使用淘宝随便买的调试器是不支持TD的调试的。它只能用来烧录FPGA。FD本质上是在调试ARM，而且使用了openOCD。原厂的方案是基于FTDI的，然后原厂的.cfg文件也是这个（位于/home/mingzai/Programs/FutureDynasty/toolchain/openocd/fpsoc/share/openocd/scripts/target/anlogic/dr1m90.cfg）.

那么就真的只能用原厂的调试器才可以吗？并不是，因为它使用OpenOCD，而OpenOCD支持多种调试器，因此可用DAP Link来调试。这就要求我们修改.cfg文件：

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source [find /home/mingzai/Programs/FutureDynasty/toolchain/openocd/fpsoc/share/openocd/scripts/target/anlogic/init.cfg]
set CONFIG_TARGET_ARM 1

# 替换为 cmsis-dap 驱动
adapter driver cmsis-dap


if {[info exists USB_LOCATION]} {
adapter usb location $USB_LOCATION
}

if {[info exists JTAG_SPEED]} {
    adapter speed $JTAG_SPEED
} else {
    adapter speed    10000
}

transport select jtag

if { [info exists CHIPNAME] } {
  set _CHIPNAME $CHIPNAME
} else {
  set _CHIPNAME dr1m90
}

if {$CONFIG_JTAG == 0} {
    jtag newtap $_CHIPNAME dummy -irlen 5 -ircapture 0x1 -irmask 0x03
    jtag newtap $_CHIPNAME apu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id 0x5ba00477 -enable
    jtag newtap $_CHIPNAME rsv -irlen 4 -ircapture 0x1 -irmask 0xf
    jtag newtap $_CHIPNAME fpga -irlen 8 -ircapture 0xC5 -irmask 0xFF
} elseif {$CONFIG_JTAG == 1} {
    jtag newtap $_CHIPNAME apu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id 0x5ba00477 -enable
}

pld device dr1_90 $_CHIPNAME.fpga

target create $_CHIPNAME.pstap pstap -chain-position $_CHIPNAME.rsv

if {$CONFIG_TARGET_ARM == 1} {
    echo "target arm"
    dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.apu
    set _TARGETNAME $_CHIPNAME.core
    set _CTINAME $_CHIPNAME.cti
    set DBGBASE {0xF9010000 0xF9012000}
    set CTIBASE {0xF9018000 0xF9019000}
    set _cores 2

    proc apu_reset {core_num} {
        global _TARGETNAME
        echo "Reseting: $_TARGETNAME.$core_num"
        catch "mww 0xf8806330 0x1f0"
        sleep 100
        catch "mww 0xf8806330 0x1f0"
        sleep 100
    }

    for {set _core 0 } { $_core < $_cores } { incr _core } {
        cti create $_CTINAME.$_core -dap $_CHIPNAME.dap -ap-num 1 \
            -baseaddr [lindex $CTIBASE $_core]
        target create $_TARGETNAME.$_core aarch64 \
            -dap $_CHIPNAME.dap -coreid $_core \
            -dbgbase [lindex $DBGBASE $_core] -cti $_CTINAME.$_core

        $_TARGETNAME.$_core configure -event reset-assert-pre "halt"
        $_TARGETNAME.$_core configure -event reset-assert "apu_reset $_core"
    }
}


if {$CONFIG_FLASH == 1} {
    set _LOADER $_CHIPNAME.core.1

    $_LOADER configure -work-area-phys 0x61000000 -work-area-size 0x40000 -work-area-backup 1


    if {$CONFIG_QSPI != 0} {
        set _FLASHNAME $_CHIPNAME.flash
        flash bank $_FLASHNAME.0 dwcssi_90 0x00000000 0 0 0 $_LOADER 0xf804e000
        if {$CONFIG_QSPI == 3} {
            flash bank $_FLASHNAME.1 dwcssi_90 0x02000000 0 0 0 $_LOADER 0xf804e000
        }
    }

    if {$CONFIG_NAND == 1} {
        # nand config
        set _NANDNAME $_CHIPNAME.nand
        nand device $_NANDNAME smc35x $_LOADER 0xF841A400
    }

    if {$CONFIG_EMMC != 0 || $CONFIG_EMMC1 != 0} {
        if {$CONFIG_DDR_EN == 1} {
            $_LOADER configure -ddr-enable 1 -loader-buf-start 0x6102D000 -loader-buf-size 0x40000
        } else {
            $_LOADER configure -loader-buf-start 0x6102D000 -loader-buf-size 0x10000
        }

        set _EMMC $_CHIPNAME.emmc

        if {$CONFIG_EMMC == 1} {
            # emmc config
            emmc device $_EMMC dwcmshc_90 $_LOADER 0xF8049000 0 ../loader/emmc
        }

        if {$CONFIG_EMMC1 == 1} {
            # emmc1 config
            emmc device $_EMMC.1 dwcmshc_90 $_LOADER 0xF804A000 1 ../loader/emmc
        }
    }
}

if {$REMOTE_DEBUG == 1} {
bindto 0.0.0.0
}

bindto 0.0.0.0


就只是更改了开头的几行。把原来的文件可以加.bak。另外，Linux下还有个问题是可能运行不了FD软件自带的GDB（依赖库老旧），因此可使用系统下载的GDB，配置为:

但是OpenOCD不能用系统下载的，必须用FD工具自带的（配置中默认的）。