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| | [[Installing and Configuring T2 for iMote2 on Windows XP]] | | [[Installing and Configuring T2 for iMote2 on Windows XP]] |
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| − | == OpenOCD JTAG programming for IMote2== | + | == OpenOCD IMote2 programming == |
| − | | + | [[OpenOCD for IMote2]] |
| − | * The following instruction works with [http://www.olimex.com/dev/arm-usb-tiny.html USB JTAG cable from Olimex] under Linux. The cable is available from http://microcontrollershop.com/
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| − | * The instructions are based on Ubuntu 7.10
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| − | * [http://openocd.berlios.de/web/ OpenOCD website]
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| − | * ARM-USB-TINY only works with [http://www.ftdichip.com/Drivers/D2XX.htm libftd2xx from FTDI]
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| − | | |
| − | ===Install FTDI libftd2xx driver===
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| − | *run the following as root or using sudo
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| − | gunzip libftd2xx0.4.13.tar.gz
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| − | tar -xvf libftd2xx0.4.13.tar
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| − | cp ftd2xx.h /usr/local/include
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| − | cp WinTypes.h /usr/local/include
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| − | cp libftd2xx.so.0.4.13 /usr/local/lib
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| − | cd /usr/local/lib
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| − | ln -s libftd2xx.so.0.4.13 libftd2xx.so
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| − | cd /usr/lib
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| − | ln -s /usr/local/lib/libftd2xx.so.0.4.13 libftd2xx.so
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| − | ldconfig
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| − | | |
| − | The closed source drivers from FTDI rely on having <tt>/proc/bus/usb</tt> available. This is not enabled in Ubuntu by default. We enable it by editing <tt>/etc/init.d/mountdevsubfs.sh</tt> and uncommenting the following lines:
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| − | | |
| − | #
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| − | # Magic to make /proc/bus/usb work
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| − | #
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| − | mkdir -p /dev/bus/usb/.usbfs
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| − | domount usbfs "" /dev/bus/usb/.usbfs -obusmode=0700,devmode=0600,listmode=0644
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| − | ln -s .usbfs/devices /dev/bus/usb/devices
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| − | mount --rbind /dev/bus/usb /proc/bus/usb
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| − | | |
| − | We now need to set up the permissions correctly for the Olimex JTAG programmer. Create a file called <tt>/etc/udev/rules.d/45-ft2232.rules</tt> with the following text:
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| − | | |
| − | BUS!="usb", ACTION!="add", SUBSYSTEM!=="usb_device", GOTO="kcontrol_rules_end"
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| − |
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| − | SYSFS{idProduct}=="0004", SYSFS{idVendor}=="15ba", MODE="664", GROUP="adm"
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| − |
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| − | LABEL="kcontrol_rules_end"
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| − | | |
| − | You will have to reboot your machine for the changes to take effect.
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| − | | |
| − | === Build OpenOCD ===
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| − | | |
| − | * check out OpenOCD svn repository
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| − | svn checkout http://svn.berlios.de/svnroot/repos/openocd
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| − | * build OpenOCD
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| − | cd openocd/trunk
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| − | ./bootstrap
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| − | ./configure --enable-ft2232_ftd2xx
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| − | make
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| − | | |
| − | * install OpenOCD
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| − | sudo make install
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| − | sudo chmod 4755 /usr/local/bin/openocd
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| − | sudo mkdir -p /usr/local/etc
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| − | sudo cp $INTELMOTE2_CONTRIB_DIR/tools/platforms/intelmote2/openocd/arm-usb-tiny.cfg /usr/local/etc
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| − | sudo chmod 755 /usr/local/etc/arm-usb-tiny.cfg
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| − |
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| − | This will install openocd to /usr/local/bin. Be sure this is on your PATH.
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| − | | |
| − | === Program iMote2 with OpenOCD ===
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| − | | |
| − | * Connect iMote2 to the debug board.
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| − | * 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.)
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| − | * 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.
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| − | * Press the reset button on the iMote2.
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| − | * You can now manually install the binary on the mote by running:
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| − | $INTELMOTE2_CONTRIB_DIR/tools/platforms/intelmote2/openocd/imote2-ocd-program.py build/intelmote2/main.bin.out
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| − | | |
| − | ==== Manual programming method. ====
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| − | | |
| − | 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:
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| − | | |
| − | openocd -f /usr/local/etc/arm-usb-tiny.cfg
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| − | and then connect to it with:
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| − | telnet localhost 3333
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| − | | |
| − | Various commands you can use:
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| − | halt
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| − | poll
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| − | resume
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| − | flash info 0
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| − | | |
| − | === Accessing serial data ===
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| − | | |
| − | 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().
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| − | | |
| − | === Using GDB ===
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| − | | |
| − | It is possible to use GDB to debug the iMote2 while it is running.
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| − | | |
| − | * Compile your binary using the "debug" flag:
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| − | make intelmote2 debug install.100
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| − | * After the mote is installed with the new binary, start up openocd:
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| − | openocd -f /usr/local/etc/arm-usb-tiny.cfg
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| − | * Run xscale-elf-gdb (which should have been installed with the xscale toolchain):
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| − | xscale-elf-gdb build/intelmote2/main.exe
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| − | * Tell gdb to use localhost:4444 as the debugging target. (This is the port that openocd listens on for gdb commands.)
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| − | (gdb) target remote localhost:4444
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| − | * Then continue:
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| − | (gdb) cont
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| − | * You can then hit Ctrl-C to halt the mote, and inspect what is going on. For example,
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| − | (gdb) info reg
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| − | (gdb) where
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| − | and so forth.
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