openocd JTAG with the iMX 8M Mini EVK.

[wes_philbrook]

I'm trying to get openocd JTAG running with the iMX 8M Mini EVK.

Couldn't find a proper JTAG cfg file so I made one from a imx 8Mq I found,

nxp_mcimx8m-evk.cfg File

#
# configuration file for NXP MC-IMX8M-EVK
#

# only JTAG supported
transport select jtag

# set a safe JTAG clock speed, can be overridden
adapter speed 1000

# default JTAG configuration has only SRST and no TRST
reset_config srst_only srst_push_pull

# delay after SRST goes inactive
adapter srst delay 70

# board has an i.MX8MQ with 4 Cortex-A53 cores
set CHIPNAME imx8mq
set CHIPCORES 4

#
# configuration file for NXP i.MX8M family of SoCs
#
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME imx8m
}

if { [info exists CHIPCORES] } {
set _cores $CHIPCORES
} else {
set _cores 1
}

# CoreSight Debug Access Port
if { [info exists DAP_TAPID] } {
set _DAP_TAPID $DAP_TAPID
} else {
set _DAP_TAPID 0x5ba00477
}

# the DAP tap
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x01 -irmask 0x0f \
-expected-id $_DAP_TAPID

dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu

set _TARGETNAME $_CHIPNAME.a53
set _CTINAME $_CHIPNAME.cti

set DBGBASE {0x80410000 0x80510000 0x80610000 0x80710000}
set CTIBASE {0x80420000 0x80520000 0x80620000 0x80720000}

for { set _core 0 } { $_core < $_cores } { incr _core } {

cti create $_CTINAME.$_core -dap $_CHIPNAME.dap -ap-num 1 \
-ctibase [lindex $CTIBASE $_core]

set _command "target create $_TARGETNAME.$_core aarch64 -dap $_CHIPNAME.dap \
-dbgbase [lindex $DBGBASE $_core] -cti $_CTINAME.$_core"

if { $_core != 0 } {
# non-boot core examination may fail
set _command "$_command -defer-examine"
set _smp_command "$_smp_command $_TARGETNAME.$_core"
} else {
set _smp_command "target smp $_TARGETNAME.$_core"
}

eval $_command
}

eval $_smp_command

# declare the auxiliary Cortex-M4 core on AP #4
target create ${_CHIPNAME}.m4 cortex_m -dap ${_CHIPNAME}.dap -ap-num 4 \
-defer-examine

# AHB-AP for direct access to soc bus
target create ${_CHIPNAME}.ahb mem_ap -dap ${_CHIPNAME}.dap -ap-num 0

# default target is A53 core 0
targets $_TARGETNAME.0

I run openocd as follows:

sudo openocd -f interface/jlink.cfg -f board/nxp_mcimx8m-evk.cfg

And the result is 

Open On-Chip Debugger 0.10.0+dev-01200-gff9ee13-dirty (2020-04-23-10:26)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : J-Link V11 compiled Mar 19 2020 11:11:08
Info : Hardware version: 11.00
Info : VTarget = 1.806 V
Info : clock speed 1000 kHz
Info : JTAG tap: imx8mq.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : DAP transaction stalled (WAIT) - slowing down
Error: JTAG-DP STICKY ERROR
Error: imx8mq.a53.0: examination failed

Info : starting gdb server for imx8mq.a53.0 on 3333
Info : Listening on port 3333 for gdb connections
Info : starting gdb server for imx8mq.m4 on 3334
Info : Listening on port 3334 for gdb connections

Can anyone explain why I get Error: JTAG-DP STICKY ERROR;

Any response will be greatly appreciated.

Wes

[wes_philbrook]

I've tried the only difference I found in the suggestion, which was to modify the openocd command line as follows

sudo openocd -c init -f interface/jlink.cfg -f board/nxp_mcimx8m-evk.cfg

This did not make a difference, I've run openocd in debug/verbose mode and have the following output

for where trouble arises

Debug: 833 146 aarch64.c:2328 aarch64_examine_first(): cpuid = 0x410fd034
Debug: 834 146 aarch64.c:2329 aarch64_examine_first(): ttypr = 0x00001122
Debug: 835 147 aarch64.c:2330 aarch64_examine_first(): debug = 0x10305106
Info : 836 147 armv8_dpm.c:1486 armv8_dpm_setup(): imx8mq.a53.0: hardware has 6 breakpoints, 4 watchpoints
Debug: 837 147 armv8_dpm.c:481 dpmv8_bpwp_disable(): A: bpwp disable, cr 80410408
Debug: 856 148 armv8_dpm.c:481 dpmv8_bpwp_disable(): A: bpwp disable, cr 80410418
Debug: 875 149 armv8_dpm.c:481 dpmv8_bpwp_disable(): A: bpwp disable, cr 80410428
Debug: 894 150 armv8_dpm.c:481 dpmv8_bpwp_disable(): A: bpwp disable, cr 80410438
Info : 904 151 adi_v5_jtag.c:535 jtagdp_overrun_check(): DAP transaction stalled (WAIT) - slowing down
Debug: 4622 331 adi_v5_jtag.c:621 jtagdp_transaction_endcheck(): jtag-dp: CTRL/STAT 0xf0000023
Error: 4623 331 adi_v5_jtag.c:632 jtagdp_transaction_endcheck(): JTAG-DP STICKY ERROR
Debug: 4624 331 adi_v5_jtag.c:634 jtagdp_transaction_endcheck(): JTAG-DP STICKY OVERRUN

