1. 概述

AMP（Asymmetric Multi-Processing）是一种多核异构架构编程模型，常用于在不同核心上运行不同操作系统或裸机程序（如：Cortex-A运行Linux，Cortex-M运行RTOS或裸机固件）。Rockchip RK3562 是一款支持多核异构处理的SoC，通常包含 Cortex-A55 和 Cortex-M 核心。

本文将指导你如何使用 OpenOCD（Open On-Chip Debugger）调试运行在 RK3562 上的 AMP 程序，包括多核调试、断点设置、寄存器查看等操作。

2. 准备工作

2.1 硬件要求

Neardi RK3562 开发板
JTAG/SWD 调试器（推荐：J-Link、Rockchip官方调试器）
连接线（JTAG/SWD 接口连线）

Rockchip 调试器如下：

2.2 软件要求

OpenOCD (从Rockchip redmine下载)
GDB（Rockchip 调试包里包含此工具）
RK3562 的 OpenOCD 配置文件
下载的调试工具包内容如下：

2.3 修改CPU配置

在DTS里修改成如下：

diff --git a/arch/arm64/boot/dts/rockchip/neardi-rk3562.dtsi b/arch/arm64/boot/dts/rockchip/neardi-rk3562.dtsi
index d3575081acbf..c9775ec79944 100644
--- a/arch/arm64/boot/dts/rockchip/neardi-rk3562.dtsi
+++ b/arch/arm64/boot/dts/rockchip/neardi-rk3562.dtsi
@@ -243,6 +243,7 @@ CPU_SLEEP: cpu-sleep {
                                entry-latency-us = <120>;
                                exit-latency-us = <250>;
                                min-residency-us = <900>;
+                                status = "disabled";
                        };
                };
        };

3. 配置 OpenOCD

3.1 配置 AMP_RK3562, 如下：

配置文件AMP_RK3562.launch，内容如下：

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="ilg.gnumcueclipse.debug.gdbjtag.openocd.launchConfigurationType">
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.PERIPHERALS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;peripherals/&gt;&#13;&#10;"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doContinue" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doDebugInRam" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doFirstReset" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doGdbServerAllocateConsole" value="true"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doGdbServerAllocateTelnetConsole" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doSecondReset" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doStartGdbCLient" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doStartGdbServer" value="true"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.enableSemihosting" value="false"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.firstResetType" value="init"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbClientOtherCommands" value="set mem inaccessible-by-default off&#13;&#10;set remotetimeout 888"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbClientOtherOptions" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerConnectionAddress" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerExecutable" value="${eclipse_home}RK\OpenOCD\bin\openocd.exe"/>
    <intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerGdbPortNumber" value="3333"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerLog" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerOther" value="-c &quot;set SMPMASK 0x8&quot;&#13;&#10;-r rk3562"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerTclPortNumber" value="6666"/>
    <intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerTelnetPortNumber" value="4444"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.otherInitCommands" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.otherRunCommands" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.secondResetType" value="halt"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.svdPath" value=""/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value="elf"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value=""/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="GNU MCU OpenOCD"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="false"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="false"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value="elf"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsOffset" value=""/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="true"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="true"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useRemoteTarget" value="true"/>
    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${eclipse_home}RK\OpenOCD\bin\aarch64-arm-riscv-none-elf-gdb.exe"/>
    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="0"/>
    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/test.elf"/>
    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="test"/>
    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
        <listEntry value="/test"/>
    </listAttribute>
    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
        <listEntry value="4"/>
    </listAttribute>
    <stringAttribute key="org.eclipse.debug.core.source_locator_id" value="org.eclipse.cdt.debug.core.sourceLocator"/>
    <stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;sourceLookupDirector&gt;&#13;&#10;    &lt;sourceContainers duplicates=&quot;false&quot;&gt;&#13;&#10;        &lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapping backend_enabled=&amp;quot;true&amp;quot; name=&amp;quot;New Mapping&amp;quot;&amp;gt;&amp;#13;&amp;#10;    &amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;/mnt/data/wumingfeng/rk3562_amp/rk3562_amp_510_next/rtos&amp;amp;quot; localPath=&amp;amp;quot;Y:\&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/mapping&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.cdt.debug.core.containerType.mapping&quot;/&gt;&#13;&#10;        &lt;container memento=&quot;AbsolutePath&quot; typeId=&quot;org.eclipse.cdt.debug.core.containerType.absolutePath&quot;/&gt;&#13;&#10;    &lt;/sourceContainers&gt;&#13;&#10;&lt;/sourceLookupDirector&gt;&#13;&#10;"/>
    <booleanAttribute key="org.eclipse.debug.ui.ATTR_LAUNCH_IN_BACKGROUND" value="false"/>
    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;&gt;&#13;&#10;    &lt;memoryBlockExpression address=&quot;18446743524108184216&quot; label=&quot;str&quot;/&gt;&#13;&#10;&lt;/memoryBlockExpressionList&gt;&#13;&#10;"/>
    <stringAttribute key="org.eclipse.embedcdt.debug.gdbjtag.core.PERIPHERALS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;peripherals/&gt;&#13;&#10;"/>
    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
    <stringAttribute key="saved_expressions&lt;seperator&gt;Unknown" value="0x20000000,0x20001000"/>
</launchConfiguration>

