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Published 20 hours ago • verified publisher icon raspberrypi

Not able to run Openocd for rp2040 on rpi5

Open pranjalchanda08 opened this issue 1 year ago • 21 comments

I am stuck with the following screen state on rpi5:

sudo openocd -f interface/raspberrypi-swd.cfg -f target/rp2040.cfg
Open On-Chip Debugger 0.11.0-g8e3c38f (2023-12-23-19:52)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
adapter speed: 1000 kHz

Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : RP2040 Flash Bank Command
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : BCM2835 GPIO JTAG/SWD bitbang driver
Info : clock speed 1001 kHz

**** Stuck after this ****

pranjalchanda08 avatar Dec 23 '23 14:12 pranjalchanda08

I've not tried it myself yet, but does https://github.com/raspberrypi/pico-setup/pull/28 help?

lurch avatar Dec 23 '23 17:12 lurch

I will have to try and get back to you

pranjalchanda08 avatar Dec 23 '23 17:12 pranjalchanda08

Now I have got this issue:

sudo openocd -f interface/raspberrypi-swd.cfg -f target/rp2040.cfg
Open On-Chip Debugger 0.12.0-g4d87f6d (2023-12-23-23:46)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
WARNING: Unknown type of the host SoC. Expect JTAG/SWD clock slower than requested.
Warn : TMS/SWDIO moved to GPIO 8 (pin 24). Check the wiring please!
adapter speed: 5000 kHz

Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : BCM2835 GPIO JTAG/SWD bitbang driver
Info : clock speed 5000 kHz
Error: Failed to connect multidrop rp2040.dap0

Keeping the following warning in mind: Warn : TMS/SWDIO moved to GPIO 8 (pin 24). Check the wiring please!

SWCLK -> GPIO25 GND -> Pin20 SWDIO -> GPIO8

pranjalchanda08 avatar Dec 23 '23 19:12 pranjalchanda08

@lurch any updates on this. As I need this info to create some CI/CD Setups

pranjalchanda08 avatar Dec 28 '23 14:12 pranjalchanda08

I'm afraid you'll have to wait until all the RPi engineers are back from holiday in the New Year.

lurch avatar Dec 28 '23 14:12 lurch

Oh yeah Happy new year!

pranjalchanda08 avatar Dec 28 '23 14:12 pranjalchanda08

i got it working fairly easily on my pi5:

clever@raspberrypi:~ $ cat test.cfg
adapter driver linuxgpiod
adapter gpio swclk 20 -chip 4
adapter gpio swdio 21 -chip 4
clever@raspberrypi:~ $ openocd -f test.cfg -f target/rp2040.cfg
Open On-Chip Debugger 0.12.0-g4d87f6dca (2024-01-05-00:08)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Warn : An adapter speed is not selected in the init scripts. OpenOCD will try to run the adapter at the low speed (100 kHz)
Warn : To remove this warnings and achieve reasonable communication speed with the target, set "adapter speed" or "jtag_rclk" in the init scripts.
Info : Linux GPIOD JTAG/SWD bitbang driver
Info : This adapter doesn't support configurable speed
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x00000001
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x10000001
Info : [rp2040.core0] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core0] target has 4 breakpoints, 2 watchpoints
Info : [rp2040.core1] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core1] target has 4 breakpoints, 2 watchpoints
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections

all it needs now, is to drop that into the interface folder and name it well, and maybe change the pins to match the other examples

cleverca22 avatar Jan 05 '24 04:01 cleverca22

Ok I get now. My config was using the old rpi interface. Need to switch to Linuxgpiod adapter

pranjalchanda08 avatar Jan 05 '24 05:01 pranjalchanda08

I think this info needs a released documentation somewhere from rpi team.

pranjalchanda08 avatar Jan 05 '24 05:01 pranjalchanda08

Few questions:

  1. Is 100KHz limit of linuxgpiod.
  2. How do we determine on rpi5 that the script is being run on rp5 or older version. This info is needed to maintain cross platform debug scripts.
  3. And what does -chip 4 means here? @cleverca22

pranjalchanda08 avatar Jan 05 '24 05:01 pranjalchanda08

And what does -chip 4 means here?

clever@raspberrypi:~ $ gpiodetect
gpiochip0 [gpio-brcmstb@107d508500] (32 lines)
gpiochip1 [gpio-brcmstb@107d508520] (4 lines)
gpiochip2 [gpio-brcmstb@107d517c00] (17 lines)
gpiochip3 [gpio-brcmstb@107d517c20] (6 lines)
gpiochip4 [pinctrl-rp1] (54 lines)

the pi5 has 5 gpio controllers the 40 pin header is on the 4th one

the debug port on the pi5 is on another, and a simple 3 pin JST-SH cable could link a pi5 directly to the pico with no fuss

How do we determine on rpi5 that the script tcl/interface/raspberrypi-native.cfg has code to read /proc/device-tree/compatible and check for strings like bcm2712

i'm not sure where the speed would be set

cleverca22 avatar Jan 05 '24 23:01 cleverca22

FYI this works on older Pis:

adapter driver linuxgpiod
adapter gpio swclk 20 -chip 0
adapter gpio swdio 21 -chip 0

CamDavidsonPilon avatar Jan 06 '24 00:01 CamDavidsonPilon

ah good catch, so we could just use gpiod on every model and then all you need to do is change the chip#

cleverca22 avatar Jan 06 '24 00:01 cleverca22

And what does -chip 4 means here?

clever@raspberrypi:~ $ gpiodetect
gpiochip0 [gpio-brcmstb@107d508500] (32 lines)
gpiochip1 [gpio-brcmstb@107d508520] (4 lines)
gpiochip2 [gpio-brcmstb@107d517c00] (17 lines)
gpiochip3 [gpio-brcmstb@107d517c20] (6 lines)
gpiochip4 [pinctrl-rp1] (54 lines)

the pi5 has 5 gpio controllers the 40 pin header is on the 4th one

the debug port on the pi5 is on another, and a simple 3 pin JST-SH cable could link a pi5 directly to the pico with no fuss

How do we determine on rpi5 that the script tcl/interface/raspberrypi-native.cfg has code to read /proc/device-tree/compatible and check for strings like bcm2712

i'm not sure where the speed would be set

I guess "adapter_speed xxxx" sets of the adapter speed in xxxx KHz. Currently as nothing is given it is setting to 100KHz by default. But 100KHz and that too it says "Info : This adapter doesn't support configurable" is kinda bothering me. Since 100KHz is very low specially when it comes to over network remote debugging. Else this solution is kind of just a workaround then, than what rp5 is really capable of.

pranjalchanda08 avatar Jan 06 '24 04:01 pranjalchanda08

But 100KHz and that too it says "Info : This adapter doesn't support configurable" is kinda bothering me. Since 100KHz is very low specially when it comes to over network remote debugging.

static int adapter_set_speed(int speed)
{
        /* this command can be called during CONFIG,
         * in which case adapter isn't initialized */
        return is_adapter_initialized() ? adapter_driver->speed(speed) : ERROR_OK;
}

at the end, its just calling a speed function within a function pointer table

struct adapter_driver linuxgpiod_adapter_driver = {
        .name = "linuxgpiod",
        .transports = linuxgpiod_transport,

        .init = linuxgpiod_init,
        .quit = linuxgpiod_quit,
        .reset = linuxgpiod_reset,
 
        .jtag_ops = &linuxgpiod_interface,
        .swd_ops = &bitbang_swd,
};

and the linuxgpiod driver lacks a speed function

struct adapter_driver bcm2835gpio_adapter_driver = {
        .name = "bcm2835gpio",
        .transports = bcm2835_transports,
        .commands = bcm2835gpio_command_handlers,

