Wiki-DB - User contributions [en]

U-Boot recovery for i.MX6 Q/D/DL/S/ULL via JTAG

2019-10-08T17:20:53Z

Sdaxenberger: /* Automated Programming */

Technically all JTAG adapter listed by OpenOCD should work, but DH electronics recommends the [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
All tests and documents were made in use of this one.

== Required Hardware ==
* JTAG Debugger: [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
* DHCOM JTAG adapter for FFC connection: Article number FD00037
:[[File:JTAG-Adapter.jpeg|300px]]
* Wuerth FFC cable: [http://katalog.we-online.de/de/em/FFC_0_50_TYPE_1_6876XXXXX002 687610050002]
:Note: One cable is included with the DHCOM JTAG adapter.

== Installation ==
This installation was made on the [[Virtual Machine for Application Development]].
All console expressions refer to this Debian system, but any other debian based system should also work.

=== OpenOCD from Debian repositories (i.MX6 Q/D/DL/S) ===
# Install OpenOCD from Debian repositories <code>sudo apt-get install openocd</code>

=== OpenOCD from master branch (i.MX6 ULL) ===
# Install needed libraries and tools <code>sudo apt-get install git build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libftdi-dev</code>
# Clone git repository to local directory <code>git clone https://repo.or.cz/openocd.git</code>
# Prepare source directory and submodules (when building from the git repository) <code>./bootstrap</code>
# Generate the Makefiles to build OpenOCD <code>./configure</code>
# Build OpenOCD from source <code>make -j4</code>
# Install OpenOCD to /usr/local <code>sudo make install</code>

== U-Boot Programming ==
There are two ways for doing this.
The easy way is an automatic bash script, which handles all the commands needed for the programming process.
In this case you need a specified folder-structure so that the automatic script can find all its needed files.
The other one is to type in the required commands. In a few cases the bash script fails then you need to go the other way and program the U-Boot manually.

=== Preparation ===
==== Get the needed recovery files ====
# Download the needed files [[media:2019-10-08_imx6_U-Boot_recovery.tar.gz|2019-10-08_imx6_U-Boot_recovery.tar.gz]] <code>wget https://www.dropbox.com/s/l6139yluoqrj76x/2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Extract the files in a local directory <code>tar xf 2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Change working directory to the extracted one <code>cd 2019-10-08_imx6_U-Boot_recovery</code>
==== Connect JTAG adapter ====
# Connect the JTAG adapter with your PC and the Debian VM (Player - Removeable Devices) through USB
# Connect the JTAG interface via the DHCOM JTAG adapter to the i.MX6 module (If you don't have a JTAG adapter, please ask DH electronics)
#:[[File:JTAG-connection.jpeg|1000px]]
# Connect the board with a serial port: [https://wiki.dh-electronics.com/index.php?title=COM_iMX6_Bootloader_U-Boot#Enter_Bootloader_Console Enter Bootloader Console]

=== Start up OpenOCD ===
# Ensure you have everything properly connected like in [[#Connect JTAG adapter|Connect JTAG adapter]]
# Power up the i.MX6 board and have a look at the serial output (serial port). There must be no output (no U-Boot starting) else go to [[#Trouble shooting|Trouble shooting]]
# Open a new terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Start OpenOCD depending on your hardware
#:* '''i.MX6 Q/D/DL/S''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f target/imx6.cfg -f dhcom-manual-loaded-code.cfg</code>
#:* '''i.MX6 ULL''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f imx6ull.cfg -f target/imx6ul.cfg -f dhcom-manual-loaded-code.cfg</code>
'''The output should look like:'''
<nowiki>
Open On-Chip Debugger 0.10.0+dev-00935-g31100927 (2019-10-01-12:14)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
0x088c101d
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Warn : imx6ull.sdma: nonstandard IR value
2182283264
imx6_dummy_init
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Info : JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : TAP imx6ull.sdma does not have IDCODE
Info : JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
Info : imx6ull.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections</nowiki>

=== Automated Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Execute the automated bash script with arguments depending on your hardware (the second argument is optional)
#:* '''i.MX6 Q/D/DL/S''' <code>./prog_bl.sh imx6qdl /path/to/u-boot-with-spl.imx</code>
#:* '''i.MX6 ULL''' <code>./prog_bl.sh imx6ull /path/to/u-boot-with-spl.imx</code>
'''The output of the script should look like:'''
<nowiki>
Programming: u-boot-with-spl-imx6ull.imx to imx6ull
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
Open On-Chip Debugger
> reset
JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
TAP imx6ull.sdma does not have IDCODE
JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
imx6ull.cpu: MPIDR level2 0, cluster 0, core 0, multi core, no SMT
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f76
MMU: disabled, D-Cache: disabled, I-Cache: enabled
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f74
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-spl-prog-imx6ull.bin 0x908000
45056 bytes written at address 0x00908000
downloaded 45056 bytes in 1.610037s (27.329 KiB/s)

> resume 0x00908000
> halt
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x800001f3 pc: 0x00908934
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-with-spl-imx6ull.imx 0x82000000
451456 bytes written at address 0x82000000
downloaded 451456 bytes in 15.305990s (28.804 KiB/s)

> resume
> Connection closed by foreign host.</nowiki>
'''The output of serial console should look like:'''
<nowiki>
U-Boot SPL 2018.05-DH_v0.19_emmc-00102-gc8e3c3df13 (Oct 01 2019 - 16:12:44 +0200)
DRAM: Auto calibration...successful
SPL: Unsupported Boot Device!
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###
Searching for IVT header at DDR address 0x82000000
.....
Found IVT header
Probing SPI flash... ok
Erasing... ok
Programming... ok
</nowiki>
'''Note:''' If some error occures you can try the Manual Programming method below

=== Manual Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Open a telnet session to OpenOCD <code>telnet localhost 4444</code>
## Reset and halt the device <code>reset</code>
## Load modified U-Boot SPL as flash programmer in SRAM (device dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-spl-prog-imx6qdl.bin 0x908000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-spl-prog-imx6ull.bin 0x908000</code>
## Resume code execution at entry point of loaded U-Boot SPL <code>resume 0x00908000</code>
## Halt code execution if you see '''Searching for IVT header at DDR address 0xX2000000''' in serial console <code>halt</code>
## Load desired U-Boot image into RAM (device and customer dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-with-spl-imx6qdl.imx 0x12000000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-with-spl-imx6ull.imx 0x82000000</code>
## Resume code execution after U-Boot image is in RAM <code>resume</code>
## Wait until the serial output looks like in [[#Automated Programming|Automated Programming]]

== Troubleshooting ==
If there is a U-Boot starting, the OpenOCD procedure may not work properly.
There are two solutions to prevent the start of U-Boot from the SPI-NOR-Flash.