或者把上面的文件拷贝到:

openocd_eclipse-2020-09\RK\eclipse-workspace\.metadata\.plugins\org.eclipse.debug.core\.launches

3.2 配置AMP_RK3562_cpu3

配置文件AMP_RK3562_cpu3.launch，内容如下：

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="ilg.gnumcueclipse.debug.gdbjtag.openocd.launchConfigurationType">
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.PERIPHERALS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;peripherals/&gt;&#13;&#10;"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doContinue" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doDebugInRam" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doFirstReset" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doGdbServerAllocateConsole" value="true"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doGdbServerAllocateTelnetConsole" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doSecondReset" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doStartGdbCLient" value="true"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.doStartGdbServer" value="false"/>
    <booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.enableSemihosting" value="false"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.firstResetType" value="init"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbClientOtherCommands" value="set mem inaccessible-by-default off&#13;&#10;set remotetimeout 888"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbClientOtherOptions" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerConnectionAddress" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerExecutable" value=""/>
    <intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerGdbPortNumber" value="3333"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerLog" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerOther" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerTclPortNumber" value="6666"/>
    <intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.gdbServerTelnetPortNumber" value="4444"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.otherInitCommands" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.otherRunCommands" value=""/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.openocd.secondResetType" value="halt"/>
    <stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.svdPath" value=""/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value=""/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value=""/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="GNU MCU OpenOCD"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="true"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3334"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value="Y:\hal\project\rk3562\GCC\TestDemo.elf"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsOffset" value=""/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="true"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="true"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useRemoteTarget" value="true"/>
    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${eclipse_home}RK\OpenOCD\bin\aarch64-arm-riscv-none-elf-gdb.exe"/>
    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="true"/>
    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="0"/>
    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/test.elf"/>
    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="test"/>
    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.754998717"/>
    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
        <listEntry value="/test"/>
    </listAttribute>
    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
        <listEntry value="4"/>
    </listAttribute>
    <stringAttribute key="org.eclipse.debug.core.source_locator_id" value="org.eclipse.cdt.debug.core.sourceLocator"/>
    <stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;sourceLookupDirector&gt;&#13;&#10;    &lt;sourceContainers duplicates=&quot;false&quot;&gt;&#13;&#10;        &lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapping backend_enabled=&amp;quot;true&amp;quot; name=&amp;quot;New Mapping&amp;quot;&amp;gt;&amp;#13;&amp;#10;    &amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;/mnt/data/wumingfeng/rk3562_amp/rk3562_amp_510_next/rtos/bsp/rockchip/common/hal/lib/hal/src&amp;amp;quot; localPath=&amp;amp;quot;Y:\rtos\bsp\rockchip\common\hal\lib\hal\src&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;    &amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;/mnt/data/wumingfeng/rk3562_amp/rk3562_amp_510_next/rtos/bsp/rockchip/common/drivers&amp;amp;quot; localPath=&amp;amp;quot;Y:\rtos\bsp\rockchip\common\drivers&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;    &amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;/mnt/data/wumingfeng/rk3562_amp/rk3562_amp_510_next/rtos/bsp/rockchip/rk3562-32&amp;amp;quot; localPath=&amp;amp;quot;Y:\rtos\bsp\rockchip\rk3562-32&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/mapping&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.cdt.debug.core.containerType.mapping&quot;/&gt;&#13;&#10;        &lt;container memento=&quot;AbsolutePath&quot; typeId=&quot;org.eclipse.cdt.debug.core.containerType.absolutePath&quot;/&gt;&#13;&#10;        &lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapping backend_enabled=&amp;quot;true&amp;quot; name=&amp;quot;Found Mappings&amp;quot;&amp;gt;&amp;#13;&amp;#10;    &amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;/mnt/data/wumingfeng/rk3562_amp/rk3562_amp_510_next/rtos/bsp/rockchip/common/hal/project/rk3562/GCC/../src/&amp;amp;quot; localPath=&amp;amp;quot;Y:\hal\project\rk3562\src\&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/mapping&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.cdt.debug.core.containerType.mapping&quot;/&gt;&#13;&#10;    &lt;/sourceContainers&gt;&#13;&#10;&lt;/sourceLookupDirector&gt;&#13;&#10;"/>
    <booleanAttribute key="org.eclipse.debug.ui.ATTR_LAUNCH_IN_BACKGROUND" value="false"/>
    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;/&gt;&#13;&#10;"/>
    <stringAttribute key="org.eclipse.embedcdt.debug.gdbjtag.core.PERIPHERALS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;peripherals&gt;&#13;&#10;    &lt;peripheral name=&quot;GRF&quot;/&gt;&#13;&#10;&lt;/peripherals&gt;&#13;&#10;"/>
    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
    <stringAttribute key="saved_expressions&lt;seperator&gt;Unknown" value="0x20000000,0x20001000"/>
</launchConfiguration>