        .init = bcm2835gpio_init,
        .quit = bcm2835gpio_quit,
        .reset = bcm2835gpio_reset,
        .speed = bcm2835gpio_speed,
        .khz = bcm2835gpio_khz,
        .speed_div = bcm2835gpio_speed_div,
 
        .jtag_ops = &bcm2835gpio_interface,
        .swd_ops = &bitbang_swd,
};

while the bcm2835 one does have one so somebody will need to port that over

edit: but reading the source more, i can see that all speed does on bcm2835, is make write's delay a bit

while linuxgpiod doesnt delay, so its actually ignoring the speed and going full tilt? will need to dig more, and confirm

cleverca22 avatar Jan 07 '24 04:01 cleverca22

Took a while to figure it out... Had to read the configure script to realize that there is no enable switch for linuxgpiod but it's looking for an environment variable. So here's what I did to run it on a pi5 with bookworm. Hope it helps someone:

  1. install "linuxgpiod" (why isn't it called libgpiod in the cfg?)
sudo apt install python3-libgpiod libgpiod-dev
git clone https://github.com/openocd-org/openocd.git
cd openocd
./bootstrap
export enable_linuxgpiod=yes
./configure
make -j 4
sudo make install
  1. make a config file for raspberry pi 5. I used emacs, kate doesn't want to run as root?
cd /usr/local/share/openocd/scripts/interface
sudo -i
emacs raspberrypi5-swd.cfg&
  1. edit the file. I have no idea why the example code use different pins in the manual ... there is no secret pin mapping, the sample file content is simply using other pins as described! This one matches the sketch in the manual:
# match the pins used in the Pi Pico C/C++ manual
# GPIO25=swclk, GPIO24=swdio
# NOTE: trying to use GPIO8 for swdio failed
adapter driver linuxgpiod
adapter gpio swclk 25 -chip 4
adapter gpio swdio 24 -chip 4

Note: when you tried the existing raspberrypi-swd.cfg before, you may have noticed a message regarding a pinout change from GPIO24 to GPIO8. However, my attempt to use this pin in the above file failed with "error requesting gpio line swdio"

  1. Connect the rp2040 Pico with pins 18 (GPIO24=swdio),20 (gnd),22 (GPIO25=swclk) as shown in the C/C++ SDK manual (and provide 5V e.g. from the USB port).

  2. Now openocd should work with raspi 5 gpio. Go to the build folder and install the .elf file:

cd pico/pico-examples/build
openocd -f interface/raspberrypi5-swd.cfg -f target/rp2040.cfg -c "program blink/blink.elf verify reset exit"
  1. The expected output looks like this:
Open On-Chip Debugger 0.12.0+dev-01562-g47d983a77 (2024-04-07-22:04)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Linux GPIOD JTAG/SWD bitbang driver
Info : Note: The adapter "linuxgpiod" doesn't support configurable speed
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x00000001
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x10000001
Info : [rp2040.core0] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core0] target has 4 breakpoints, 2 watchpoints
Info : [rp2040.core0] Examination succeed
Info : [rp2040.core1] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core1] target has 4 breakpoints, 2 watchpoints
Info : [rp2040.core1] Examination succeed
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections
[rp2040.core0] halted due to breakpoint, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ea msp: 0x20041f00
[rp2040.core1] halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ea msp: 0x20041f00
** Programming Started **
Info : Found flash device 'win w25q16jv' (ID 0x001540ef)
Info : RP2040 B0 Flash Probe: 2097152 bytes @0x10000000, in 32 sectors

Info : Padding image section 1 at 0x100051fc with 4 bytes (bank write end alignment)
Warn : Adding extra erase range, 0x10005200 .. 0x1000ffff
** Programming Finished **
** Verify Started **
** Verified OK **
** Resetting Target **
shutdown command invoked

g3grau avatar Apr 07 '24 21:04 g3grau

Hi @g3grau,

Thanks for the detailed explanation!

