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目录
1. 下载OpenOCD源代码
2. 编译代码
2.1 运行bootstrap
2.2 安装关联库
2.3 运行./configure
2.4 运行make
2.5 运行sudo make install
3. 烧录程序
3.1 挂起MCU
3.2 写入镜像
3.3 校验镜像
通过OpenOCD实现，在Ubuntu18 64bit下验证。
1. 下载OpenOCD源代码
OpenOCD对应的官网：
Open On-Chip Debugger (openocd.org)
https://openocd.org/点击“Getting OpenOCD”，找到Source Code字段，红色字体链接都可以转到源代码的网站。
以官方的网站为例（sourceforge）：
左侧选择版本，然后点击Download即可
git clone https://git.code.sf.net/p/openocd/code openocd-code2. 编译代码
终端进入下载的OpenOCD文件夹。
2.1 运行bootstrap
./bootstrap提示错误
configure.ac:32: error: Macro PKG_PROG_PKG_CONFIG is not available. It is usually defined in file pkg.m4 provided by package pkg-config.安装pkg-config
sudo apt-get install pkg-config新的错误：
./bootstrap: 41: git: not found安装git
sudo apt-get install git还是提示错误，改为git pull下来工程。
2.2 安装关联库
运行./configure可以看到很多关联库需要安装。
configure: WARNING: libusb-1.x not found, trying legacy libusb-0.1 as a fallback; consider installing libusb-1.x insteadchecking for capstone... nochecking for hidapi... nochecking for hidapi-hidraw... nochecking for hidapi-libusb... nochecking for libftdi1... nochecking for libftdi... nochecking for libgpiod... nochecking for libjaylink >= 0.2... no而且配置完后提示的功能都不支持：
OpenOCD configuration summary--------------------------------------------------MPSSE mode of FTDI based devices noST-Link Programmer noTI ICDI JTAG Programmer noKeil ULINK JTAG Programmer noAltera USB-Blaster II Compatible noBitbang mode of FT232R based devices noVersaloon-Link JTAG Programmer noTI XDS110 Debug Probe noCMSIS-DAP v2 Compliant Debugger noOSBDM (JTAG only) Programmer noeStick/opendous JTAG Programmer noOlimex ARM-JTAG-EW Programmer noRaisonance RLink JTAG Programmer noUSBProg JTAG Programmer noEspressif JTAG Programmer noCMSIS-DAP Compliant Debugger noNu-Link Programmer noCypress KitProg Programmer noAltera USB-Blaster Compatible noASIX Presto Adapter noOpenJTAG Adapter noLinux GPIO bitbang through libgpiod noSEGGER J-Link Programmer noBus Pirate yes (auto)Use Capstone disassembly framework no安装对应的库：
sudo apt-install libusb-1.0-0-dev
sudo apt-get install libcapstone-dev
sudo apt-get install libhidapi-dev
sudo apt-get install libgpiod-dev
sudo apt-get install libftdi-dev
sudo apt-get install libftdi1-dev
sudo apt-get install libjaylink-dev2.3 运行./configure
这时候所有的配置都为yes了。
2.4 运行make
2.5 运行sudo make install
安装完成后运行openocd -v确认是否安装成功。
Open On-Chip Debugger 0.12.0+dev-00271-g2c57d11c7 (2023-07-18-10:25)Licensed under GNU GPL v2For bug reports, readhttp://openocd.org/doc/doxygen/bugs.html3. 烧录程序
拷贝配置文件到hex文件所在的文件夹，配置文件相对路径如下：
openocd-code-v0.12.0/openocd-code/tcl/interface/cmsis-dap.cfg在hex文件所在文件夹运行：
sudo openocd -f cmsis-dap.cfg提示错误(这个错误是虚拟机的问题)：
Error: unable to find a matching CMSIS-DAP device先使用lsusb看一下USB设备，没有对应的USB设备。
安装VBOX的增强功能，然后在VBox中选择USB3.0（如果设备插入的是3.0的接口）
再次运行openocd:
Open On-Chip Debugger 0.12.0+dev-00271-g2c57d11c7 (2023-07-18-10:25)Licensed under GNU GPL v2For bug reports, readhttp://openocd.org/doc/doxygen/bugs.htmlInfo : Listening on port 6666 for tcl connectionsInfo : Listening on port 4444 for telnet connectionsWarn : An adapter speed is not selected in the init scripts. OpenOCD will try to run the adapter at very low speed (100 kHz).Warn : To remove this warnings and achieve reasonable communication speed with the target, set "adapter speed" or "jtag_rclk" in the init scripts.Info : CMSIS-DAP: SWD supportedInfo : CMSIS-DAP: Atomic commands supportedInfo : CMSIS-DAP: FW Version = 2.0.0Error: CMSIS-DAP: JTAG not supported拷贝board的配置文件：
openocd-code/tcl/board/stm32f103c8_blue_pill.cfg并将文件名改为stm32f103c8.cfg，打开编辑，可以看到关联另外一个cfg文件，将这个文件也拷贝过来，将这个文件的路径改为当前路径：
source [find stm32f1x.cfg]运行
sudo openocd -f cmsis-dap.cfg -f stm32f103c8.cfg结果如下：
Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'.Info : Listening on port 6666 for tcl connectionsInfo : Listening on port 4444 for telnet connectionsInfo : CMSIS-DAP: SWD supportedInfo : CMSIS-DAP: Atomic commands supportedInfo : CMSIS-DAP: FW Version = 2.0.0Info : CMSIS-DAP: Interface Initialised (SWD)Info : SWCLK/TCK = 1 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 1 nRESET = 1Info : CMSIS-DAP: Interface readyInfo : clock speed 1000 kHzInfo : SWD DPIDR 0x1ba01477Info : [stm32f1x.cpu] Cortex-M3 r1p1 processor detectedInfo : [stm32f1x.cpu] target has 6 breakpoints, 4 watchpointsInfo : starting gdb server for stm32f1x.cpu on 3333Info : Listening on port 3333 for gdb connections此时已经处于gdb链接状态，需要另外开一个终端运行
telnet localhost 4444OpenOCD会监听本机的4444端口，通过telnet登录上去，之后就可以控制OpenOCD干些什么了。
Trying 127.0.0.1...Connected to localhost.Escape character is '^]'.Open On-Chip Debugger> 后续的操作即在这个终端中输入对应的命令。
3.1 挂起MCU
输入halt挂起MCU，相当于关机，不执行halt，无法把程序写入MCU。
> halt[stm32f1x.cpu] halted due to debug-request, current mode: Thread xPSR: 0x81000000 pc: 0x0800046c msp: 0x20004ff83.2 写入镜像
> flash write_image erase stm32f10x.hex Adding extra erase range, 0x08004c6c .. 0x08004fffauto erase enabledwrote 19564 bytes from file stm32f10x.hex in 2.569553s (7.435 KiB/s)3.3 校验镜像
> flash verify_image stm32f10x.hexverified 19564 bytes from file stm32f10x.hex in 0.124474s (153.490 KiB/s)除了命令的方式，也可以通过运行脚本的方式。
新建一个program.sh的脚本文件，编辑加入：
#!/bin/bashecho "OpenOCD-program stm32f103"openocd -f cmsis-dap.cfg \-f stm32f103c8.cfg \-c "program stm32f10x.hex verify reset exit"文件属性那里改为“允许执行文件”，在终端中运行：
sudo ./program.sh结果如下：
Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'.Info : CMSIS-DAP: SWD supportedInfo : CMSIS-DAP: Atomic commands supportedInfo : CMSIS-DAP: FW Version = 2.0.0Info : CMSIS-DAP: Interface Initialised (SWD)Info : SWCLK/TCK = 1 SWDIO/TMS = 1 TDI = 0 TDO = 1 nTRST = 1 nRESET = 1Info : CMSIS-DAP: Interface readyInfo : clock speed 1000 kHzInfo : SWD DPIDR 0x1ba01477Info : [stm32f1x.cpu] Cortex-M3 r1p1 processor detectedInfo : [stm32f1x.cpu] target has 6 breakpoints, 4 watchpointsInfo : starting gdb server for stm32f1x.cpu on 3333Info : Listening on port 3333 for gdb connections[stm32f1x.cpu] halted due to debug-request, current mode: Thread xPSR: 0x01000000 pc: 0xfffffffe msp: 0xfffffffc** Programming Started **Info : device id = 0x20036410Info : ignoring flash probed value, using configured bank sizeInfo : flash size = 128 KiBWarn : Adding extra erase range, 0x08004c6c .. 0x08004fff** Programming Finished **** Verify Started **** Verified OK **** Resetting Target **shutdown command invoked