=== SDP Boot (i.MX6 ULL) ===
# Boot in Serial Download Mode to prevent booting the broken U-Boot from SPI-NOR-Flash
## Hold the button for sdp boot mode on the SODIMM-200-Module (DHCOM) next to the BGA-Module (DHCOR)
##:[[File:DHCOR_i.MX6ULL_SDP-Boot.jpg|400px]]
## Reset the device. To reset the device, press the reset button on the baseboard or unplug and plug in the power plug.
## Release the button for sdp boot mode
# Go on with your procedure

=== Delete U-Boot (i.MX6 Q/D/DL/S) ===
# <code>sf probe</code>
# <code>sf erase 0x0 0xf0000</code>
# Restart the board
# Go on with your procedure

U-Boot recovery for i.MX6 Q/D/DL/S/ULL via JTAG

2019-10-08T17:20:05Z

Sdaxenberger: /* Automated Programming */

Technically all JTAG adapter listed by OpenOCD should work, but DH electronics recommends the [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
All tests and documents were made in use of this one.

== Required Hardware ==
* JTAG Debugger: [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
* DHCOM JTAG adapter for FFC connection: Article number FD00037
:[[File:JTAG-Adapter.jpeg|300px]]
* Wuerth FFC cable: [http://katalog.we-online.de/de/em/FFC_0_50_TYPE_1_6876XXXXX002 687610050002]
:Note: One cable is included with the DHCOM JTAG adapter.

== Installation ==
This installation was made on the [[Virtual Machine for Application Development]].
All console expressions refer to this Debian system, but any other debian based system should also work.

=== OpenOCD from Debian repositories (i.MX6 Q/D/DL/S) ===
# Install OpenOCD from Debian repositories <code>sudo apt-get install openocd</code>

=== OpenOCD from master branch (i.MX6 ULL) ===
# Install needed libraries and tools <code>sudo apt-get install git build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libftdi-dev</code>
# Clone git repository to local directory <code>git clone https://repo.or.cz/openocd.git</code>
# Prepare source directory and submodules (when building from the git repository) <code>./bootstrap</code>
# Generate the Makefiles to build OpenOCD <code>./configure</code>
# Build OpenOCD from source <code>make -j4</code>
# Install OpenOCD to /usr/local <code>sudo make install</code>

== U-Boot Programming ==
There are two ways for doing this.
The easy way is an automatic bash script, which handles all the commands needed for the programming process.
In this case you need a specified folder-structure so that the automatic script can find all its needed files.
The other one is to type in the required commands. In a few cases the bash script fails then you need to go the other way and program the U-Boot manually.

=== Preparation ===
==== Get the needed recovery files ====
# Download the needed files [[media:2019-10-08_imx6_U-Boot_recovery.tar.gz|2019-10-08_imx6_U-Boot_recovery.tar.gz]] <code>wget https://www.dropbox.com/s/l6139yluoqrj76x/2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Extract the files in a local directory <code>tar xf 2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Change working directory to the extracted one <code>cd 2019-10-08_imx6_U-Boot_recovery</code>
==== Connect JTAG adapter ====
# Connect the JTAG adapter with your PC and the Debian VM (Player - Removeable Devices) through USB
# Connect the JTAG interface via the DHCOM JTAG adapter to the i.MX6 module (If you don't have a JTAG adapter, please ask DH electronics)
#:[[File:JTAG-connection.jpeg|1000px]]
# Connect the board with a serial port: [https://wiki.dh-electronics.com/index.php?title=COM_iMX6_Bootloader_U-Boot#Enter_Bootloader_Console Enter Bootloader Console]

=== Start up OpenOCD ===
# Ensure you have everything properly connected like in [[#Connect JTAG adapter|Connect JTAG adapter]]
# Power up the i.MX6 board and have a look at the serial output (serial port). There must be no output (no U-Boot starting) else go to [[#Trouble shooting|Trouble shooting]]
# Open a new terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Start OpenOCD depending on your hardware
#:* '''i.MX6 Q/D/DL/S''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f target/imx6.cfg -f dhcom-manual-loaded-code.cfg</code>
#:* '''i.MX6 ULL''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f imx6ull.cfg -f target/imx6ul.cfg -f dhcom-manual-loaded-code.cfg</code>
'''The output should look like:'''
<nowiki>
Open On-Chip Debugger 0.10.0+dev-00935-g31100927 (2019-10-01-12:14)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
0x088c101d
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Warn : imx6ull.sdma: nonstandard IR value
2182283264
imx6_dummy_init
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Info : JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : TAP imx6ull.sdma does not have IDCODE
Info : JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
Info : imx6ull.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections</nowiki>

=== Automated Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Execute the automated bash script with arguments depending on your hardware (the second argument is optional)
#:* '''i.MX6 Q/D/DL/S''' <code>./prog_bl.sh imx6qdl /path/to/u-boot-with-spl.imx</code>
#:* '''i.MX6 ULL''' <code>./prog_bl.sh imx6ull /path/to/u-boot-with-spl.imx</code>
'''The output of the script should look like:'''
<nowiki>
Programming: u-boot-with-spl-imx6ull.imx to imx6ull
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
Open On-Chip Debugger
> reset
JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
TAP imx6ull.sdma does not have IDCODE
JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
imx6ull.cpu: MPIDR level2 0, cluster 0, core 0, multi core, no SMT
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f76
MMU: disabled, D-Cache: disabled, I-Cache: enabled
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f74
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-spl-prog-imx6ull.bin 0x908000
45056 bytes written at address 0x00908000
downloaded 45056 bytes in 1.610037s (27.329 KiB/s)

> resume 0x00908000
> halt
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x800001f3 pc: 0x00908934
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-with-spl-imx6ull.imx 0x82000000
451456 bytes written at address 0x82000000
downloaded 451456 bytes in 15.305990s (28.804 KiB/s)

> resume
> Connection closed by foreign host.</nowiki>
'''The output of serial console should look like:'''
<nowiki>
U-Boot SPL 2018.05-DH_v0.19_emmc-00102-gc8e3c3df13 (Oct 01 2019 - 16:12:44 +0200)
DRAM: Auto calibration...successful
SPL: Unsupported Boot Device!
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###
Searching for IVT header at DDR address 0x82000000
.....
Found IVT header
Probing SPI flash... ok
Erasing... ok
Programming... ok
</nowiki>
'''Note:''' If some error occures you can try the manual programing method below

=== Manual Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Open a telnet session to OpenOCD <code>telnet localhost 4444</code>
## Reset and halt the device <code>reset</code>
## Load modified U-Boot SPL as flash programmer in SRAM (device dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-spl-prog-imx6qdl.bin 0x908000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-spl-prog-imx6ull.bin 0x908000</code>
## Resume code execution at entry point of loaded U-Boot SPL <code>resume 0x00908000</code>
## Halt code execution if you see '''Searching for IVT header at DDR address 0xX2000000''' in serial console <code>halt</code>
## Load desired U-Boot image into RAM (device and customer dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-with-spl-imx6qdl.imx 0x12000000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-with-spl-imx6ull.imx 0x82000000</code>
## Resume code execution after U-Boot image is in RAM <code>resume</code>
## Wait until the serial output looks like in [[#Automated Programming|Automated Programming]]

== Troubleshooting ==
If there is a U-Boot starting, the OpenOCD procedure may not work properly.
There are two solutions to prevent the start of U-Boot from the SPI-NOR-Flash.

=== SDP Boot (i.MX6 ULL) ===
# Boot in Serial Download Mode to prevent booting the broken U-Boot from SPI-NOR-Flash
## Hold the button for sdp boot mode on the SODIMM-200-Module (DHCOM) next to the BGA-Module (DHCOR)
##:[[File:DHCOR_i.MX6ULL_SDP-Boot.jpg|400px]]
## Reset the device. To reset the device, press the reset button on the baseboard or unplug and plug in the power plug.
## Release the button for sdp boot mode
# Go on with your procedure

=== Delete U-Boot (i.MX6 Q/D/DL/S) ===
# <code>sf probe</code>
# <code>sf erase 0x0 0xf0000</code>
# Restart the board
# Go on with your procedure

U-Boot recovery for i.MX6 Q/D/DL/S/ULL via JTAG

2019-10-08T17:18:36Z

Sdaxenberger: /* Start up OpenOCD */

Technically all JTAG adapter listed by OpenOCD should work, but DH electronics recommends the [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
All tests and documents were made in use of this one.

== Required Hardware ==
* JTAG Debugger: [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
* DHCOM JTAG adapter for FFC connection: Article number FD00037
:[[File:JTAG-Adapter.jpeg|300px]]
* Wuerth FFC cable: [http://katalog.we-online.de/de/em/FFC_0_50_TYPE_1_6876XXXXX002 687610050002]
:Note: One cable is included with the DHCOM JTAG adapter.

== Installation ==
This installation was made on the [[Virtual Machine for Application Development]].
All console expressions refer to this Debian system, but any other debian based system should also work.

=== OpenOCD from Debian repositories (i.MX6 Q/D/DL/S) ===
# Install OpenOCD from Debian repositories <code>sudo apt-get install openocd</code>

=== OpenOCD from master branch (i.MX6 ULL) ===
# Install needed libraries and tools <code>sudo apt-get install git build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libftdi-dev</code>
# Clone git repository to local directory <code>git clone https://repo.or.cz/openocd.git</code>
# Prepare source directory and submodules (when building from the git repository) <code>./bootstrap</code>
# Generate the Makefiles to build OpenOCD <code>./configure</code>
# Build OpenOCD from source <code>make -j4</code>
# Install OpenOCD to /usr/local <code>sudo make install</code>

== U-Boot Programming ==
There are two ways for doing this.
The easy way is an automatic bash script, which handles all the commands needed for the programming process.
In this case you need a specified folder-structure so that the automatic script can find all its needed files.
The other one is to type in the required commands. In a few cases the bash script fails then you need to go the other way and program the U-Boot manually.

=== Preparation ===
==== Get the needed recovery files ====
# Download the needed files [[media:2019-10-08_imx6_U-Boot_recovery.tar.gz|2019-10-08_imx6_U-Boot_recovery.tar.gz]] <code>wget https://www.dropbox.com/s/l6139yluoqrj76x/2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Extract the files in a local directory <code>tar xf 2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Change working directory to the extracted one <code>cd 2019-10-08_imx6_U-Boot_recovery</code>
==== Connect JTAG adapter ====
# Connect the JTAG adapter with your PC and the Debian VM (Player - Removeable Devices) through USB
# Connect the JTAG interface via the DHCOM JTAG adapter to the i.MX6 module (If you don't have a JTAG adapter, please ask DH electronics)
#:[[File:JTAG-connection.jpeg|1000px]]
# Connect the board with a serial port: [https://wiki.dh-electronics.com/index.php?title=COM_iMX6_Bootloader_U-Boot#Enter_Bootloader_Console Enter Bootloader Console]

=== Start up OpenOCD ===
# Ensure you have everything properly connected like in [[#Connect JTAG adapter|Connect JTAG adapter]]
# Power up the i.MX6 board and have a look at the serial output (serial port). There must be no output (no U-Boot starting) else go to [[#Trouble shooting|Trouble shooting]]
# Open a new terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Start OpenOCD depending on your hardware
#:* '''i.MX6 Q/D/DL/S''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f target/imx6.cfg -f dhcom-manual-loaded-code.cfg</code>
#:* '''i.MX6 ULL''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f imx6ull.cfg -f target/imx6ul.cfg -f dhcom-manual-loaded-code.cfg</code>
'''The output should look like:'''
<nowiki>
Open On-Chip Debugger 0.10.0+dev-00935-g31100927 (2019-10-01-12:14)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
0x088c101d
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Warn : imx6ull.sdma: nonstandard IR value
2182283264
imx6_dummy_init
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Info : JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : TAP imx6ull.sdma does not have IDCODE
Info : JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
Info : imx6ull.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections</nowiki>

=== Automated Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Execute the automated bash script with arguments depending on your hardware (the second argument is optional)
#:* '''i.MX6 Q/D/DL/S''' <code>./prog_bl.sh imx6qdl /path/to/u-boot-with-spl.imx</code>
#:* '''i.MX6 ULL''' <code>./prog_bl.sh imx6ull /path/to/u-boot-with-spl.imx</code>
'''The output of the script should look like:'''
<nowiki>
Programming: u-boot-with-spl-imx6ull.imx to imx6ull
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
Open On-Chip Debugger
> reset
JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
TAP imx6ull.sdma does not have IDCODE
JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
imx6ull.cpu: MPIDR level2 0, cluster 0, core 0, multi core, no SMT
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f76
MMU: disabled, D-Cache: disabled, I-Cache: enabled
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f74
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-spl-prog-imx6ull.bin 0x908000
45056 bytes written at address 0x00908000
downloaded 45056 bytes in 1.610037s (27.329 KiB/s)

> resume 0x00908000
> halt
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x800001f3 pc: 0x00908934
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-with-spl-imx6ull.imx 0x82000000
451456 bytes written at address 0x82000000
downloaded 451456 bytes in 15.305990s (28.804 KiB/s)

> resume
> Connection closed by foreign host.</nowiki>
'''The output of serial console should look like:'''
<nowiki>
U-Boot SPL 2018.05-DH_v0.19_emmc-00102-gc8e3c3df13 (Oct 01 2019 - 16:12:44 +0200)
DRAM: Auto calibration...successful
SPL: Unsupported Boot Device!
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###
Searching for IVT header at DDR address 0x82000000
.....
Found IVT header
Probing SPI flash... ok
Erasing... ok
Programming... ok
</nowiki>
'''Note:''' If some error occures you can try the Manual Programing method below

=== Manual Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Open a telnet session to OpenOCD <code>telnet localhost 4444</code>
## Reset and halt the device <code>reset</code>
## Load modified U-Boot SPL as flash programmer in SRAM (device dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-spl-prog-imx6qdl.bin 0x908000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-spl-prog-imx6ull.bin 0x908000</code>
## Resume code execution at entry point of loaded U-Boot SPL <code>resume 0x00908000</code>
## Halt code execution if you see '''Searching for IVT header at DDR address 0xX2000000''' in serial console <code>halt</code>
## Load desired U-Boot image into RAM (device and customer dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-with-spl-imx6qdl.imx 0x12000000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-with-spl-imx6ull.imx 0x82000000</code>
## Resume code execution after U-Boot image is in RAM <code>resume</code>
## Wait until the serial output looks like in [[#Automated Programming|Automated Programming]]

== Troubleshooting ==
If there is a U-Boot starting, the OpenOCD procedure may not work properly.
There are two solutions to prevent the start of U-Boot from the SPI-NOR-Flash.

=== SDP Boot (i.MX6 ULL) ===
# Boot in Serial Download Mode to prevent booting the broken U-Boot from SPI-NOR-Flash
## Hold the button for sdp boot mode on the SODIMM-200-Module (DHCOM) next to the BGA-Module (DHCOR)
##:[[File:DHCOR_i.MX6ULL_SDP-Boot.jpg|400px]]
## Reset the device. To reset the device, press the reset button on the baseboard or unplug and plug in the power plug.
## Release the button for sdp boot mode
# Go on with your procedure

=== Delete U-Boot (i.MX6 Q/D/DL/S) ===
# <code>sf probe</code>
# <code>sf erase 0x0 0xf0000</code>
# Restart the board
# Go on with your procedure

U-Boot recovery for i.MX6 Q/D/DL/S/ULL via JTAG

2019-10-08T17:18:11Z

Sdaxenberger: /* Start up OpenOCD */

Technically all JTAG adapter listed by OpenOCD should work, but DH electronics recommends the [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
All tests and documents were made in use of this one.

== Required Hardware ==
* JTAG Debugger: [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
* DHCOM JTAG adapter for FFC connection: Article number FD00037
:[[File:JTAG-Adapter.jpeg|300px]]
* Wuerth FFC cable: [http://katalog.we-online.de/de/em/FFC_0_50_TYPE_1_6876XXXXX002 687610050002]
:Note: One cable is included with the DHCOM JTAG adapter.

== Installation ==
This installation was made on the [[Virtual Machine for Application Development]].
All console expressions refer to this Debian system, but any other debian based system should also work.

=== OpenOCD from Debian repositories (i.MX6 Q/D/DL/S) ===
# Install OpenOCD from Debian repositories <code>sudo apt-get install openocd</code>

=== OpenOCD from master branch (i.MX6 ULL) ===
# Install needed libraries and tools <code>sudo apt-get install git build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libftdi-dev</code>
# Clone git repository to local directory <code>git clone https://repo.or.cz/openocd.git</code>
# Prepare source directory and submodules (when building from the git repository) <code>./bootstrap</code>
# Generate the Makefiles to build OpenOCD <code>./configure</code>
# Build OpenOCD from source <code>make -j4</code>
# Install OpenOCD to /usr/local <code>sudo make install</code>

== U-Boot Programming ==
There are two ways for doing this.
The easy way is an automatic bash script, which handles all the commands needed for the programming process.
In this case you need a specified folder-structure so that the automatic script can find all its needed files.
The other one is to type in the required commands. In a few cases the bash script fails then you need to go the other way and program the U-Boot manually.

=== Preparation ===
==== Get the needed recovery files ====
# Download the needed files [[media:2019-10-08_imx6_U-Boot_recovery.tar.gz|2019-10-08_imx6_U-Boot_recovery.tar.gz]] <code>wget https://www.dropbox.com/s/l6139yluoqrj76x/2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Extract the files in a local directory <code>tar xf 2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Change working directory to the extracted one <code>cd 2019-10-08_imx6_U-Boot_recovery</code>
==== Connect JTAG adapter ====
# Connect the JTAG adapter with your PC and the Debian VM (Player - Removeable Devices) through USB
# Connect the JTAG interface via the DHCOM JTAG adapter to the i.MX6 module (If you don't have a JTAG adapter, please ask DH electronics)
#:[[File:JTAG-connection.jpeg|1000px]]
# Connect the board with a serial port: [https://wiki.dh-electronics.com/index.php?title=COM_iMX6_Bootloader_U-Boot#Enter_Bootloader_Console Enter Bootloader Console]

=== Start up OpenOCD ===
# Ensure you have everything properly connected like in [[#Connect JTAG adapter|Connect JTAG-Adapter]]
# Power up the i.MX6 board and have a look at the serial output (serial port). There must be no output (no U-Boot starting) else go to [[#Trouble shooting|Trouble shooting]]
# Open a new terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Start OpenOCD depending on your hardware
#:* '''i.MX6 Q/D/DL/S''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f target/imx6.cfg -f dhcom-manual-loaded-code.cfg</code>
#:* '''i.MX6 ULL''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f imx6ull.cfg -f target/imx6ul.cfg -f dhcom-manual-loaded-code.cfg</code>
'''The output should look like:'''
<nowiki>
Open On-Chip Debugger 0.10.0+dev-00935-g31100927 (2019-10-01-12:14)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
0x088c101d
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Warn : imx6ull.sdma: nonstandard IR value
2182283264
imx6_dummy_init
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Info : JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : TAP imx6ull.sdma does not have IDCODE
Info : JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
Info : imx6ull.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections</nowiki>

