.. _debug-probes:

Debug Probes ############

A debug probe is special hardware which allows you to control execution of a Zephyr application running on a separate board. Debug probes usually allow reading and writing registers and memory, and support breakpoint debugging of the Zephyr application on your host workstation using tools like GDB. They may also support other debug software and more advanced features such as :ref:tracing program execution <tracing>. For details on the related host software supported by Zephyr, see :ref:flash-debug-host-tools.

Debug probes are usually connected to your host workstation via USB; they are sometimes also accessible via an IP network or other means. They usually connect to the device running Zephyr using the JTAG or SWD protocols. Debug probes are either separate hardware devices or circuitry integrated into the same board which runs Zephyr.

Many supported boards in Zephyr include a second microcontroller that serves as an onboard debug probe, usb-to-serial adapter, and sometimes a drag-and-drop flash programmer. This eliminates the need to purchase an external debug probe and provides a variety of debug host tool options.

Several hardware vendors have their own branded onboard debug probe implementations: NXP boards may use OpenSDA <#opensda-onboard-debug-probe>, LPC-Link2 <#lpc-link2-onboard-debug-probe>, or MCU-Link <#mcu-link-onboard-debug-probe>, probes depending on the microcontroller the debug probe firmware runs on. ST boards have the ST-LINK probe <#stlink-v21-onboard-debug-probe>. Each onboard debug probe microcontroller can support one or more types of firmware that communicate with their respective debug host tools. For example, an OpenSDA microcontroller can be programmed with DAPLink firmware to communicate with pyOCD or OpenOCD debug host tools, or with J-Link firmware to communicate with J-Link debug host tools.

+------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------+ || Debug Probes & Host Tools | Host Tools | +| Compatibility Chart +--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | J-Link Debug | OpenOCD | pyOCD | NXP S32DS | NXP LinkServer | ST-LINK GDB Server | +----------------+-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | J-Link External | ✓ | ✓ | | | | | | +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | LPC-Link2 CMSIS-DAP | | | | | ✓ | | | +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | LPC-Link2 J-Link | ✓ | | | | | | | +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | MCU-Link CMSIS-DAP | | | | | ✓ | | | Debug Probes +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | MCU-Link J-Link | ✓ | | | | | | | +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | NXP S32 Debug Probe | | | | ✓ | | | | +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | OpenSDA DAPLink | | ✓ | ✓ | | ✓ | | | +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | OpenSDA J-Link | ✓ | | | | | | | +-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+ | | ST-LINK/V2-1 | ✓ | ✓ | some STM32 boards | | | ✓ | +----------------+-------------------------+--------------------+--------------------+---------------------+--------------------+--------------------+------------------------+

Some supported boards in Zephyr do not include an onboard debug probe and therefore require an external debug probe. In addition, boards that do include an onboard debug probe often also have an SWD or JTAG header to enable the use of an external debug probe instead. One reason this may be useful is that the onboard debug probe may have limitations, such as lack of support for advanced debuggers or high-speed tracing. You may need to adjust jumpers to prevent the onboard debug probe from interfering with the external debug probe.

.. _nxp-onboard-debug-probes:

NXP Onboard Debug Probes

NXP boards may have one of several onboard debug probes. These probes include the :ref:mcu-link-onboard-debug-probe, :ref:lpc-link2-onboard-debug-probe and :ref:opensda-onboard-debug-probe. Each of these probes is implemented as a secondary microcontroller present on the evaluation board. The specific debug probe type present on a given board can be determined based on the debug microcontroller SOC:

LPC55S69: :ref:mcu-link-onboard-debug-probe
LPC4322: :ref:lpc-link2-onboard-debug-probe
MK20: :ref:opensda-onboard-debug-probe

For example, the :zephyr:board:frdm_k64f board has an MK20 debug microcontroller, so this board uses the :ref:opensda-onboard-debug-probe.

