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+# OpenOCD对FreeRTOS的调试支持使用指南
+
+通过更新您的Nuclei Studio IDE到202502版本和下载0.7.1的sdk-nuclei_sdk,并配合一些下面的修改，就可以使用OpenOCD对FreeRTOS进行调试。
+
+### 环境准备
+
+**Nuclei Studio**：
+
+- [NucleiStudio 202502 Windows](https://download.nucleisys.com/upload/files/nucleistudio/NucleiStudio_IDE_202502-win64.zip)
+- [NucleiStudio 202502 Linux](https://download.nucleisys.com/upload/files/nucleistudio/NucleiStudio_IDE_202502-lin64.tgz)
+
+**Nuclei OpenOCD**：
+
+- 使用NucleiStudio 202502自带的的OpenOCD即可。
+
+### 使用步骤
+
+**step1：创建原始工程**
+
+在NucleiStudio IDE下载好0.7.1版本的sdk-nuclei_sdk。
+
+![image-20250513103947602](asserts\images\26\26-1.png)
+
+创建一个900的项目，如下图。
+
+![image-20250513170041690](asserts\images\26\26-2.png)
+
+开发板烧写对应的bit即可，这里我们使用u900_best_config_ku060_50M_c1dd7f44af_915aefa97_202504141013_v4.1.0.bit
+
+**step2：修改portmacro.h内容**
+
+项目创建好，找到nuclei_sdk\OS\FreeRTOS\Source\portable\portmacro.h, 修改该文件内容如下
+
+~~~
+typedef uint32_t TickType_t;
+#define portMAX_DELAY           ( TickType_t )0xFFFFFFFFUL
+/* RISC-V TIMER is 64-bit long */
+//typedef uint64_t TickType_t;
+//#define portMAX_DELAY           ( TickType_t )0xFFFFFFFFFFFFFFFFULL
+~~~
+
+![image-20250513165844658](asserts\images\26\26-3.png)
+
+**step3：修改openocd_evalsoc.cfg内容**
+
+找到nuclei_sdk/SoC/evalsoc/Board/nuclei_fpga_eval/openocd_evalsoc.cfg,修改第118行内容
+
+~~~
+target create $_TARGETNAME riscv -chain-position $_TARGETNAME -coreid $BOOTHART -rtos FreeRTOS
+~~~
+
+![image-20250513165933970](asserts\images\26\26-4.png)
+
+**step4：openocd调试工程**
+
+Debug运行程序，打开Debugger Console视图。
+
+在Debugger Console视图下输入info threads，回车。
+
+![image-20250513165625083](asserts\images\26\26-5.png)
+
+### 使用说明
+
+目前支持**FreeRTOS**,不支持**Zephyr**、**ThreadX**、**UCOSII**。
+
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@@ -30,6 +30,7 @@ nav:
     - 23-nuclei_debug_map_register_analyze.md
     - 24-example_for_adding_new_instructions_in_binutils.md
     - 25-nuclei_cross_trigger_in_openocd.md
+    - 26-debugging_support_for_freertos_by_openocd.md
 exclude_docs: |
     0-*.md
 theme: