Update README
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Gregory Nutt
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@ -225,99 +225,151 @@ SMP
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Debug Issues
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============
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You basically need the debug environment and a step-by-step procedure.
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First you in need some debug environment which would be a JTAG emulator
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and the ESP32 OpenOCD software which is available here:
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https://github.com/espressif/openocd-esp32
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- First in need some debug environment which would be a JTAG emulator
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and the ESP32 OpenOCD software which is available here:
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https://github.com/espressif/openocd-esp32
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OpenOCD Documentation
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---------------------
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There is on overiew of the use of OpenOCD here:
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https://dl.espressif.com/doc/esp-idf/latest/openocd.html
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This document is also available in ESP-IDF source tree in docs
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directory (https://github.com/espressif/esp-idf).
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- There is on overiew of the use of OpenOCD here:
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https://dl.espressif.com/doc/esp-idf/latest/openocd.html
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This document is also available in ESP-IDF source tree in docs
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directory (https://github.com/espressif/esp-idf).
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OpenOCD Configuration File
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--------------------------
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A template ESP32 OpenOCD configuration file is provided in
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ESP-IDF docs directory (esp32.cfg). Since you are not using
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FreeRTOS, you will need to uncomment the "set ESP32_RTOS none"
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line in OpenOCD configuration file.
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A template ESP32 OpenOCD configuration file is provided in
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ESP-IDF docs directory (esp32.cfg). Since you are not using
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FreeRTOS, you will need to uncomment the "set ESP32_RTOS none"
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line in OpenOCD configuration file.
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You will still need to change the source line from:
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NOTE: A copy of this OpenOCD configuration file (with the referenced
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line uncommented). Is available in the NuttX source tree at
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nuttx/config/esp32-core/scripts/esp32.cfg.
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find interface/ftdi/tumpa.cfg line
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The documentation indicates that you need to use an external JTAG
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like the TIAO USB Multi-protocol Adapter and the Flyswatter2.
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The instructions at http://www.esp32.com/viewtopic.php?t=381 show
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use of an FTDI C232HM-DDHSL-0 USB 2.0 high speed to MPSSE cable.
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to reflect the physical JTAG adapter connected.
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- The ESP32 Core v2 board has no on board JTAG connector. It will
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be necessary to make a cable or some other board to connect a JTAG
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emulator. Refer to http://www.esp32.com/viewtopic.php?t=381 "How
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to debug ESP32 with JTAG / OpenOCD / GDB 1st part connect the
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hardware."
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NOTE: A copy of this OpenOCD configuration file (with the referenced
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line RTOS uncommented but with no change to JTAG interface). Is
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available in the NuttX source tree at
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nuttx/config/esp32-core/scripts/esp32.cfg.
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Relevant pin-out:
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General OpenOCD build instructions
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----------------------------------
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Installing OpenOCD. The sources for the ESP32-enabled variant of
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OpenOCD are available from Espressifs Github. To download the source,
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use the following commands:
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-------- ----------
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PIN JTAG
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LABEL FUNCTION
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-------- ----------
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IO14 TMS
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IO12 TDI
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GND GND
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IO13 TCK
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-------- ----------
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IO15 TDO
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-------- ----------
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git clone https://github.com/espressif/openocd-esp32.git
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cd openocd-esp32
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git submodule init
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git submodule update
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You can find the mapping of JTAG signals to ESP32 GPIO numbers in
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"ESP32 Pin List" document found here:
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http://espressif.com/en/support/download/documents?keys=&field_type_tid%5B%5D=13
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Then look at the README file in the openocd-esp32 directory.
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I put the ESP32 on a prototyping board and used a standard JTAG 20-pin
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connector with an older Olimex JTAG that I had. Here is how I wired
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the 20-pin connector:
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Running OpenOCD
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--------------
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----------------- ----------
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20-PIN JTAG ESP32 PIN
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CONNECTOR LABEL
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----------------- ----------
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1 VREF INPUT 3V3
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3 nTRST OUTPUT N/C
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5 TDI OUTPUT IO12
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7 TMS OUTPUT IO14
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9 TCLK OUTPUT IO13
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11 RTCK INPUT N/C
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13 TDO INPUT IO15
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15 RESET I/O N/C
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17 DBGRQ OUTPUT N/C
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19 5V OUTPUT N/C
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------------ ----------
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2 VCC INPUT 3V3
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4 GND N/A GND
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6 GND N/A GND
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8 GND N/A GND
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10 GND N/A GND
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12 GND N/A GND
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14 GND N/A GND
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16 GND N/A GND
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18 GND N/A GND
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20 GND N/A GND
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------------ ----------
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cd to openocd-esp32 directory
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copy the modified esp32.cfg script to this directory
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Run ./src/openocd -s ./tcl -f ./esp32.cfg to start OpenOCD
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- I need to understand how to use the secondary bootloader. My
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understanding is that it will configure hardware, read a partition
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table at address 0x5000, and then load code into memory. I do need to
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download and build the bootloader?
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Connecting a debugger to OpenOCD
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--------------------------------
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OpenOCD should now be ready to accept gdb connections. If you have
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compiled the ESP32 toolchain using Crosstool-NG, or if you have
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downloaded a precompiled toolchain from the Espressif website, you
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should already have xtensa-esp32-elf-gdb, a version of gdb that can
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be used for this
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- Do I need to create a partition table at 0x5000? Should this be part
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of the NuttX build?