=== Automated Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Execute the automated bash script with arguments depending on your hardware (the second argument is optional)
#:* '''i.MX6 Q/D/DL/S''' <code>./prog_bl.sh imx6qdl /path/to/u-boot-with-spl.imx</code>
#:* '''i.MX6 ULL''' <code>./prog_bl.sh imx6ull /path/to/u-boot-with-spl.imx</code>
'''The output of the script should look like:'''
<nowiki>
Programming: u-boot-with-spl-imx6ull.imx to imx6ull
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
Open On-Chip Debugger
> reset
JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
TAP imx6ull.sdma does not have IDCODE
JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
imx6ull.cpu: MPIDR level2 0, cluster 0, core 0, multi core, no SMT
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f76
MMU: disabled, D-Cache: disabled, I-Cache: enabled
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f74
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-spl-prog-imx6ull.bin 0x908000
45056 bytes written at address 0x00908000
downloaded 45056 bytes in 1.610037s (27.329 KiB/s)

> resume 0x00908000
> halt
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x800001f3 pc: 0x00908934
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-with-spl-imx6ull.imx 0x82000000
451456 bytes written at address 0x82000000
downloaded 451456 bytes in 15.305990s (28.804 KiB/s)

> resume
> Connection closed by foreign host.</nowiki>
'''The output of serial console should look like:'''
<nowiki>
U-Boot SPL 2018.05-DH_v0.19_emmc-00102-gc8e3c3df13 (Oct 01 2019 - 16:12:44 +0200)
DRAM: Auto calibration...successful
SPL: Unsupported Boot Device!
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###
Searching for IVT header at DDR address 0x82000000
.....
Found IVT header
Probing SPI flash... ok
Erasing... ok
Programming... ok
</nowiki>
'''Note:''' If some error occures you can try the Manual Programing method below

=== Manual Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Open a telnet session to OpenOCD <code>telnet localhost 4444</code>
## Reset and halt the device <code>reset</code>
## Load modified U-Boot SPL as flash programmer in SRAM (device dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-spl-prog-imx6qdl.bin 0x908000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-spl-prog-imx6ull.bin 0x908000</code>
## Resume code execution at entry point of loaded U-Boot SPL <code>resume 0x00908000</code>
## Halt code execution if you see '''Searching for IVT header at DDR address 0xX2000000''' in serial console <code>halt</code>
## Load desired U-Boot image into RAM (device and customer dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-with-spl-imx6qdl.imx 0x12000000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-with-spl-imx6ull.imx 0x82000000</code>
## Resume code execution after U-Boot image is in RAM <code>resume</code>
## Wait until the serial output looks like in [[#Automated Programming|Automated Programming]]

== Troubleshooting ==
If there is a U-Boot starting, the OpenOCD procedure may not work properly.
There are two solutions to prevent the start of U-Boot from the SPI-NOR-Flash.

=== SDP Boot (i.MX6 ULL) ===
# Boot in Serial Download Mode to prevent booting the broken U-Boot from SPI-NOR-Flash
## Hold the button for sdp boot mode on the SODIMM-200-Module (DHCOM) next to the BGA-Module (DHCOR)
##:[[File:DHCOR_i.MX6ULL_SDP-Boot.jpg|400px]]
## Reset the device. To reset the device, press the reset button on the baseboard or unplug and plug in the power plug.
## Release the button for sdp boot mode
# Go on with your procedure

=== Delete U-Boot (i.MX6 Q/D/DL/S) ===
# <code>sf probe</code>
# <code>sf erase 0x0 0xf0000</code>
# Restart the board
# Go on with your procedure

U-Boot recovery for i.MX6 Q/D/DL/S/ULL via JTAG

2019-10-08T17:17:17Z

Sdaxenberger: /* Connect JTAG adapter */

Technically all JTAG adapter listed by OpenOCD should work, but DH electronics recommends the [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
All tests and documents were made in use of this one.

== Required Hardware ==
* JTAG Debugger: [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
* DHCOM JTAG adapter for FFC connection: Article number FD00037
:[[File:JTAG-Adapter.jpeg|300px]]
* Wuerth FFC cable: [http://katalog.we-online.de/de/em/FFC_0_50_TYPE_1_6876XXXXX002 687610050002]
:Note: One cable is included with the DHCOM JTAG adapter.

== Installation ==
This installation was made on the [[Virtual Machine for Application Development]].
All console expressions refer to this Debian system, but any other debian based system should also work.

=== OpenOCD from Debian repositories (i.MX6 Q/D/DL/S) ===
# Install OpenOCD from Debian repositories <code>sudo apt-get install openocd</code>

=== OpenOCD from master branch (i.MX6 ULL) ===
# Install needed libraries and tools <code>sudo apt-get install git build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libftdi-dev</code>
# Clone git repository to local directory <code>git clone https://repo.or.cz/openocd.git</code>
# Prepare source directory and submodules (when building from the git repository) <code>./bootstrap</code>
# Generate the Makefiles to build OpenOCD <code>./configure</code>
# Build OpenOCD from source <code>make -j4</code>
# Install OpenOCD to /usr/local <code>sudo make install</code>

== U-Boot Programming ==
There are two ways for doing this.
The easy way is an automatic bash script, which handles all the commands needed for the programming process.
In this case you need a specified folder-structure so that the automatic script can find all its needed files.
The other one is to type in the required commands. In a few cases the bash script fails then you need to go the other way and program the U-Boot manually.

=== Preparation ===
==== Get the needed recovery files ====
# Download the needed files [[media:2019-10-08_imx6_U-Boot_recovery.tar.gz|2019-10-08_imx6_U-Boot_recovery.tar.gz]] <code>wget https://www.dropbox.com/s/l6139yluoqrj76x/2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Extract the files in a local directory <code>tar xf 2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Change working directory to the extracted one <code>cd 2019-10-08_imx6_U-Boot_recovery</code>
==== Connect JTAG adapter ====
# Connect the JTAG adapter with your PC and the Debian VM (Player - Removeable Devices) through USB
# Connect the JTAG interface via the DHCOM JTAG adapter to the i.MX6 module (If you don't have a JTAG adapter, please ask DH electronics)
#:[[File:JTAG-connection.jpeg|1000px]]
# Connect the board with a serial port: [https://wiki.dh-electronics.com/index.php?title=COM_iMX6_Bootloader_U-Boot#Enter_Bootloader_Console Enter Bootloader Console]

=== Start up OpenOCD ===
# Ensure you have everything properly connected like in [[#Connect JTAG-Adapter|Connect JTAG-Adapter]]
# Power up the i.MX6 board and have a look at the serial output (serial port). There must be no output (no U-Boot starting) else go to [[#Trouble shooting|Trouble shooting]]
# Open a new terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Start OpenOCD depending on your hardware
#:* '''i.MX6 Q/D/DL/S''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f target/imx6.cfg -f dhcom-manual-loaded-code.cfg</code>
#:* '''i.MX6 ULL''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f imx6ull.cfg -f target/imx6ul.cfg -f dhcom-manual-loaded-code.cfg</code>
'''The output should look like:'''
<nowiki>
Open On-Chip Debugger 0.10.0+dev-00935-g31100927 (2019-10-01-12:14)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
0x088c101d
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Warn : imx6ull.sdma: nonstandard IR value
2182283264
imx6_dummy_init
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Info : JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : TAP imx6ull.sdma does not have IDCODE
Info : JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
Info : imx6ull.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections</nowiki>