同样，可以拷贝此文件放到eclipse的工程配置目录里。

4. 启动调试

4.1 先启动AMP_RK3562

确保调试适配器和Neardi RK3562开发板上面的SWD pin连接，适配器驱动安装正确，则如下启动：

连接成功，有如下log:

Open On-Chip Debugger 0.12.0+dev-00908-g1ce92f0eb-dirty (2024-10-08-14:35)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : Please follow steps below:
Info : step1: run (./openocd -r rk3399) to connect the target board
Info : step2: run (telnet localhost 4444) to enter command mode
Info : step3: telnet command mode, use the command below:
Info : (l) list the targets support
Info : (l cpu0) set cpu0 as current target
Info : (pcsr) dump the pc of cpu when cpu is running
Info : (io) io -4 [-r(w)] [-l size] addr [write val]
Info : (halt) stop cpu
Info : (resume) resume cpu
Info : (step) step cpu
Info : (mdw) read memory in 4 bytes
Info : (mww) write memory in 4 bytes
Info : (smdw) secure read memory in 4 bytes
Info : (smww) secure write memory in 4 bytes
Info : (reg [x0] [val]) display cpu reg or set cpu reg as val
Info : (bp -h) add breakpoint
Info : (rbp -h) remove breakpoint
Info : (wp -h) remove watchpoint
Info : (rwp -h) remove watchpoint
Info : (asm pc [count ['thumb']]) disassemble
Info : (msr TCR_EL1 0x55aa55aa) write cpu system control register
Info : (mrs TCR_EL1) read cpu system control register
Info : (virt2phys) transform the virtual address to physical address
Info : (load_image filename) [p:]address ['bin'|'ihex'|'elf'|'s19'] [min_address] [max_length]
Info : (verify_image filename) [offset [type]]
Info : (dump_image filename) [p:]address size
Info : (rk_debug) rockchip define some script functions
Info : (help) list all openocd commands

.openocd/ft232h.cfg
adapter speed: 2000 kHz

.openocd/rk3562.cfg
Info : FTDI SWD mode enabled
swd
force hard breakpoints
Info : Hardware thread awareness created

Started by GNU MCU Eclipse
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
apb
cpu0
cpu1
cpu2
cpu3
Info : clock speed 2000 kHz
Info : SWD DPIDR 0x2ba01477
Info : [apb] Examination succeed
Info : cpu0: hardware has 6 breakpoints, 4 watchpoints
Info : [cpu0] Examination succeed
Info : cpu1: hardware has 6 breakpoints, 4 watchpoints
Info : [cpu1] Examination succeed
Info : cpu2: hardware has 6 breakpoints, 4 watchpoints
Info : [cpu2] Examination succeed
Info : cpu3: hardware has 6 breakpoints, 4 watchpoints
Info : [cpu3] Examination succeed
Info : gdb port disabled
Info : starting gdb server for cpu0 on 3333
Info : Listening on port 3333 for gdb connections
Info : starting gdb server for cpu3 on 3334
Info : Listening on port 3334 for gdb connections

成功连接调试板后，再启动AMP_RK3562_cpu3配置，如下：

运行成功后，有如下界面：

5. 配置源代码路径

步骤4调试成功后，如果没有设置源代码路径， eclipse里则不会显示源代码。如下设置源代码路径：

5.1 映射elf文件的编译路径

openocd如果是在Windows上面调试，则在Windows系统上面映射网络驱动盘，把rk3562在Linux的SDK路径映射到Windows，如下：

之后，在eclipse里如下映射：