DIY Free Toolchain for Kinetis: Part 6 – Linux Host with OpenOCD and CMSIS-DAP

Posted on August 5, 2013 by Erich Styger

For everyone who wants to build a Do-It-Yourself toolchain for Kinetis on Linux, I recommend to read the following excellent post by Karibe:

Setting up Linux opensource build and debug tools for freescale freedom board FRDM-KL25Z

He describes how to get OpenOCD with CMSIS-DAP working with Eclipse on Ubuntu to debug the FRDM-KL25Z board.

List of Tutorials

Happy Linuxing 🙂

32 thoughts on “DIY Free Toolchain for Kinetis: Part 6 – Linux Host with OpenOCD and CMSIS-DAP”

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Jorge Hernandez on August 6, 2013 at 00:03 said:

Awesome! I’ve been looking for this. Thanks, Eric 😀

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Georg Lerm (@gflerm) on August 7, 2013 at 10:27 said:

Hi Erich

Awesome!!! Going to try this out over the weekend. Have got a Olimex ARM-USB-TINY-H (https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H) with a ARM-JTAG-20-10 adapter(https://www.olimex.com/Products/ARM/JTAG/ARM-JTAG-20-10). Just waiting on my .05″ daul headers to solder onto the board.

Georg

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- Erich Styger on August 7, 2013 at 10:31 said:
  
  Hi Georg,
  let us know the result!
  
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Jack on October 6, 2013 at 07:44 said:

Looks like the CMSIS-DAP support has finally been pulled into a branch of the official OpenOCD repository and is starting to get tested and code reviewed, maybe it will be included by default when OpenOCD v0.8 comes out. Presumably openocd+cmsis-dap will become the best “free toolchain” choice even on windows, since it’s so widely used (in the “free toolchain” world).

I assume it will have none of the restrictions of the P&E Micro or SEGGER “lite” / eval-boards-only versions. I wonder if it will even let us debug non-Freescale Cortex-Ms using a Freedom Board’s OpenSDA as just a “debug access port”?

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- Erich Styger on October 6, 2013 at 08:30 said:
  
  That’s outstanding news, and will make the adoption of OpenOCD even easier. And yes, it is already possible today to debug another board, because it should only rely on the physical connection to the other board. I have sucessfully used it with Segger and USBDM OpenSDA firmware, for example in https://mcuoneclipse.com/2013/04/27/debug-external-processors-with-usbdm-and-freedom-board/
  
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  - alexgallery on April 12, 2014 at 12:30 said:
    
    I managed to build OpenOCD 0.8-rc1 with CMSIS-DAP support on MacOSX and have the DIY free toolchain following your series of tutorial running on Mac for my FRDM-KL25Z board.
    
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    - Erich Styger on April 12, 2014 at 13:48 said:
      
      Outstanding! Thanks for sharing! You might consider to publish the binaries so other users do not need to build them?
      
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    - alexgallery on April 14, 2014 at 16:01 said:
      
      I am putting up a tutorial on my blog here: http://alexgallery.wordpress.com/2014/04/14/setting-up-open-source-ide-with-eclipse-for-freescale-mcus-on-mac-osx/
      
      Also here’s the download link to the Mac OSX binaries:
      hidapi: https://dl.dropboxusercontent.com/u/91597842/openocd/hidapi_0.8.0-rc1.tgz
      openocd: https://dl.dropboxusercontent.com/u/91597842/openocd/openocd_0.8.0-rc1.tgz
      
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    - Erich Styger on April 14, 2014 at 16:21 said:
      
      Many thanks for sharing!
      
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gediminasm on February 16, 2015 at 14:25 said:

I follow all the steps and it work well for me. The problem, which I’m facing now is that I can’t flash my FRDM-KL25Z board. I start opeocd and after I start gdb, I get this error:

Open On-Chip Debugger 0.8.0-dev-00175-g8b7acca-dirty (2015-02-15-10:15)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
Info : only one transport option; autoselect ‘cmsis-dap’
Info : CMSIS-DAP: SWD Supported
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : add flash_bank kinetis kl25.flash
cortex_m reset_config sysresetreq
adapter speed: 50 kHz
Info : CMSIS-DAP: FW Version = 1.0
Info : SWCLK/TCK = 0 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Info : DAP_SWJ Sequence (reset: 50+ ‘1’ followed by 0)
Info : CMSIS-DAP: Interface ready
Info : clock speed 50 kHz
Info : IDCODE 0x0bc11477
Info : kl25.cpu: hardware has 2 breakpoints, 2 watchpoints
Error: CMSIS-DAP: Read Error (0x04)
Polling target kl25.cpu failed, GDB will be halted. Polling again in 100ms
Polling target kl25.cpu succeeded again
Info : accepting ‘gdb’ connection from 3333
Error: CMSIS-DAP: Read Error (0x04)
in procedure ‘halt’

Warn : Cannot communicate… target not halted.
Error: auto_probe failed
Error: Connect failed. Consider setting up a gdb-attach event for the target to prepare target for GDB connect, or use ‘gdb_memory_map disable’.
Error: attempted ‘gdb’ connection rejected
Error: CMSIS-DAP: Read Error (0x04)
Polling target kl25.cpu failed, GDB will be halted. Polling again in 100ms
Polling target kl25.cpu succeeded again
Info : Halt timed out, wake up GDB.

Any help appreciated

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- Erich Styger on February 16, 2015 at 15:03 said:
  
  is this on Windows or on Linux? You might try out the Kinetis Design Studio which includes a port of OpenOCD, both for Windows and Linux.
  