The control register address is formed from armv8->debug_base + CPUV8_DBG_BCR_BASE + 16* index

Debug base is 80410000 from following line in imx8m.cfg

set DBGBASE {0x80410000 0x80510000 0x80610000 0x80710000}
set CTIBASE {0x80420000 0x80520000 0x80620000 0x80720000}

Does any one know if these base addresses are correct for the imx8m Mini ?

the file is for the imx8mq

[fatalfeel]

If you are interested in config for Jtag

find kernel_imx_aarch64.tar.gz from Programming Guide: Jtag Openocd Eclipse debug 

!!!sometimes CPU will into suspend mode

then Error: Invalid ACK (7) in DAP response but its a very tiny effect you can skip it!!!

check all CONFIG_SUSPEND in Kconfig and source c files can fix!

[fatalfeel]

connect those pins~~~( TRST - TRSTn "Test access port reset"  I do not use it)
TDI            - TDI
TMS          - TMS
TCK          - TCK
TDO          - TDO
TSRST      - nSRST (System reset)
GND         - GND

//main.c trace
static void __init do_initcall_level(int level)
{
    int            fnunm = 0;
    initcall_t *fn;

    strcpy(initcall_command_line, saved_command_line);
    parse_args(initcall_level_names[level],
           initcall_command_line, __start___param,
           __stop___param - __start___param,
           level, level,
           NULL, &repair_env_string);

    if( level >= 6 )
    {
        for (fn = initcall_levels[level]; fn < initcall_levels[level+1]; fn++)
        {
            do_one_initcall(*fn);

            if( fnunm >= 655 )
            {
                printk(KERN_ERR "fnum = %d, func = %p\n", fnunm, fn);
                __udelay(5000000);
            }
            else if( fnunm >= 650 )
            {
                printk(KERN_ERR "fnum = %d, func = %p\n", fnunm, fn);
                __udelay(4000000);
            }
            else if( fnunm >= 630 )
            {
                printk(KERN_ERR "fnum = %d, func = %p\n", fnunm, fn);
                __udelay(3000000);
            }

            fnunm++;
        }
    }
    else
    {
        for (fn = initcall_levels[level]; fn < initcall_levels[level+1]; fn++)
            do_one_initcall(*fn);
    }
}

///////////////////

when level 6 and fnunm is 637 happend

Info : DAP transaction stalled (WAIT)

637 is arm_idle_init in cpuidle-arm.c

call arm_enter_idle_state

then

call arm_cpuidle_suspend in kernel_imx/arch/arm64/kernel/cpuidle.c

its comment said arm_cpuidle_suspend() - function to enter a low-power idle state

////kernel_imx/arch/arm64/kernel/psci.c

const struct cpu_operations cpu_psci_ops = {
    .name        = "psci",
#ifdef CONFIG_CPU_IDLE
    .cpu_init_idle    = psci_cpu_init_idle,
    .cpu_suspend    = psci_cpu_suspend_enter,
#endif
    .cpu_init    = cpu_psci_cpu_init,
    .cpu_prepare    = cpu_psci_cpu_prepare,
    .cpu_boot    = cpu_psci_cpu_boot,
#ifdef CONFIG_HOTPLUG_CPU
    .cpu_disable    = cpu_psci_cpu_disable,
    .cpu_die    = cpu_psci_cpu_die,
    .cpu_kill    = cpu_psci_cpu_kill,
#endif
};

/////kernel_imx/arch/arm64/configs/android_defconfig

CONFIG_CPU_IDLE=y

change to

CONFIG_CPU_IDLE=n

also remove CPU_IDLE in all Kconfig

Here is my Jtag debug on imx8m demo

http://www.mediafire.com/view/gdqsm2vjskxkok8/key%20input.png 

may this will help you

[fatalfeel]

Stalled problem I trace to

static void __init do_initcall_level(int level)
{
    initcall_t *fn;

    strcpy(initcall_command_line, saved_command_line);
    parse_args(initcall_level_names[level],
           initcall_command_line, __start___param,
           __stop___param - __start___param,
           level, level,
           NULL, &repair_env_string);

    for (fn = initcall_levels[level]; fn < initcall_levels[level+1]; fn++)
        do_one_initcall(*fn);
}

When Level 6 will make jtag stalled but i dont know which driver make this problem

[igorpadykov]

Hi Wes

one can try suggestions on below link, also some details were sent via mail.

How to JTAG debug iMX8mq? 

Best regards
igor
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