iMX6 Rex Basic JTAG Debugging
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This page shows the steps how to initiate On-Chip Debugging and load bootloader into iMX6 Rex Development Kit in Basic configuration.
This procedure is recommended for in-depth evaluating and debugging, for a standard method how to control the kit and load the binaries, follow these steps.
Important notes:
- iMX6 Rex Module Basic requires both J1 + J2 board-to-board connectors to be assembled!
- Set base board to USB bootloader mode to avoid executing SPI bootloader
- Before running "reset halt" command the iMX6 Rex Development Kit Basic must be reset by Reset button
Preparing files
Downloading configuration files
wget https://downloads.voipac.com/files/iMX6_Rex_Development_Kit/tools/jtag/imx6d-512mb-oocd-0.8.0.cfg
Downloading binaries
wget https://downloads.voipac.com/files/iMX6_Rex_Development_Kit/tools/jtag/binaries/u-boot-0x27800000_imx6dl_20160410.bin
Loading binary
Running OpenOCD
/opt/openocd/bin/openocd -f imx6d-512mb-oocd-0.8.0.cfg
Running Telnet session
telnet localhost 4444
Loading the binary
reset halt load_image /srv/tftp/imx6/u-boot-0x27800000_imx6dl_20160410.bin 0x27800000 step 0x27800000 resume
Log files
In case further evaluating is required, following section contains all the logs from the performed procedure above.
OpenOCD session log file
marek@jessie:~$ /opt/openocd/bin/openocd -f imx6d-512mb-oocd-0.8.0.cfg Open On-Chip Debugger 0.8.0-dev-00342-gfacd0e7 (2014-02-06-20:31) Licensed under GNU GPL v2 For bug reports, read http://openocd.sourceforge.net/doc/doxygen/bugs.html Info : only one transport option; autoselect 'jtag' Warn : imx6.sdma: nonstandard IR value adapter speed: 1000 kHz adapter speed: 1000 kHz jtag_ntrst_delay: 1000 imx6_dummy_init Info : clock speed 1000 kHz Polling target imx6.cpu.0 failed, GDB will be halted. Polling again in 100ms Polling target imx6.cpu.0 failed, GDB will be halted. Polling again in 300ms Info : JTAG tap: imx6.dap tap/device found: 0x4ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x4) Info : TAP imx6.sdma does not have IDCODE Info : JTAG tap: imx6.sjc tap/device found: 0x2191c01d (mfg: 0x00e, part: 0x191c, ver: 0x2) Info : imx6.cpu.0: hardware has 6 breakpoints, 4 watchpoints Polling target imx6.cpu.0 succeeded again Info : accepting 'telnet' connection from 4444 adapter speed: 1000 kHz Info : JTAG tap: imx6.dap tap/device found: 0x4ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x4) Info : TAP imx6.sdma does not have IDCODE Info : JTAG tap: imx6.sjc tap/device found: 0x2191c01d (mfg: 0x00e, part: 0x191c, ver: 0x2) imx6d init Info : number of cache level 1 Info : imx6.cpu.0 cluster 0 core 0 multi core target state: halted target halted in Thumb state due to debug-request, current mode: Supervisor cpsr: 0x400001f3 pc: 0x00000fb6 MMU: disabled, D-Cache: disabled, I-Cache: enabled imx6 clock init imx6d 512MB ddr3 init imx6 cache init target state: halted target halted in Thumb state due to debug-request, current mode: Supervisor cpsr: 0x400001f3 pc: 0x00000fb6 MMU: disabled, D-Cache: disabled, I-Cache: enabled clear_regs begin r1 (/32): 0x00000000 r2 (/32): 0x00000000 r3 (/32): 0x00000000 r4 (/32): 0x00000000 r5 (/32): 0x00000000 r6 (/32): 0x00000000 r7 (/32): 0x00000000 r8 (/32): 0x00000000 r9 (/32): 0x00000000 r10 (/32): 0x00000000 r11 (/32): 0x00000000 r12 (/32): 0x00000000 pc (/32): 0x10800000 cpsr (/32): 0x000001D3 433028 bytes written at address 0x27800000 downloaded 433028 bytes in 42.324924s (9.991 KiB/s) target state: halted target halted in ARM state due to breakpoint, current mode: Supervisor cpsr: 0x000001d3 pc: 0x278006e0 MMU: disabled, D-Cache: disabled, I-Cache: enabled
Telnet session log file
