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Prerequisites
A compatible JTAG hardware debugger device is required. Different JTAG devices can have slightly different procedure.
As an example, following guidance is for:
- Flyswatter2 device from Tin Can Tools, LLC.
- J-Link debug probes
- ARM-JTAG-20-10 Adapter (Mouser) (Digi-Key)
Environment
Hardware setup
Most RZ development boards Below illustration shows how user should connect RZ/G2 platform with JTAG debugger and OpenOCD (run on a Linux Host PC). Note that most RZ/G2 development board has 10 pin JTAG header, so a JTAG converter (20pin-10pin) is required, for might be required depending on what JTAG adapter you are using. For example the Olimex ARM-JTAG-20-10. The following pictures illustrates how to setup the environment with a Flyswatter2 and a EK874 (RZ/G2E) board. The setup is similar if other JTAG debuggers and/or devices are used.
Hardware setup
can be used to convert from 20-pin to 10-pin.
After connecting the devices as per guide in the previous section, follow below instructions to use OpenOCD and JTAG debugger. You must change the switches setting on development board to enable the JTAG debugging feature. The switches setting may be different for each development board. Please refer to the relevant board manual or user guide for detailed information.
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To build OpenOCD you can use this script found in the https://github.com/renesas-rz/rzg_openocd repository.
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/build_openocd
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/00020001-tcl-target-aarch64-Write-Memory-function-fix-for-self-mo.patch $ chmod +x ./build_openocd /* Avoid GIT error: server certificate verification failed */ $ export GIT_SSL_NO_VERIFY=1 $ ./build_openocd
Or manually follow the steps in that script:
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renesas_rz_g2-Rename-to-renesas_rz-and-ad.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0002-target-aarch64-MRS-MSR-support-for-system-register-a.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd
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/master/
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0003-target-aarch64-enable-disable-mmu-new-commands.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0004-target-aarch64-Add-code-to-invaldate-the-instruction.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0005-tcl-target-renesas_rz-add-hwthread-and-coreid.patch
$ chmod +x ./build_openocd
$ export GIT_SSL_NO_VERIFY=1 # Avoid GIT error: server certificate verification failed
$ ./build_openocd
Or manually follow the steps in that script:
The OpenOCD binaries can be found in the openocd/installdir/bin directory.
In the configuration, options that are commonly needed are --enable-ftdi to ensure ftdi related function will be built. Same for J-Link, with --enable-jlink, however both should be recognized and added automatically during the configuration phase.
Note - The patch is not strictly needed. It slows down the download operations but it is required if an existing code in memory has to be replaced by using the JTAG.
Run OpenOCD
OpenOCD provides many setting scripts for many JTAG debugger and development boards under directory share/openocd/scripts/. Normally two suitable scripts has to be chosen, one for Debugger configuration and one for the development board or chip.
To debug with Flyswatter2 the following scripts is available:
interface/ftdi/flyswatter2.cfg
To debug with J-Link, instead:
interface/jlink.cfg
Then for the RZ/G2 family:
target/renesas_rz.cfg
Finally different commands have to be used to select different devices belonging to the RZ/G2 family:
- SMARC RZ/G2L board: set SOC G2L (default), i.e. -c can be omitted
- SMARC RZ/G2LC board: set SOC G2LC
- SMARC RZ/G2UL board: set SOC G2UL
- SMARC RZ/V2L board: set SOC V2L
- SMARC II RZ/G3S board: set SOC G3S
- EK874 RZ/G2E board: set SOC G2E
- HiHope RZ/G2M board: set SOC G2M
- HiHope RZ/G2N board: set SOC G2N
- HiHope RZ/G2H board: set SOC G2H
So, for example to run OpenOCD and attach to a RZ/G2L device using a Segger J-Link JTAG adapter:
$ cd installdir
$ sudo bin/openocd...
The OpenOCD binaries can be found in the openocd/installdir/bin directory.
In the configuration, options that are commonly needed are --enable-ftdi to ensure ftdi related function (which Flyswatter2 uses) will be built. Same for J-Link, with --enable-jlink, however both should be recognized and added automatically during the configuration phase.
Note - The patch is not strictly needed. It slows down the download operations but it is required if an existing code in memory has to be replaced by using the JTAG.