.. _mcu-link-onboard-debug-probe:

MCU-Link Onboard Debug Probe

The MCU-Link onboard debug probe uses an LPC55S69 SOC. This probe supports the following firmwares:

:ref:mcu-link-cmsis-onboard-debug-probe (default firmware)
:ref:mcu-link-jlink-onboard-debug-probe

This probe is programmed using the MCU-Link host tools, which are installed with the :ref:linkserver-debug-host-tools. NXP recommends using NXP's MCUXpresso Installer_ to install the Linkserver tools.

.. _mcu-link-cmsis-onboard-debug-probe:

MCU-Link CMSIS-DAP Onboard Debug Probe

This is the default firmware installed on MCU-Link debug probes. The CMSIS-DAP debug probes allow debugging from any compatible toolchain, including IAR EWARM, Keil MDK, NXP’s MCUXpresso IDE and MCUXpresso extension for VS Code. In addition to debug probe functionality, the MCU-Link probes may also provide:

SWO trace end point: this virtual device is used by MCUXpresso to retrieve SWO trace data. See the MCUXpresso IDE documentation for more information. #. Virtual COM (VCOM) port / UART bridge connected to the target processor #. USB to UART, SPI and/or I2C interfaces (depending on MCU-Link type/implementation) #. Energy measurements of the target MCU

This debug probe is compatible with the following debug host tools:

:ref:linkserver-debug-host-tools

Once the MCU-Link host tools are installed, the following steps are required to program the CMSIS-DAP firmware:

Make sure the MCU-Link utility is present on your host machine. This can be done by installing :ref:linkserver-debug-host-tools.

#. Put the MCU-Link microcontroller into DFU boot mode by attaching the DFU jumper then connecting to the USB debug port on the board. This jumper may also be referred to as the ISP jumper, and will be connected to PIO0_5 on the LPC55S69.

#. Run the program_CMSIS script, found in the installed MCU-Link scripts folder.

#. Remove the DFU jumper and power cycle the board.

.. _mcu-link-jlink-onboard-debug-probe:

MCU-Link JLink Onboard Debug Probe

This debug probe firmware provides a JLink compatible debug interface, as well as a USB-Serial adapter. It is compatible with the following debug host tools:

:ref:jlink-debug-host-tools

These probes do not have JLink firmware installed by default, and must be updated. Once the MCU-Link host tools are installed, the following steps are required to program the JLink firmware:

Make sure the MCU-Link utility is present on your host machine. This can be done by installing :ref:linkserver-debug-host-tools.

#. Run the program_JLINK script, found in the installed MCU-Link scripts folder.

#. Remove the DFU jumper and power cycle the board.

.. _lpc-link2-onboard-debug-probe:

LPC-LINK2 Onboard Debug Probe

The LPC-LINK2 onboard debug probe uses an LPC4322 SOC. This probe supports the following firmwares:

:ref:lpclink2-cmsis-onboard-debug-probe
:ref:lpclink2-jlink-onboard-debug-probe
:ref:lpclink2-daplink-onboard-debug-probe (default firmware)

This probe is programmed using the LPCScrypt host tools, which are installed with the :ref:linkserver-debug-host-tools. NXP recommends using NXP's MCUXpresso Installer_ to install the Linkserver tools.

.. _lpclink2-cmsis-onboard-debug-probe:

LPC-LINK2 CMSIS DAP Onboard Debug Probe

The CMSIS-DAP debug probes allow debugging from any compatible toolchain, including IAR EWARM, Keil MDK, as well as NXP’s MCUXpresso IDE and MCUXpresso extension for VS Code. As well as providing debug probe functionality, the LPC-Link2 probes also provide:

SWO trace end point: this virtual device is used by MCUXpresso to retrieve SWO trace data. See the MCUXpresso IDE documentation for more information.
Virtual COM (VCOM) port / UART bridge connected to the target processor
LPCSIO bridge that provides communication to I2C and SPI slave devices

This debug probe firmware is compatible with the following debug host tools:

:ref:linkserver-debug-host-tools

The probe may be updated to use CMSIS-DAP firmware with the following steps:

Make sure the LPCScrypt utility is present on your host machine. This can be done by installing :ref:linkserver-debug-host-tools.