marek@jessie:~$ telnet localhost 4444 Trying ::1... Trying 127.0.0.1... Connected to localhost. Escape character is '^]'. Open On-Chip Debugger > reset halt adapter speed: 1000 kHz JTAG tap: imx6.dap tap/device found: 0x4ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x4) TAP imx6.sdma does not have IDCODE JTAG tap: imx6.sjc tap/device found: 0x2191c01d (mfg: 0x00e, part: 0x191c, ver: 0x2) number of cache level 1 imx6.cpu.0 cluster 0 core 0 multi core target state: halted target halted in Thumb state due to debug-request, current mode: Supervisor cpsr: 0x400001f3 pc: 0x00000fb6 MMU: disabled, D-Cache: disabled, I-Cache: enabled target state: halted target halted in Thumb state due to debug-request, current mode: Supervisor cpsr: 0x400001f3 pc: 0x00000fb6 MMU: disabled, D-Cache: disabled, I-Cache: enabled r1 (/32): 0x00000000 r2 (/32): 0x00000000 r3 (/32): 0x00000000 r4 (/32): 0x00000000 r5 (/32): 0x00000000 r6 (/32): 0x00000000 r7 (/32): 0x00000000 r8 (/32): 0x00000000 r9 (/32): 0x00000000 r10 (/32): 0x00000000 r11 (/32): 0x00000000 r12 (/32): 0x00000000 pc (/32): 0x10800000 cpsr (/32): 0x000001D3 > load_image /srv/tftp/imx6/u-boot-0x27800000_imx6d_20160410.bin 0x27800000 433028 bytes written at address 0x27800000 downloaded 433028 bytes in 42.324924s (9.991 KiB/s) > step 0x27800000 target state: halted target halted in ARM state due to breakpoint, current mode: Supervisor cpsr: 0x000001d3 pc: 0x278006e0 MMU: disabled, D-Cache: disabled, I-Cache: enabled > resume
Serial terminal session log file
U-Boot 2009.08-dirty (Apr 10 2016 - 14:46:15)
CPU: Freescale i.MX6 family TO1.2 at 792 MHz
Thermal sensor with ratio = 184
Temperature: 21 C, calibration data 0x58e50a69
mx6d pll1: 792MHz
mx6d pll2: 528MHz
ipg clock : 66000000Hz
ipg per clock : 66000000Hz
uart clock : 80000000Hz
cspi clock : 60000000Hz
ahb clock : 132000000Hz
axi clock : 264000000Hz
emi_slow clock: 132000000Hz
ddr clock : 528000000Hz
usdhc1 clock : 198000000Hz
usdhc2 clock : 198000000Hz
usdhc3 clock : 198000000Hz
usdhc4 clock : 198000000Hz
nfc clock : 24000000Hz
Board: i.MX6D-REX: Variant: 1 Board: 0x63012 [POR ]
Boot Device: SPI NOR
I2C: ready
DRAM: 2 GB
MMC: FSL_USDHC: 0,FSL_USDHC: 1
JEDEC ID: 0xbf:0x26:0x42
Reading SPI NOR flash 0xc0000 [0x2000 bytes] -> ram 0x27600978
.SUCCESS
*** Warning - bad CRC, using default environment
In: serial
Out: serial
Err: serial
Net: got MAC address from IIM: 00:0d:15:00:de:c9
FEC0 [PRIME]
Hit any key to stop autoboot: 0
Rex U-Boot > setenv model imx6d
Rex U-Boot > setenv release 20160410
Rex U-Boot > setenv ipaddr 192.168.0.150
Rex U-Boot > setenv serverip 192.168.0.1
Rex U-Boot > mw.b 0x10800000 0xFF 0x80000;tftp 0x10800000 imx6/u-boot-0x27800000_${model}_${release}.bin;sf probe 3:2;sf erase 0x0 0x80000;sf write 0x10800000 0x0 0x80000
PHY indentify @ 0x3 = 0x00221611
FEC: Link is Up 796d
Using FEC0 device
TFTP from server 192.168.0.1; our IP address is 192.168.0.150
Filename 'imx6/u-boot-0x27800000_imx6d_20160410.bin'.
Load address: 0x10800000
Loading: ##############################
done
Bytes transferred = 433756 (69e5c hex)
JEDEC ID: 0xbf:0x26:0x42
4096 KiB SST26VF032B - 4MB at 3:2 is now current device
Erasing SPI NOR flash 0x0 [0x80000 bytes]
................................................................................................................................SUCCESS
Writing SPI NOR flash 0x0 [0x80000 bytes] <- ram 0x10800000
................................................................................................................................SUCCESS
Rex U-Boot > reset
resetting ...
Re
U-Boot 2009.08 (Apr 10 2016 - 16:35:09)
CPU: Freescale i.MX6 family TO1.2 at 792 MHz
Thermal sensor with ratio = 184
Temperature: 49 C, calibration data 0x58e50a69
mx6d pll1: 792MHz
mx6d pll2: 528MHz
ipg clock : 66000000Hz
ipg per clock : 66000000Hz
uart clock : 80000000Hz
cspi clock : 60000000Hz
ahb clock : 132000000Hz
axi clock : 264000000Hz
emi_slow clock: 132000000Hz
ddr clock : 528000000Hz
usdhc1 clock : 198000000Hz
usdhc2 clock : 198000000Hz
usdhc3 clock : 198000000Hz
usdhc4 clock : 198000000Hz
nfc clock : 24000000Hz
Board: i.MX6D-REX: Variant: 2 Board: 0x63012 [WDOG ]
Boot Device: SPI NOR
I2C: ready
DRAM: 2 GB
MMC: FSL_USDHC: 0,FSL_USDHC: 1
JEDEC ID: 0xbf:0x26:0x42
Reading SPI NOR flash 0xc0000 [0x2000 bytes] -> ram 0x27600978
.SUCCESS
*** Warning - bad CRC, using default environment
In: serial
Out: serial
Err: serial
Net: got MAC address from IIM: 00:0d:15:00:de:c9
FEC0 [PRIME]
Hit any key to stop autoboot: 0
Rex U-Boot >