Tools and Software used in HRI project

Adapter

JTAG software

Original Wiggler software

Using benefits of compatibility with a Wiggler, I used following free software from Macraigor Systems:

• OCD Commander for Windows - an excellent low-level debugger, perfect for bringing up hardware and test initialisation code and so on... Easy to learn and to use.
• GNU-based Toolkit for CYGWIN, includes binutils 2.10, gcc 2.95.2,Insight 5.0,Arm7/Arm9/NetSilicon LibRemote.
  Toolkit Installation contains three steps:
  1. CYGWIN Installation
  2. GNU ARM7 Toolkit installation
  3. LibRemote library installation
  During GNU tools installation, files are placed in the following directories:
    /usr/local/bin - binary GNU tools + LibRemote + OCDemon binaries
    /usr/local/arm-elf/OCDemon-arm7-example - example source & Makefile
    /usr/local/arm-elf/bin -
    /usr/local/lib/gcc-lib/arm-elf/ -
    windows/system - OCDemon support binaries
  

  The arm-elf tools are added to /usr/local/bin each has "ARM-ELF-" added to the tool CAPITALISED name (ie ARM-ELF-GDB and ARM-ELF-GCC) to differentiate it from the x86 versions of the same commands.

  Several example gdb.ini files are provided.
  1. arm-elf-gdb (brings up the Insight windowed version of GDB) or
  2. arm-elf-gdb -nw (brings up the traditional command line GDB)
  See /usr/local/bin/readme.txt for more information on GDB JTAG-specific configuration and commands.

Open Source JTAG software

#define MASK_TMS_BIT   0x02 //2 //0x04
#define MASK_TCK_BIT   0x04 //1 //0x02
#define MASK_TDI_BIT   0x08 //4 //0x01
#define MASK_RST_BIT   0x01 //8
#define MASK_TDO_BIT   0x80     //0x10

/* Polarity of signals */
#define INVERT_TMS 0            // 0
#define INVERT_TCK 0            // 0
#define INVERT_TDI 0            // 0
#define INVERT_RST 0
#define INVERT_TDO 1            // 1

/*
 * data D[7:0] (pins 9:2)
 */
#define TDI     3
#define TCK     2
#define TMS     1
#define TRST    0

/*
 * 7 - BUSY (pin 11)
 * 6 - ACK (pin 10)
 * 5 - PE (pin 12)
 * 4 - SEL (pin 13)
 * 3 - ERROR (pin 15)
 */
#define TDO     7 //(inverted)

• DISARM open source - a good open source disassembler for ARM7 is done by Gareth McCaughan. It is easy to use it , understand and modify if needed
• OBJDUMP - After using DISARM for a while, I realise that a OBJDUMP from BINUTILS could be used as a good disassembly tool when called like this:
  objdump -b binary -m arm7tdmi -D file_name Note: binutils had to be compiled with support for ARM archetecture.
• OBJDUMP Improvement

ARM Toochain for CYGWIN

Precompiled GNU toolkit for ARM for CYGWIN environment could be downloaded from OpenWinCE project (see http://sourceforge.net/projects/openwince/ ).
Package arm-elf-3.0.4-2.cygwin.tar.bz2 include GCC with following parameters :

$ /usr/local/tools-3.0.4-2/bin/arm-elf-gcc.exe -v
Reading specs from /usr/local/tools-3.0.4-2/bin/../lib/gcc-lib/arm-elf/3.0.4/specs
Configured with: ../gcc-3.0.4/configure --target=arm-elf
--prefix=/devel/tools-3.0.4-2 --with-gnu-as --with-gnu-ld --enable-languages=c,c++
Thread model: single
gcc version 3.0.4

$ /usr/local/tools-3.0.4-2/bin/arm-elf-objdump.exe -i
BFD header file version 2.13
elf32-littlearm
 (header little endian, data little endian)
  arm
elf32-bigarm
 (header big endian, data big endian)
  arm
elf32-little
 (header little endian, data little endian)
  arm
elf32-big
 (header big endian, data big endian)
  arm
srec
 (header endianness unknown, data endianness unknown)
  arm
symbolsrec
 (header endianness unknown, data endianness unknown)
  arm
tekhex
 (header endianness unknown, data endianness unknown)
  arm
binary
 (header endianness unknown, data endianness unknown)
  arm
ihex
 (header endianness unknown, data endianness unknown)
  arm

               elf32-littlearm elf32-bigarm elf32-little elf32-big srec
           arm elf32-littlearm elf32-bigarm elf32-little elf32-big srec

               symbolsrec tekhex binary ihex
           arm symbolsrec tekhex binary ihex

Soft Osciloscope