This tool allows us to flash the firmware to MuC and debug it with GDB. This is using the USB C cable plugged into USB C slot #1 on the side of the Reference Moto Mod, which is used for programming/debugging.

$ sudo apt-get install -y libusb-1.0-0-dev libftdi-dev libtool autoconf texinfo
$ git clone https://github.com/MotorolaMobilityLLC/openocd
$ cd openocd
$ git submodule init
$ git submodule update
$ ./bootstrap
$ ./configure --prefix=/usr/local
$ make
$ sudo make install
$ cd -

Note: If you are using Ubuntu 16.10 or later, you will need to install gcc-5 (sudo apt install gcc-5) and add "CC=gcc-5" to the above ./configure statement. This is only required for OpenOCD.

This will install libUSB and libftdi.

libUSB is a C library that provides generic access to USB devices

libftdi is an open source library used to talk to FTDI devices

Since OpenOCD uses the USB, we need to grant permissions to your linux username so it can use the FTDI. Enter the commands below in terminal:

$ id -u -n

$ sudo -s
# echo 'SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", MODE="0666", OWNER="<user name>"' >> /etc/udev/rules.d/20-ftdi.rules
# udevadm control --reload
# exit

Install GDB for low-level Debugging

The MDK provides utilities for using GDB, we will install with the commands below:

$ sudo apt-get install -y libexpat1-dev zlib1g-dev guile-2.0-dev python2.7-dev
$ wget http://ftp.gnu.org/gnu/gdb/gdb-7.11.tar.gz
$ tar -zxf gdb-7.11.tar.gz
$ cd gdb-7.11
$ ./configure --prefix=/usr/local --program-prefix=arm-none-eabi- --target=arm-none-eabi --with-python --with-guile
$ make
$ sudo make install