#. Put the LPC-Link2 microcontroller into DFU boot mode by attaching the DFU jumper, then connecting to the USB debug port on the board. This jumper is connected to P2_6 on the LPC4322 SOC.

#. Run the program_CMSIS script, found in the installed LPCScrypt scripts folder.

#. Remove the DFU jumper and power cycle the board.

.. _lpclink2-jlink-onboard-debug-probe:

LPC-Link2 J-Link Onboard Debug Probe

.. note:: On some boards, the J-Link probe firmware will no longer power the board via the USB debug port. On these boards, an alternative method of powering the board must be used when this firmware is programmed.

This debug probe firmware provides a JLink compatible debug interface, as well as a USB-Serial adapter. It is compatible with the following debug host tools:

:ref:jlink-debug-host-tools

The probe may be updated to use the J-Link firmware with the following steps:

.. note:: Verify the firmware supports your board by visiting Firmware for LPCXpresso_

Make sure the LPCScrypt utility is present on your host machine. This can be done by installing :ref:linkserver-debug-host-tools.

#. Put the LPC-Link2 microcontroller into DFU boot mode by attaching the DFU jumper, then connecting to the USB debug port on the board. This jumper is connected to P2_6 on the LPC4322 SOC.

#. Run the program_JLINK script, found in the installed LPCScrypt scripts folder.

#. Remove the DFU jumper and power cycle the board.

.. _lpclink2-daplink-onboard-debug-probe:

LPC-Link2 DAPLink Onboard Debug Probe

The LPC-Link2 DAPLink firmware is the default firmware shipped on LPC-Link2 based boards, but is not the recommended firmware. Users should update to the :ref:lpclink2-cmsis-onboard-debug-probe firmware following the instructions provided above. For details on programming the DAPLink firmware, see NXP AN13206_.

.. _opensda-onboard-debug-probe:

OpenSDA Onboard Debug Probe

The OpenSDA onboard debug probe is based on the NXP MK20 SOC. It features drag and drop programming supports, and supports the following debug firmwares:

:ref:opensda-daplink-onboard-debug-probe (default firmware)
:ref:opensda-jlink-onboard-debug-probe

.. _opensda-daplink-onboard-debug-probe:

OpenSDA DAPLink Onboard Debug Probe

This debug probe firmware is compatible with the following debug host tools:

:ref:pyocd-debug-host-tools
:ref:openocd-debug-host-tools
:ref:linkserver-debug-host-tools

This probe is realized by programming the OpenSDA microcontroller with DAPLink OpenSDA firmware. NXP provides OpenSDA DAPLink Board-Specific Firmwares_.

Install the debug host tools before you program the firmware.

As with all OpenSDA debug probes, the steps for programming the firmware are:

Put the OpenSDA microcontroller into bootloader mode by holding the reset button while you power on the board. Note that "bootloader mode" in this context applies to the OpenSDA microcontroller itself, not the target microcontroller of your Zephyr application.

#. After you power on the board, release the reset button. A USB mass storage device called BOOTLOADER or MAINTENANCE will enumerate. If the enumerated device is named BOOTLOADER, please first update the bootloader to the latest revision by following the instructions for a DAPLink Bootloader Update_.

#. Copy the OpenSDA firmware binary to the USB mass storage device.

#. Power cycle the board, this time without holding the reset button. You should see three USB devices enumerate: a CDC device (serial port), a HID device (debug port), and a mass storage device (drag-and-drop flash programming).

.. _opensda-jlink-onboard-debug-probe:

OpenSDA J-Link Onboard Debug Probe

This debug probe is compatible with the following debug host tools:

:ref:jlink-debug-host-tools

This probe is realized by programming the OpenSDA microcontroller with J-Link OpenSDA firmware. Segger provides OpenSDA J-Link Generic Firmwares_ and OpenSDA J-Link Board-Specific Firmwares_, where the latter is generally recommended when available. Board-specific firmwares are required for i.MX RT boards to support their external flash memories, whereas generic firmwares are compatible with all Kinetis boards.