=== Automated Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Execute the automated bash script with arguments depending on your hardware (the second argument is optional)
#:* '''i.MX6 Q/D/DL/S''' <code>./prog_bl.sh imx6qdl /path/to/u-boot-with-spl.imx</code>
#:* '''i.MX6 ULL''' <code>./prog_bl.sh imx6ull /path/to/u-boot-with-spl.imx</code>
'''The output of the script should look like:'''
<nowiki>
Programming: u-boot-with-spl-imx6ull.imx to imx6ull
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
Open On-Chip Debugger
> reset
JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
TAP imx6ull.sdma does not have IDCODE
JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
imx6ull.cpu: MPIDR level2 0, cluster 0, core 0, multi core, no SMT
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f76
MMU: disabled, D-Cache: disabled, I-Cache: enabled
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f74
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-spl-prog-imx6ull.bin 0x908000
45056 bytes written at address 0x00908000
downloaded 45056 bytes in 1.610037s (27.329 KiB/s)

> resume 0x00908000
> halt
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x800001f3 pc: 0x00908934
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-with-spl-imx6ull.imx 0x82000000
451456 bytes written at address 0x82000000
downloaded 451456 bytes in 15.305990s (28.804 KiB/s)

> resume
> Connection closed by foreign host.</nowiki>
'''The output of serial console should look like:'''
<nowiki>
U-Boot SPL 2018.05-DH_v0.19_emmc-00102-gc8e3c3df13 (Oct 01 2019 - 16:12:44 +0200)
DRAM: Auto calibration...successful
SPL: Unsupported Boot Device!
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###
Searching for IVT header at DDR address 0x82000000
.....
Found IVT header
Probing SPI flash... ok
Erasing... ok
Programming... ok
</nowiki>
'''Note:''' If some error occures you can try the Manual Programing method below

=== Manual Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Open a telnet session to OpenOCD <code>telnet localhost 4444</code>
## Reset and halt the device <code>reset</code>
## Load modified U-Boot SPL as flash programmer in SRAM (device dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-spl-prog-imx6qdl.bin 0x908000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-spl-prog-imx6ull.bin 0x908000</code>
## Resume code execution at entry point of loaded U-Boot SPL <code>resume 0x00908000</code>
## Halt code execution if you see '''Searching for IVT header at DDR address 0xX2000000''' in serial console <code>halt</code>
## Load desired U-Boot image into RAM (device and customer dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-with-spl-imx6qdl.imx 0x12000000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-with-spl-imx6ull.imx 0x82000000</code>
## Resume code execution after U-Boot image is in RAM <code>resume</code>
## Wait until the serial output looks like in [[#Automated Programming|Automated Programming]]

== Troubleshooting ==
If there is a U-Boot starting, the OpenOCD procedure may not work properly.
There are two solutions to prevent the start of U-Boot from the SPI-NOR-Flash.

=== SDP Boot (i.MX6 ULL) ===
# Boot in Serial Download Mode to prevent booting the broken U-Boot from SPI-NOR-Flash
## Hold the button for sdp boot mode on the SODIMM-200-Module (DHCOM) next to the BGA-Module (DHCOR)
##:[[File:DHCOR_i.MX6ULL_SDP-Boot.jpg|400px]]
## Reset the device. To reset the device, press the reset button on the baseboard or unplug and plug in the power plug.
## Release the button for sdp boot mode
# Go on with your procedure

=== Delete U-Boot (i.MX6 Q/D/DL/S) ===
# <code>sf probe</code>
# <code>sf erase 0x0 0xf0000</code>
# Restart the board
# Go on with your procedure

U-Boot recovery for i.MX6 Q/D/DL/S/ULL via JTAG

2019-10-08T17:16:59Z

Sdaxenberger: /* Connect JTAG-Adapter */

Technically all JTAG adapter listed by OpenOCD should work, but DH electronics recommends the [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
All tests and documents were made in use of this one.

== Required Hardware ==
* JTAG Debugger: [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
* DHCOM JTAG adapter for FFC connection: Article number FD00037
:[[File:JTAG-Adapter.jpeg|300px]]
* Wuerth FFC cable: [http://katalog.we-online.de/de/em/FFC_0_50_TYPE_1_6876XXXXX002 687610050002]
:Note: One cable is included with the DHCOM JTAG adapter.

== Installation ==
This installation was made on the [[Virtual Machine for Application Development]].
All console expressions refer to this Debian system, but any other debian based system should also work.

=== OpenOCD from Debian repositories (i.MX6 Q/D/DL/S) ===
# Install OpenOCD from Debian repositories <code>sudo apt-get install openocd</code>

=== OpenOCD from master branch (i.MX6 ULL) ===
# Install needed libraries and tools <code>sudo apt-get install git build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libftdi-dev</code>
# Clone git repository to local directory <code>git clone https://repo.or.cz/openocd.git</code>
# Prepare source directory and submodules (when building from the git repository) <code>./bootstrap</code>
# Generate the Makefiles to build OpenOCD <code>./configure</code>
# Build OpenOCD from source <code>make -j4</code>
# Install OpenOCD to /usr/local <code>sudo make install</code>

== U-Boot Programming ==
There are two ways for doing this.
The easy way is an automatic bash script, which handles all the commands needed for the programming process.
In this case you need a specified folder-structure so that the automatic script can find all its needed files.
The other one is to type in the required commands. In a few cases the bash script fails then you need to go the other way and program the U-Boot manually.

