255.255.255 Config : ??????????????????

3. Load/Update the BDI ﬁrmware/logic:

With "bdisetup -u" the ﬁrmware is loaded and the CPLD within the BDI2000 is programmed. This conﬁgures the BDI for the target you are using. Based on the parameters -a and -t, the tool selects the correct ﬁrmware / logic ﬁles. If the ﬁrmware / logic ﬁles are in the same directory as the setup tool, there is no need to enter a -d parameter.

[root@LINUX_1 bdisetup]# ./bdisetup -u -p/dev/ttyS0 -b57 -aGDB -tARM11 Connecting to BDI loader Erasing CPLD Programming firmware with ./b20armgd.103 Programming CPLD with ./armjed21.102

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User Manual