Install the debug host tools before you program the firmware.

As with all OpenSDA debug probes, the steps for programming the firmware are:

Put the OpenSDA microcontroller into bootloader mode by holding the reset button while you plug a USB into the board's USB debug port. Note that "bootloader mode" in this context applies to the OpenSDA microcontroller itself, not the target microcontroller of your Zephyr application.

#. Copy the OpenSDA firmware binary to the USB mass storage device.

#. Power cycle the board, this time without holding the reset button. You should see two USB devices enumerate: a CDC device (serial port) and a vendor-specific device (debug port).

.. _jlink-external-debug-probe:

J-Link External Debug Probe

Segger J-Link_ is a family of external debug probes, including J-Link EDU, J-Link PLUS, J-Link ULTRA+, and J-Link PRO, that support a large number of devices from different hardware architectures and vendors.

This debug probe is compatible with the following debug host tools:

:ref:jlink-debug-host-tools
:ref:openocd-debug-host-tools

Install the debug host tools before you program the firmware.

.. _stlink-v21-onboard-debug-probe:

ST-LINK/V2-1 Onboard Debug Probe

ST-LINK/V2-1 is a serial and debug adapter built into all Nucleo and Discovery boards. It provides a bridge between your computer (or other USB host) and the embedded target processor, which can be used for debugging, flash programming, and serial communication, all over a simple USB cable.

It is compatible with the following host debug tools:

:ref:openocd-debug-host-tools
:ref:jlink-debug-host-tools
:ref:stm32cubeclt-host-tools

For some STM32 based boards, it is also compatible with:

:ref:pyocd-debug-host-tools

While it works out of the box with OpenOCD, it requires some flashing to work with J-Link. To do this, SEGGER offers a firmware upgrading the ST-LINK/V2-1 on board on the Nucleo and Discovery boards. This firmware makes the ST-LINK/V2-1 compatible with J-LinkOB, allowing users to take advantage of most J-Link features like the ultra fast flash download and debugging speed or the free-to-use GDBServer.

More information about upgrading ST-LINK/V2-1 to JLink or restore ST-Link/V2-1 firmware please visit: Segger over ST-Link_

Flash and debug with ST-Link

.. tabs::

.. tab:: Using OpenOCD

    OpenOCD is available by default on ST-Link and configured as the default flash
    and debug tool. Flash and debug can be done as follows:

      .. zephyr-app-commands::
         :zephyr-app: samples/hello_world
         :goals: flash

      .. zephyr-app-commands::
         :zephyr-app: samples/hello_world
         :goals: debug

.. tab:: _`Using Segger J-Link`

    Once STLink is flashed with SEGGER FW and J-Link GDB server is installed on your
    host computer, you can flash and debug as follows:

    Use CMake with ``-DBOARD_FLASH_RUNNER=jlink`` to change the default OpenOCD
    runner to J-Link. Alternatively, you might add the following line to your
    application ``CMakeList.txt`` file.

      .. code-block:: cmake

         set(BOARD_FLASH_RUNNER jlink)

    If you use West (Zephyr's meta-tool) you can modify the default runner using
    the ``--runner`` (or ``-r``) option.

      .. code-block:: console

         west flash --runner jlink

    To attach a debugger to your board and open up a debug console with ``jlink``.

      .. code-block:: console

         west debug --runner jlink

    For more information about West and available options, see :ref:`west`.

