OpenOCD for IMote2

OpenOCD JTAG programming for IMote2

• The following instruction works with the Amontec JTAGkey and with USB JTAG cable from Olimex under Linux. The Amontec JTAGkey is available from http://www.amontec.com/. The Olimex cable is available from http://microcontrollershop.com/
• The instructions are based on Ubuntu 7.10
• OpenOCD website
• Amontec JTAGkey and ARM-USB-TINY only works with libftd2xx from FTDI
• Instruction on using openOCD with JTAG wiggler parallel port cable OpenOCD for Imote2 using Wiggler

Install FTDI libftd2xx driver

• run the following as root or using sudo

wget http://www.ftdichip.com/Drivers/D2XX/Linux/libftd2xx0.4.13.tar.gz
gunzip libftd2xx0.4.13.tar.gz
tar -xvf libftd2xx0.4.13.tar
cd libftd2xx0.4.13
cp ftd2xx.h /usr/local/include
cp WinTypes.h /usr/local/include
chmod a+r /usr/local/include/ftd2xx.h /usr/local/include/WinTypes.h
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 Amontec JTAGkey or the Olimex JTAG programmer, depending on their PID / VID. Create a file called /etc/udev/rules.d/45-ft2232.rules with the following text:

• For the Amontec JTAGkey

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

SYSFS{idProduct}=="cff8", SYSFS{idVendor}=="0403", MODE="664", GROUP="adm"

LABEL="kcontrol_rules_end"

• For the Olimex programmer

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:516)

svn checkout -r 516 http://svn.berlios.de/svnroot/repos/openocd/trunk openocd-svn

• build OpenOCD

 cd openocd-svn
 ./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.
• compile binary:

cd /opt/tinyos-2.x/apps/Blink
make intelmote2 install.100 openocd

Note that this will try to run "imote2-ocd-program.py" with the executable as an argument. This program is assumed to be in $TOSROOT/tools/platforms/intelmote2/openocd/; Alternately, you can manually install the binary on the mote by running:

$TOSROOT/tools/platforms/intelmote2/openocd/imote2-ocd-program.py build/intelmote2/main.exe

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