The GAP8 SDK has recently added support for OpenOCD and debuggers with a FTDI interface should be usable. We have tested the Olimex ARM-USB-TINY-H with success and also the JLINK. The same applies to the ESP32 and a rule of thumb is that if the JTAG debugger is compatible with the ESP32, it also works for the GAP8. The STLink v2 will not work as it can only debug Cortex cores.
Tested programmers at Bitcraze AB:
- Olimex ARM-USB-TINY-H
It’s a good choice to follow our hardware selection, you could find detailed information about Olimex Debugger in USER’S MANUAL, it’s helpful for you to learn how to use debugger with OpenOCD. The Olimex debugger needs a USB type B cable which might not be that common anymore, just a heads up.
There are two Cortex-M 10pin (2×5, 1.27mm pitch) JTAG interfaces on the AI-deck so that both the GAP8 and the ESP32 can be programmed and debugged easily. They are edge mounted on the PCB to save height. The GAP8 JTAG is located on the left side and the ESP32 JTAG to the right when viewing the board from the top and camera front. Note that pin-1 is located to the left, marked with a 1 on the bottom side of the board.
It has been found that the Himax monocrom module seem to consume so little power that the JTAG can “phantom” power it and cause it to end up in an unknown state. Therefore it might be nescessare to unplug the JTAG if the AI-deck/Crazyflie is power cycled and plug it back in after it is powered again.
For details follow each MCUs guide. The getting started guide contains basic instructions as well.
ESP32 JTAG Debugging https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/jtag-debugging/index.html
GAP8 JTAG debugging https://github.com/GreenWaves-Technologies/gap_sdk#openocd