    If you configured your Zephyr application to use `Segger RTT`_ console instead,
    open telnet:

      .. code-block:: console

         $ telnet localhost 19021
         Trying ::1...
         Trying 127.0.0.1...
         Connected to localhost.
         Escape character is '^]'.
         SEGGER J-Link V6.30f - Real time terminal output
         J-Link STLink V21 compiled Jun 26 2017 10:35:16 V1.0, SN=773895351
         Process: JLinkGDBServerCLExe
         Zephyr Shell, Zephyr version: 1.12.99
         Type 'help' for a list of available commands
         shell>

    If you get no RTT output you might need to disable other consoles which conflict
    with the RTT one if they are enabled by default in the particular sample or
    application you are running, such as disable UART_CONSOLE in menuconfig

.. _stlink-adapter-firmware-update:

Updating or restoring ST-Link firmware

ST-Link firmware can be updated using STM32CubeProgrammer Tool_. It is usually useful when facing flashing issues, for instance when using twister's device-testing option.

Once installed, you can update attached board ST-Link firmware with the following command

.. code-block:: console

 s java -jar ~/STMicroelectronics/STM32Cube/STM32CubeProgrammer/Drivers/FirmwareUpgrade/STLinkUpgrade.jar -sn <board_uid>

Where board_uid can be obtained using twister's generate-hardware-map option. For more information about twister and available options, see :ref:twister_script.

OpenOCD Deprecates HLA ST-Link Interface

OpenOCD has deprecated the legacy HLA interface used by ST-Link firmware in favor to the generic DAP interface in January 2024 (see OpenOCD deprecates ST-Link HLA Interface_) in favor of the generic DAP interface. DAP interface is supported by ST-Link firmware since 2015 (from version v2j24).

Since OpenOCD deprecation, one using a recent OpenOCD tool (after release tag v0.12.0) may experience communication issues when the ST-Link adapter embeds a firmware prior version v2j24. In such case, it is recommended to update the ST-Link firmware (refer to ST-LINK firmware update <#_stlink-adapter-firmware-update>_). If it is not possible to update the firmware, one may still use the old HLA interface by modifying its OpenOCD configuration script replacing (if applicable) the 2 below lines:

.. code-block::

source [find interface/stlink-dap.cfg]
transport select dapdirect_swd

with the 2 following lines:

.. code-block::

source [find interface/stlink-hla.cfg]
transport select hla_swd

.. _nxp-s32-debug-probe:

NXP S32 Debug Probe

NXP S32 Debug Probe_ enables NXP S32 target system debugging via a standard debug port while connected to a developer's workstation via USB or remotely via Ethernet.

NXP S32 Debug Probe is designed to work in conjunction with NXP S32 Design Studio (S32DS) and NXP Automotive microcontrollers and processors. Install the debug host tools as in indicated in :ref:nxp-s32-debug-host-tools before you program the firmware.

.. _black-magic-probe:

Black Magic Probe

The Black Magic Probe is an open-source hardware for debugging that is designed to be used with Black Magic Debug_ firmware. The firmware incorporates GDB Server so that you can connect directly from gdb to the target device.

Some of the STM32F103-based boards can run the Black Magic Debug_ firmware. See Black Magic Debug supported hardware_.

.. _LPCScrypt: https://www.nxp.com/lpcscrypt

.. _Firmware for LPCXpresso: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/lpcxpresso-on-board/

.. _OpenSDA DAPLink Board-Specific Firmwares: https://www.nxp.com/opensda

.. _OpenSDA J-Link Generic Firmwares: https://www.segger.com/downloads/jlink/#JLinkOpenSDAGenericFirmwares

.. _OpenSDA J-Link Board-Specific Firmwares: https://www.segger.com/downloads/jlink/#JLinkOpenSDABoardSpecificFirmwares

.. _Segger J-Link: https://www.segger.com/products/debug-probes/j-link/

.. _Segger over ST-Link: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/

.. _Segger RTT: https://www.segger.com/jlink-rtt.html

.. _STM32CubeProgrammer Tool: https://www.st.com/en/development-tools/stm32cubeprog.html

.. _OpenOCD deprecates ST-Link HLA Interface: https://sourceforge.net/p/openocd/code/ci/34ec5536c0ba3315bc5a841244bbf70141ccfbb4

.. _MCUXpresso Installer: https://www.nxp.com/lgfiles/updates/mcuxpresso/MCUXpressoInstaller.exe