= Development Environment =

SB3 is used for CM2 firware code development. In addition to all the necessary software, SB3 console has USB based JTAG programmer attached.
[[Image(SB3.jpg)]]
 
== Firmware Programming ==

=== JTAG Programmer Hardware ===

We are using Olimex [http://www.olimex.com/dev/arm-usb-ocd.html ARM-USB-OCD] USB based JTAG debugger that is attached to the JTAG port on the CM2 board (JXX).

[[Image(JTAG.jpg)]]
 
=== JTAG Programmer Software ===

Software used for debugging and internal flash programming is [http://openfacts.berlios.de/index-en.phtml?title=Open_On-Chip_Debugger OpenOCD] (standard Debian package - {{{ apt-get isntall openocd }}} ).

The file openocd.cfg, included in the source repository, has an appropriate configuration for programming the CM2 hardware, although you can experiment with different scripts to automate erasing the flash, verifying the image, and so forth.

The daemon is started with:

{{{
  openocd -f openocd.cfg
}}}

It is listening for gdb connections on default port 3333. Note that openocd daemon is started automatically and should be up and running at all times.

== Cross-compiler ==

Software development environment is based on [http://www.codesourcery.com/gnu_toolchains/arm GNU Toolchain for ARM Processor]. Downloaded tarball is installed in /usr/{bin,lib,libexec}. The toolcahin was compiled with the ''arm-elf'' prefix so that (for example) compiler can be invoked with:
{{{
  arm-elf-gcc program.c -o program
}}}

You can also get the latest version of gcc, binutils, and newlib, and compile these as {{{configure --target=arm-elf}}}.  Both the Makefile and the loader know (at least in theory) how to deal with ELF format CM2 images.  In this case tools are prefixed with "arm-elf", so for example an appropriate value for {{{CC}}} in the {{{Makefile}}} would be {{{CC=/usr/local/arm-elf-gcc}}}

== Debugger ==

Use [source:CM2/trunk/gdbinit gdb initialization file] to set it up to work with JTAG debugger:

{{{
  arm-elf-gdb -x gdbinit
}}}

Then, once you get the gdb prompt issue

{{{
  load main.elf
}}}