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Debug-with-JTAG.md

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The first section describes quick usage and the rest of the document are about preparation.

Usage

  • Open a PowerShell in administrator mode:

    usbipd wsl list

    Find a line looks like 3-2 2e8a:0004 Picoprobe, Picoprobe (Interface 2) Not attached. In this example, 3-2 is the "busid".

    usbipd wsl attach --busid 3-2

  • Open an Ubuntu shell:

    sudo openocd -f interface/picoprobe.cfg -f target/rp2040.cfg

  • Open one more Ubuntu shell:

    cd prk_firmware
rake debug      # Builds a debug built then runs gdb-multiarch
    • In the console of gdb-multiarch: 
      target remote localhost:3333  # Connects to picoprobe
load                          # Installs prk_firmware-******.elf into the target RP2040
continue                      # Starts PRK Firmware

Preparation

Prerequisites

  • Ubuntu on WSL2
  • Completed setup of [[Building a binary]]

Make sure that the kernel version is 5.10.60 or later.

uname -a
# for example,
# => Linux DESKTOP-FOEG8S2 5.10.102.1-microsoft-standard-WSL2 #1 SMP Wed Mar 2 00:30:59 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
#                          ^^^^^^^^

Steps

  • USBIPD
  • Add UDEV rule
  • OPENOCD
  • PICOPROBE

USBIPD

Download and install USBIPD-WIN from https://github.com/dorssel/usbipd-win/releases

Install dependencies:

(Not sure if this is the complete list or not)

sudo apt install libusb-1.0-0-dev libusb-dev gdb-multiarch libtool

Install the USBIP tools and hardware database:

(Valid tool version may differ at the point you see this document)

sudo apt install linux-tools-5.4.0-77-generic hwdata
sudo update-alternatives --install /usr/local/bin/usbip usbip /usr/lib/linux-tools/5.4.0-77-generic/usbip 20

Add UDEV rule

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="0004", MODE="0666"' | sudo tee /etc/udev/rules.d/60-rp2040.rules
sudo service udev restart
sudo udevadm trigger

OPENOCD

git clone https://github.com/raspberrypi/openocd.git --branch rp2040 --depth=1 --no-single-branch
cd openocd
./bootstrap
./configure --enable-picoprobe
make
sudo make install

PICOPROBE

git clone https://github.com/raspberrypi/picoprobe.git
mkdir build
cd build/
cmake ..
make

Install build/picoprobe.uf2 into an RP2040 which you are using as the debugger.

Wiring

Target Debugger
SWDIO GPIO3
GND GND
SWDCLK GPIO2

Connect a USB cable to both target and debugger.

The example uses RustyKeys though, you can use also a breadboard.