=== Preparation ===
==== Get the needed recovery files ====
# Download the needed files [[media:2019-10-08_imx6_U-Boot_recovery.tar.gz|2019-10-08_imx6_U-Boot_recovery.tar.gz]] <code>wget https://www.dropbox.com/s/l6139yluoqrj76x/2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Extract the files in a local directory <code>tar xf 2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Change working directory to the extracted one <code>cd 2019-10-08_imx6_U-Boot_recovery</code>
==== Connect JTAG adapter ====
# Connect the JTAG-Adapter with your PC and the Debian VM (Player - Removeable Devices) through USB
# Connect the JTAG-Interface via the DHCOM JTAG adapter to the i.MX6 module (If you don't have a JTAG adapter, please ask DH electronics)
#:[[File:JTAG-connection.jpeg|1000px]]
# Connect the board with a serial port: [https://wiki.dh-electronics.com/index.php?title=COM_iMX6_Bootloader_U-Boot#Enter_Bootloader_Console Enter Bootloader Console]

=== Start up OpenOCD ===
# Ensure you have everything properly connected like in [[#Connect JTAG-Adapter|Connect JTAG-Adapter]]
# Power up the i.MX6 board and have a look at the serial output (serial port). There must be no output (no U-Boot starting) else go to [[#Trouble shooting|Trouble shooting]]
# Open a new terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Start OpenOCD depending on your hardware
#:* '''i.MX6 Q/D/DL/S''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f target/imx6.cfg -f dhcom-manual-loaded-code.cfg</code>
#:* '''i.MX6 ULL''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f imx6ull.cfg -f target/imx6ul.cfg -f dhcom-manual-loaded-code.cfg</code>
'''The output should look like:'''
<nowiki>
Open On-Chip Debugger 0.10.0+dev-00935-g31100927 (2019-10-01-12:14)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
0x088c101d
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Warn : imx6ull.sdma: nonstandard IR value
2182283264
imx6_dummy_init
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Info : JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : TAP imx6ull.sdma does not have IDCODE
Info : JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
Info : imx6ull.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections</nowiki>

=== Automated Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Execute the automated bash script with arguments depending on your hardware (the second argument is optional)
#:* '''i.MX6 Q/D/DL/S''' <code>./prog_bl.sh imx6qdl /path/to/u-boot-with-spl.imx</code>
#:* '''i.MX6 ULL''' <code>./prog_bl.sh imx6ull /path/to/u-boot-with-spl.imx</code>
'''The output of the script should look like:'''
<nowiki>
Programming: u-boot-with-spl-imx6ull.imx to imx6ull
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
Open On-Chip Debugger
> reset
JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
TAP imx6ull.sdma does not have IDCODE
JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
imx6ull.cpu: MPIDR level2 0, cluster 0, core 0, multi core, no SMT
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f76
MMU: disabled, D-Cache: disabled, I-Cache: enabled
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f74
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-spl-prog-imx6ull.bin 0x908000
45056 bytes written at address 0x00908000
downloaded 45056 bytes in 1.610037s (27.329 KiB/s)

> resume 0x00908000
> halt
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x800001f3 pc: 0x00908934
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-with-spl-imx6ull.imx 0x82000000
451456 bytes written at address 0x82000000
downloaded 451456 bytes in 15.305990s (28.804 KiB/s)

> resume
> Connection closed by foreign host.</nowiki>
'''The output of serial console should look like:'''
<nowiki>
U-Boot SPL 2018.05-DH_v0.19_emmc-00102-gc8e3c3df13 (Oct 01 2019 - 16:12:44 +0200)
DRAM: Auto calibration...successful
SPL: Unsupported Boot Device!
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###
Searching for IVT header at DDR address 0x82000000
.....
Found IVT header
Probing SPI flash... ok
Erasing... ok
Programming... ok
</nowiki>
'''Note:''' If some error occures you can try the Manual Programing method below

=== Manual Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Open a telnet session to OpenOCD <code>telnet localhost 4444</code>
## Reset and halt the device <code>reset</code>
## Load modified U-Boot SPL as flash programmer in SRAM (device dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-spl-prog-imx6qdl.bin 0x908000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-spl-prog-imx6ull.bin 0x908000</code>
## Resume code execution at entry point of loaded U-Boot SPL <code>resume 0x00908000</code>
## Halt code execution if you see '''Searching for IVT header at DDR address 0xX2000000''' in serial console <code>halt</code>
## Load desired U-Boot image into RAM (device and customer dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-with-spl-imx6qdl.imx 0x12000000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-with-spl-imx6ull.imx 0x82000000</code>
## Resume code execution after U-Boot image is in RAM <code>resume</code>
## Wait until the serial output looks like in [[#Automated Programming|Automated Programming]]

== Troubleshooting ==
If there is a U-Boot starting, the OpenOCD procedure may not work properly.
There are two solutions to prevent the start of U-Boot from the SPI-NOR-Flash.

=== SDP Boot (i.MX6 ULL) ===
# Boot in Serial Download Mode to prevent booting the broken U-Boot from SPI-NOR-Flash
## Hold the button for sdp boot mode on the SODIMM-200-Module (DHCOM) next to the BGA-Module (DHCOR)
##:[[File:DHCOR_i.MX6ULL_SDP-Boot.jpg|400px]]
## Reset the device. To reset the device, press the reset button on the baseboard or unplug and plug in the power plug.
## Release the button for sdp boot mode
# Go on with your procedure

=== Delete U-Boot (i.MX6 Q/D/DL/S) ===
# <code>sf probe</code>
# <code>sf erase 0x0 0xf0000</code>
# Restart the board
# Go on with your procedure

U-Boot recovery for i.MX6 Q/D/DL/S/ULL via JTAG

2019-10-08T17:15:43Z

Sdaxenberger:

Technically all JTAG adapter listed by OpenOCD should work, but DH electronics recommends the [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
All tests and documents were made in use of this one.

== Required Hardware ==
* JTAG Debugger: [https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ Olimex Arm-USB-OCD-Tiny-H.]
* DHCOM JTAG adapter for FFC connection: Article number FD00037
:[[File:JTAG-Adapter.jpeg|300px]]
* Wuerth FFC cable: [http://katalog.we-online.de/de/em/FFC_0_50_TYPE_1_6876XXXXX002 687610050002]
:Note: One cable is included with the DHCOM JTAG adapter.

== Installation ==
This installation was made on the [[Virtual Machine for Application Development]].
All console expressions refer to this Debian system, but any other debian based system should also work.

=== OpenOCD from Debian repositories (i.MX6 Q/D/DL/S) ===
# Install OpenOCD from Debian repositories <code>sudo apt-get install openocd</code>

=== OpenOCD from master branch (i.MX6 ULL) ===
# Install needed libraries and tools <code>sudo apt-get install git build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libftdi-dev</code>
# Clone git repository to local directory <code>git clone https://repo.or.cz/openocd.git</code>
# Prepare source directory and submodules (when building from the git repository) <code>./bootstrap</code>
# Generate the Makefiles to build OpenOCD <code>./configure</code>
# Build OpenOCD from source <code>make -j4</code>
# Install OpenOCD to /usr/local <code>sudo make install</code>

== U-Boot Programming ==
There are two ways for doing this.
The easy way is an automatic bash script, which handles all the commands needed for the programming process.
In this case you need a specified folder-structure so that the automatic script can find all its needed files.
The other one is to type in the required commands. In a few cases the bash script fails then you need to go the other way and program the U-Boot manually.