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First, make sure the project you want to debug is compiled and
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flashed into the ESP32’s SPI flash. Then, in a different console
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than OpenOCD is running in, invoke gdb. For example, for the
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template app, you would do this like such:
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See https://github.com/espressif/esp-idf/tree/master/components/bootloader
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and https://github.com/espressif/esp-idf/tree/master/components/partition_table.
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I suppose some of what I need is in there, but I am not sure what I am
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looking at right now.
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cd esp-idf-template
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xtensa-esp32-elf-gdb -ex 'target remote localhost:3333' ./build/app-template.elf
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This should give you a gdb prompt.
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JTAG Emulator
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-------------
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The documentation indicates that you need to use an external JTAG
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like the TIAO USB Multi-protocol Adapter and the Flyswatter2.
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The instructions at http://www.esp32.com/viewtopic.php?t=381 show
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use of an FTDI C232HM-DDHSL-0 USB 2.0 high speed to MPSSE cable.
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The ESP32 Core v2 board has no on board JTAG connector. It will
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be necessary to make a cable or some other board to connect a JTAG
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emulator. Refer to http://www.esp32.com/viewtopic.php?t=381 "How
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to debug ESP32 with JTAG / OpenOCD / GDB 1st part connect the
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hardware."
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Relevant pin-out:
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-------- ----------
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PIN JTAG
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LABEL FUNCTION
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-------- ----------
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IO14 TMS
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IO12 TDI
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GND GND
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IO13 TCK
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-------- ----------
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IO15 TDO
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-------- ----------
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You can find the mapping of JTAG signals to ESP32 GPIO numbers in
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"ESP32 Pin List" document found here:
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http://espressif.com/en/support/download/documents?keys=&field_type_tid%5B%5D=13
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I put the ESP32 on a prototyping board and used a standard JTAG 20-pin
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connector with an older Olimex JTAG that I had. Here is how I wired
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the 20-pin connector:
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----------------- ----------
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20-PIN JTAG ESP32 PIN
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CONNECTOR LABEL
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----------------- ----------
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1 VREF INPUT 3V3
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3 nTRST OUTPUT N/C
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5 TDI OUTPUT IO12
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7 TMS OUTPUT IO14
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9 TCLK OUTPUT IO13
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11 RTCK INPUT N/C
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13 TDO INPUT IO15
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15 RESET I/O N/C
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17 DBGRQ OUTPUT N/C
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19 5V OUTPUT N/C
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------------ ----------
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2 VCC INPUT 3V3
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4 GND N/A GND
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6 GND N/A GND
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8 GND N/A GND
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10 GND N/A GND
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12 GND N/A GND
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14 GND N/A GND
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16 GND N/A GND
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18 GND N/A GND
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20 GND N/A GND
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------------ ----------
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Secondary Boot Loader / Partition Table
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---------------------------------------
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I need to understand how to use the secondary bootloader. My
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understanding is that it will configure hardware, read a partition
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table at address 0x5000, and then load code into memory. I do need to
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download and build the bootloader?
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Do I need to create a partition table at 0x5000? Should this be part
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of the NuttX build?
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See https://github.com/espressif/esp-idf/tree/master/components/bootloader
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and https://github.com/espressif/esp-idf/tree/master/components/partition_table.
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I suppose some of what I need is in there, but I am not sure what I am
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looking at right now.
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Running from IRAM
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-----------------
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It is possible to skip the secondary bootloader and run out of IRAM using
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only the primary bootloader if your application of small enough (< 128KiB code,
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<180KiB data), then you can simplify initial bring-up by avoiding second stage
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@ -355,6 +407,8 @@ Debug Issues
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will be written. ROM bootloader expects to find an application (or second stage
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bootloader) image at offset 0x1000, so we are writing the binary there.
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Clocking
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--------
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Right now, the NuttX port depends on the bootloader to initialize hardware,
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including basic (slow) clocking. If I had the clock configuration logic,
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would I be able to run directly out of IRAM without a bootloader? That
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@ -1,12 +1,12 @@
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#
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# Example configuration file to hook up an ESP32 module or board to a JTAG
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# Example configuration file to hook up an ESP32 module or board to a JTAG
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# adapter. Please modify this file to your local setup.
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#
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#
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# Include the configuration for the JTAG adapter. We use the Tian TUMPA here.
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# If you have a different interface, please edit this to include the
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# If you have a different interface, please edit this to include the
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# configuration file of yours.
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source [find interface/ftdi/tumpa.cfg]
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@ -39,7 +39,7 @@ source [find target/esp32.cfg]
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# chip runs at. When a hard reset happens (e.g. because someone switches the board off
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# and on) the ESP32 will use the current TDI value as the bootstrap value because the
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# JTAG adapter overrides the pull-up or pull-down resistor that is supposed to do the
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# bootstrapping. These lines basically set the idle value of the TDO line to a
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# bootstrapping. These lines basically set the idle value of the TDO line to a
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# specified value, therefore reducing the chance of a bad bootup due to a bad flash
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# voltage greatly.
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