I have documented the above below as well: https://medium.com/@pranjalchanda08/raspberry-pi-a-low-cost-debugging-solution-8744637eaf7f

pranjalchanda08 avatar Apr 08 '24 02:04 pranjalchanda08

Took a while to figure it out... Had to read the configure script to realize that there is no enable switch for linuxgpiod but it's looking for an environment variable. So here's what I did to run it on a pi5 with bookworm. Hope it helps someone:

  1. install "linuxgpiod" (why isn't it called libgpiod in the cfg?)
sudo apt install python3-libgpiod libgpiod-dev
git clone https://github.com/openocd-org/openocd.git
cd openocd
./bootstrap
export enable_linuxgpiod=yes
./configure
make -j 4
sudo make install
  1. make a config file for raspberry pi 5. I used emacs, kate doesn't want to run as root?
cd /usr/local/share/openocd/scripts/interface
sudo -i
emacs raspberrypi5-swd.cfg&
  1. edit the file. I have no idea why the example code use different pins in the manual ... there is no secret pin mapping, the sample file content is simply using other pins as described! This one matches the sketch in the manual:
# match the pins used in the Pi Pico C/C++ manual
# GPIO25=swclk, GPIO24=swdio
# NOTE: trying to use GPIO8 for swdio failed
adapter driver linuxgpiod
adapter gpio swclk 25 -chip 4
adapter gpio swdio 24 -chip 4

Note: when you tried the existing raspberrypi-swd.cfg before, you may have noticed a message regarding a pinout change from GPIO24 to GPIO8. However, my attempt to use this pin in the above file failed with "error requesting gpio line swdio"

  1. Connect the rp2040 Pico with pins 18 (GPIO24=swdio),20 (gnd),22 (GPIO25=swclk) as shown in the C/C++ SDK manual (and provide 5V e.g. from the USB port).
  2. Now openocd should work with raspi 5 gpio. Go to the build folder and install the .elf file:
cd pico/pico-examples/build
openocd -f interface/raspberrypi5-swd.cfg -f target/rp2040.cfg -c "program blink/blink.elf verify reset exit"
  1. The expected output looks like this:
Open On-Chip Debugger 0.12.0+dev-01562-g47d983a77 (2024-04-07-22:04)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Linux GPIOD JTAG/SWD bitbang driver
Info : Note: The adapter "linuxgpiod" doesn't support configurable speed
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x00000001
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x10000001
Info : [rp2040.core0] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core0] target has 4 breakpoints, 2 watchpoints
Info : [rp2040.core0] Examination succeed
Info : [rp2040.core1] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core1] target has 4 breakpoints, 2 watchpoints
Info : [rp2040.core1] Examination succeed
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections
[rp2040.core0] halted due to breakpoint, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ea msp: 0x20041f00
[rp2040.core1] halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ea msp: 0x20041f00
** Programming Started **
Info : Found flash device 'win w25q16jv' (ID 0x001540ef)
Info : RP2040 B0 Flash Probe: 2097152 bytes @0x10000000, in 32 sectors

Info : Padding image section 1 at 0x100051fc with 4 bytes (bank write end alignment)
Warn : Adding extra erase range, 0x10005200 .. 0x1000ffff
** Programming Finished **
** Verify Started **
** Verified OK **
** Resetting Target **
shutdown command invoked

This works perfectly for me

aronneGrinton avatar May 28 '24 21:05 aronneGrinton

CMIIW, newer kernel 6.6.47+rpt-rpi-2712 will need to use -chip 0 again. See https://github.com/raspberrypi/linux/pull/6144.

ragazenta avatar Sep 10 '24 08:09 ragazenta

Upstream have added support for Pi 5 (raspberrypi5-gpiod.cfg) but picked up the legacy gpiochip 4. Downstream has diverged with the release of RP2350, but the gpiod changes should be orthogonal.

P33M avatar Sep 10 '24 08:09 P33M

Once https://review.openocd.org/c/openocd/+/8363 goes in, then I can look at rebasing downstream.

P33M avatar Sep 10 '24 09:09 P33M