=== Preparation ===
==== Get the needed recovery files ====
# Download the needed files [[media:2019-10-08_imx6_U-Boot_recovery.tar.gz|2019-10-08_imx6_U-Boot_recovery.tar.gz]] <code>wget https://www.dropbox.com/s/l6139yluoqrj76x/2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Extract the files in a local directory <code>tar xf 2019-10-08_imx6_U-Boot_recovery.tar.gz</code>
# Change working directory to the extracted one <code>cd 2019-10-08_imx6_U-Boot_recovery</code>
==== Connect JTAG-Adapter ====
# Connect the JTAG-Adapter with your PC and the Debian VM (Player - Removeable Devices) through USB
# Connect the JTAG-Interface via the DHCOM JTAG adapter to the i.MX6 module (If you don't have a JTAG adapter, please ask DH electronics)
#:[[File:JTAG-connection.jpeg|1000px]]
# Connect the board with a serial port: [https://wiki.dh-electronics.com/index.php?title=COM_iMX6_Bootloader_U-Boot#Enter_Bootloader_Console Enter Bootloader Console]

=== Start up OpenOCD ===
# Ensure you have everything properly connected like in [[#Connect JTAG-Adapter|Connect JTAG-Adapter]]
# Power up the i.MX6 board and have a look at the serial output (serial port). There must be no output (no U-Boot starting) else go to [[#Trouble shooting|Trouble shooting]]
# Open a new terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Start OpenOCD depending on your hardware
#:* '''i.MX6 Q/D/DL/S''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f target/imx6.cfg -f dhcom-manual-loaded-code.cfg</code>
#:* '''i.MX6 ULL''' <code>openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f imx6ull.cfg -f target/imx6ul.cfg -f dhcom-manual-loaded-code.cfg</code>
'''The output should look like:'''
<nowiki>
Open On-Chip Debugger 0.10.0+dev-00935-g31100927 (2019-10-01-12:14)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
0x088c101d
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Warn : imx6ull.sdma: nonstandard IR value
2182283264
imx6_dummy_init
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Info : JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
Info : TAP imx6ull.sdma does not have IDCODE
Info : JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
Info : imx6ull.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections</nowiki>

=== Automated Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Execute the automated bash script with arguments depending on your hardware (the second argument is optional)
#:* '''i.MX6 Q/D/DL/S''' <code>./prog_bl.sh imx6qdl /path/to/u-boot-with-spl.imx</code>
#:* '''i.MX6 ULL''' <code>./prog_bl.sh imx6ull /path/to/u-boot-with-spl.imx</code>
'''The output of the script should look like:'''
<nowiki>
Programming: u-boot-with-spl-imx6ull.imx to imx6ull
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
Open On-Chip Debugger
> reset
JTAG tap: imx6ull.cpu tap/device found: 0x5ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x5)
TAP imx6ull.sdma does not have IDCODE
JTAG tap: imx6ull.sjc tap/device found: 0x088c101d (mfg: 0x00e (Freescale (Motorola)), part: 0x88c1, ver: 0x0)
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
imx6ull.cpu: MPIDR level2 0, cluster 0, core 0, multi core, no SMT
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f76
MMU: disabled, D-Cache: disabled, I-Cache: enabled
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x400001f3 pc: 0x00002f74
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-spl-prog-imx6ull.bin 0x908000
45056 bytes written at address 0x00908000
downloaded 45056 bytes in 1.610037s (27.329 KiB/s)

> resume 0x00908000
> halt
imx6ull.cpu rev 5, partnum c07, arch f, variant 0, implementor 41
target halted in Thumb state due to debug-request, current mode: Supervisor
cpsr: 0x800001f3 pc: 0x00908934
MMU: disabled, D-Cache: disabled, I-Cache: enabled
> load_image u-boot-with-spl-imx6ull.imx 0x82000000
451456 bytes written at address 0x82000000
downloaded 451456 bytes in 15.305990s (28.804 KiB/s)

> resume
> Connection closed by foreign host.</nowiki>
'''The output of serial console should look like:'''
<nowiki>
U-Boot SPL 2018.05-DH_v0.19_emmc-00102-gc8e3c3df13 (Oct 01 2019 - 16:12:44 +0200)
DRAM: Auto calibration...successful
SPL: Unsupported Boot Device!
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###
Searching for IVT header at DDR address 0x82000000
.....
Found IVT header
Probing SPI flash... ok
Erasing... ok
Programming... ok
</nowiki>
'''Note:''' If some error occures you can try the Manual Programing method below

=== Manual Programming ===
# Ensure OpenOCD is running like in [[#Start up OpenOCD|Start up OpenOCD]]
# Open a second terminal window
# Ensure you are in the directory with the recovery files <code>cd /path/to/2019-10-08_imx6_U-Boot_recovery</code>
# Open a telnet session to OpenOCD <code>telnet localhost 4444</code>
## Reset and halt the device <code>reset</code>
## Load modified U-Boot SPL as flash programmer in SRAM (device dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-spl-prog-imx6qdl.bin 0x908000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-spl-prog-imx6ull.bin 0x908000</code>
## Resume code execution at entry point of loaded U-Boot SPL <code>resume 0x00908000</code>
## Halt code execution if you see '''Searching for IVT header at DDR address 0xX2000000''' in serial console <code>halt</code>
## Load desired U-Boot image into RAM (device and customer dependent)
##:* '''i.MX6 Q/D/DL/S''' <code>load_image u-boot-with-spl-imx6qdl.imx 0x12000000</code>
##:* '''i.MX6 ULL''' <code>load_image u-boot-with-spl-imx6ull.imx 0x82000000</code>
## Resume code execution after U-Boot image is in RAM <code>resume</code>
## Wait until the serial output looks like in [[#Automated Programming|Automated Programming]]

== Troubleshooting ==
If there is a U-Boot starting, the OpenOCD procedure may not work properly.
There are two solutions to prevent the start of U-Boot from the SPI-NOR-Flash.

=== SDP Boot (i.MX6 ULL) ===
# Boot in Serial Download Mode to prevent booting the broken U-Boot from SPI-NOR-Flash
## Hold the button for sdp boot mode on the SODIMM-200-Module (DHCOM) next to the BGA-Module (DHCOR)
##:[[File:DHCOR_i.MX6ULL_SDP-Boot.jpg|400px]]
## Reset the device. To reset the device, press the reset button on the baseboard or unplug and plug in the power plug.
## Release the button for sdp boot mode
# Go on with your procedure

=== Delete U-Boot (i.MX6 Q/D/DL/S) ===
# <code>sf probe</code>
# <code>sf erase 0x0 0xf0000</code>
# Restart the board
# Go on with your procedure