Run OpenOCD
OpenOCD provides many setting scripts for many JTAG debugger and development boards under directory share/openocd/scripts/. Normally two suitable scripts has to be chosen, one for Debugger configuration and one for the development board or chip.
To debug with Flyswatter2 the following scripts is available:
interface/ftdi/flyswatter2.cfg
To debug with J-Link, instead:
interface/jlink.cfg
Then for the RZ/G2 family:
target/renesas_rz_g2.cfg
Finally different commands have to be used to select different devices belonging to the RZ/G2 family:
- SMARC RZ/G2L board: set SOC G2L (default), i.e. -c can be omitted
- SMARC RZ/G2LC board: set SOC G2LC
- SMARC RZ/G2UL board: set SOC G2UL
- EK874 RZ/G2E board: set SOC G2E
- HiHope RZ/G2M board: set SOC G2M
- HiHope RZ/G2N board: set SOC G2N
- HiHope RZ/G2H board: set SOC G2H
So, for example to run OpenOCD and attach to a RZ/G2L device using a Flyswatter 2 JTAG adapter:
$ cd installdir
$ sudo bin/openocd -f share/openocd/scripts/interface/ftdi/flyswatter2.cfg -c "set SOC G2L" -f share/openocd/scripts/target/renesas_rz_g2.cfg
In case of RZ/Five:
$ cd installdir $ sudo bin/openocd -f share/openocd/scripts/interface/ftdi/flyswatter2.cfg -f share/openocd/scripts/target/renesas_rz_fiveinterface/jlink.cfg -c "set SOC G2L" -f share/openocd/scripts/target/renesas_rz.cfg
In case of RZ/Five:
$ cd installdir
$ sudo bin/openocd -f share/openocd/scripts/interface/jlink.cfg -f share/openocd/scripts/target/renesas_rz_five.cfg
Please note that there's a way to avoid the usage of sudo by making sure that Please note that there's a way to avoid the usage of sudo by making sure that both the user and the debugger devices used belong to the dialout/plugdev groups.
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If openocd command succeeds, a message like these below appears:
Open On-Chip Debugger 0.1112.0+dev-0018201565-gbd1569d1b-dirtyg5622ada82 (20212024-0504-2510-1013:2359) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html G2L G2L - 0 CA57(s), 2 CA55(s), 0 CA53(s), 0 CR7(s), 1 CM33(s) Boot Core - CA55 r9a07g044l.cpu SMP targets: r9a07g044l.a55.0 r9a07g044l.a55.1 init_reset Info Info : Listening on port 6666 for tcl connections Info Info : Listening on port 4444 for telnet connections Info Info : J-Link Lite V9V10 compiled MayJan 1730 20192023 1011:1828:5707 Info Info : Hardware version: 910.0010 Info Info : VTarget = 1.833761 V Info Info : clock speed 4000 kHz Info Info : JTAG tap: r9a07g044l.cpu tap/device found: 0x6ba00477 (mfg: 0x23b (ARM Ltd), part: 0xba00, ver: 0x6) Info Info : DAP transaction stalled (WAIT) - slowing down Info : DAP transaction stalled during replay (WAIT) - resending Info : DAP transaction stalled (WAIT) - slowing down Info : r9a07g044l.a55.0: hardware has 6 breakpoints, 4 watchpoints Info : DAP transaction stalled (WAIT) - slowing down Info : DAP transaction stalled during replay (WAIT) - resending Info : r9a07g044l.a55.0 cluster 0 core 0 multi core Info : starting gdb server for r9a07g044l.a55.0 on 3333 Info : Listening on port 3333 for gdb connections Info : starting gdb server for r9a07g044l.m33 on 3334 Info : Listening on port 3334 for gdb connections Info : gdb port disabled r9a07g044l.a55.0: hardware has 6 breakpoints, 4 watchpoints Info : r9a07g044l.a55.0 cluster 0 core 0 multi core
Info : [r9a07g044l.a55.0] Examination succeed
Info : [r9a07g044l.axi_ap] Examination succeed Info : starting gdb server for r9a07g044l.a55.0 on 3333 Info : Listening on port 3333 for gdb connections Info : starting gdb server for r9a07g044l.m33 on 3334 Info : Listening on port 3334 for gdb connections Info : gdb port disabled