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  - gediminasm on February 17, 2015 at 08:04 said:
    
    Sorry, I’m working with Kubuntu 14.10
    
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  - gediminasm on February 17, 2015 at 08:08 said:
    
    After some googling, I have suspicion, that this problem of mine could be related with hardware issues. Just can’t find any remedies for it…
    I’ll take a try on your proposal and will see how it works out…
    
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  - Karibe on March 20, 2015 at 12:48 said:
    
    I had this happening to me, when you write a binary with a mistake, like wrong clock configurations, openocd isn’t able to halt the CPU, among other things. One solution is to use alternative debug server like PE or USBDM first , needs changing the firmware, then flash a sample known to work binary from apllication note or something with that debug server, then openocd behaves. Openocd is not that bruteforce when there are issues at startup.
    Another trick is to add gdb events in the openocd initialization target scripts, like this:
    
    adapter_khz 500
    
    $_TARGETNAME configure -event gdb-attach {
    halt
    }
    $_TARGETNAME configure -event gdb-attach {
    reset init
    }
    kinda try to catch the target early on.
    
    Also, try to use hot air gently around the microcontroller chips, may be you have a hardware problem after all.
    
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    - Erich Styger on March 20, 2015 at 17:18 said:
      
      oh, that sounds like a really good thing. I was running today into such a problem where OpenOCD was not able to halt the CPU. I need to add this one to my kinetis.cfg file to see if it will help me in the future 🙂
      
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    - gediminasm on March 21, 2015 at 13:10 said:
      
      Hi,
      
      Thanks for replay. Since my last post I switched to Kinetis Design Studio. Although I’m not very satisfied with workflow, but it does its job and I have my kl25z board working with it perfectly.
      
      I made changes to kl25z.cfg file as you advised, but I got different error now 😦 :
      Error message from debugger back end:
      Error erasing flash with vFlashErase packet
      Error erasing flash with vFlashErase packet
      …..
      Info : only one transport option; autoselect ‘cmsis-dap’
      Info : CMSIS-DAP: SWD Supported
      Info : CMSIS-DAP: Interface Initialised (SWD)
      Info : add flash_bank kinetis kl25.flash
      cortex_m reset_config sysresetreq
      adapter speed: 500 kHz
      Info : CMSIS-DAP: FW Version = 1.0
      Info : SWCLK/TCK = 0 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
      Info : DAP_SWJ Sequence (reset: 50+ ‘1’ followed by 0)
      Info : CMSIS-DAP: Interface ready
      Info : clock speed 500 kHz
      Info : IDCODE 0x0bc11477
      Info : kl25.cpu: hardware has 2 breakpoints, 2 watchpoints
      Error: CMSIS-DAP: Read Error (0x04)
      Polling target kl25.cpu failed, GDB will be halted. Polling again in 100ms
      Polling target kl25.cpu succeeded again
      Info : accepting ‘gdb’ connection from 3333
      target state: halted
      target halted due to debug-request, current mode: Thread
      xPSR: 0xf1000000 pc: 0xfffffffe msp: 0xfffffffc
      Info : Probing flash info for bank 0
      Warn : acknowledgment received, but no packet pending
      Error: CMSIS-DAP: Write Error (0x04)
      Warn : erase sector 0 failed
      Error: failed erasing sectors 0 to 0
      Error: flash_erase returned -902
      Info : dropped ‘gdb’ connection
      
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  - Karibe on March 21, 2015 at 14:31 said:
    
    First change the value of adapter_khz from 500 to 50 in the config file.
    Then for the purpose of clarity, just run openocd from terminal:
    
    openocd -c “interface cmsis-dap” -f /path-to-kl25.cfg
    
    and on another terminal run the following gdb commands:
    
    arm-none-eabi-gdb
    target remote localhost:3333
    monitor reset init
    file /path-to.elf
    load
    
    without any IDE, . This will allow you to at least run individual gdb commands and see at what step the error will occur, from the output above, target was halted, but erasing flash didn’t work. Try a working binary from somewhere else other than your project.
    
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    - Erich Styger on March 22, 2015 at 12:36 said:
      
      Great, thanks for all these steps! Right on time because I’m right now writing an short article about using OpenOCD on Windows 🙂
      
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    - gediminasm on March 30, 2015 at 18:58 said:
      
      Strange, I just copied CMSIS-DAP_OpenSDA.s19 file to be kl25z board, compiled the same project and debug just started working. Can’t recall now what was the sequence of my actions previous time, probably some problems with my environment, but now it works 🙂 So your last changes in cfg file really helped. Thanks 😉
      
      p.s. Cloud you help to configure eclipse so it would print binary file size, I just can’t make it with Cross gcc tool chain
      
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    - Erich Styger on March 30, 2015 at 19:25 said:
      
      about printing code size information: That checkbox might be in different places:
      
      GNU Additional Tools: Create Flash Image, Print Size and Extended Listing Options
      
      Printing Code Size Information in Eclipse
      
      text, data and bss: Code and Data Size Explained
      
      I hope this helps.
      
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jacobjennings on April 5, 2016 at 09:07 said:

Karibe’s comment was helpful when faced with “Cannot communicate… target not halted.” issue. Added this to .cfg:

$_TARGETNAME configure -event gdb-attach {
halt
}
$_TARGETNAME configure -event gdb-attach {
reset init
}

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- Erich Styger on April 5, 2016 at 21:13 said:
  
  Thanks for reminding about this one: I had a similar issue with OpenOCD just recently about this.
  
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