Open On-Chip Debugger 0.11.0+dev-00663-gd1e14abdb-dirty (2022-05-10-07:54) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html r9A07g043u.cpu Info : Listening on port 6666 for tcl connections Info : Listening on port 4444 for telnet connections Info : J-Link Lite V9 compiled Feb 2 2021 16:32:48 Info : Hardware version: 9.00 Info : VTarget = Open On-Chip Debugger 0.11.0+dev-00663-gd1e14abdb-dirty (2022-05-10-07:54) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html r9A07g043u.cpu Info : Listening on port 6666 for tcl connections Info : Listening on port 4444 for telnet connections Info : J-Link Lite V9 compiled Feb 2 2021 16:32:48 Info : Hardware version: 9.00 Info : VTarget = 1.819 V Info : clock speed 4000 kHz Info : JTAG tap: r9A07g043u.cpu tap/device found: 0x1000563d (mfg: 0x31e (Andes Technology Corporation), part: 0x0005, ver: 0x1) Info : datacount=4 progbufsize=8 Info : Examined RISC-V core; found 1 harts Info : hart 0: XLEN=64, misa=0x800000000094312d Info : starting gdb server for r9A07g043u.cpu on 3333 Info : Listening on port 3333 for gdb connections
Note that the "DAP transaction stalled" messages are normal and do not affect the functionality.
Start debugging
Now that openocd command has succeeded, you can use GDB on your Linux Host PC and attach to GDB Server created by OpenOCD. Note that on the Linux machine there might be several instances of GDB, including the native GDB (x86_64). In order to debug the Cortex-A55 the Arm AArch64 cross GDB has to be used, normally the one included in the SDK generated by Yocto, target: aarch64-poky-linux. For the Cortex-M33, instead the target has to be arm-none-eabi (to be installed separately).
RISC-V core; found 1 harts Info : hart 0: XLEN=64, misa=0x800000000094312d Info : starting gdb server for r9A07g043u.cpu on 3333 Info : Listening on port 3333 for gdb connections
Note that the "DAP transaction stalled" messages are normal and do not affect the functionality.
Start debugging
Now that openocd command has succeeded, you can use GDB on your Linux Host PC and attach to GDB Server created by OpenOCD. Note that on the Linux machine there might be several instances of GDB, including the native GDB (x86_64). In order to debug the Cortex-A55 the Arm AArch64 cross GDB has to be used, normally the one included in the SDK generated by Yocto, target: aarch64-poky-linux. For the Cortex-M33, instead the target has to be arm-none-eabi (to be installed separately).
$ source /opt/poky/3.1.5/environment-setup-aarch64-poky-linux
$ $GDB
GNU gdb (GDB) 9.1
Copyright (C) 2020 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "--host=x86_64-pokysdk-linux '''--target=aarch64-poky-linux'''".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word".
Instead of the gdb included in the SDK and generated by Yocto, you can also install a newer Arm toolchain, for example Version 13.2.Rel1 and launch the corresponding gdb:
$ aarch64-none-linux-gnu-gdb
GNU gdb (Arm GNU Toolchain 13.2.rel1 (Build arm-13.7)) 13.2.90.20231008-git
Copyright (C) 2023$ source /opt/poky/3.1.5/environment-setup-aarch64-poky-linux $ $GDB GNU gdb (GDB) 9.1 Copyright (C) 2020 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http<http://gnu.org/licenses/gpl.html> html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "--host=x86_64-pokysdkpc-linux-gnu '''--target=aarch64-pokynone-linux'''-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see: <http
<https://wwwbugs.gnulinaro.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word".
(gdb)
In case of RISC-V there are different options, assuming the GDB that comes with Yocto SDK is used (riscv64-oe-linux-gdb):
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For example, for a bare metal Hello World application with semihosting enabled, this simple gdb script can be used (manually rest the target first):
target remote localhost:3333
mon reset
mon r9a07g044l.a55.0 arp_examine 0
mon r9a07g044l.a55.0 arp_examine 1
mon halt
mon arm semihosting enable
set $pc = 0x12000
c
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