sdk-debugger-openocd-raspberry-pico/share/openocd/scripts/target/icepick.cfg

#
# Copyright (C)   2011        by Karl Kurbjun
# Copyright (C)   2009        by David Brownell
#

# Utilities for TI ICEpick-C/D used in most TI SoCs
# Details about the ICEPick are available in the the TRM for each SoC
# and http://processors.wiki.ti.com/index.php/ICEPICK

# create "constants"
proc CONST { key } {

	array set constant {
		# define ICEPick instructions
		IR_BYPASS   0x00
		IR_ROUTER   0x02
		IR_CONNECT  0x07
		IF_BYPASS   0x3F
	}
	return $constant($key)
}

# Instruction to connect to the icepick module
proc icepick_c_connect {jrc} {

	# Send CONNECT instruction in IR state
	irscan $jrc [CONST IR_CONNECT] -endstate IRPAUSE

	# Send write and connect key
	drscan $jrc 8 0x89 -endstate DRPAUSE
}

# Instruction to disconnect to the icepick module
proc icepick_c_disconnect {jrc} {

	# Send CONNECT instruction in IR state
	irscan $jrc [CONST IR_CONNECT] -endstate IRPAUSE

	# Send write and connect key
	drscan $jrc 8 0x86 -endstate DRPAUSE
}

#
# icepick_c_router:
#  this function is for sending router commands
# arguments are:
#  jrc:        TAP name for the ICEpick
#  rw:         read/write (0 for read, 1 for write)
#  block:      icepick or DAP
#  register:   which register to read/write
#  payload:    value to read/write
# this function is for sending router commands
#
proc icepick_c_router {jrc rw block register payload} {

	set new_dr_value \
		[expr { ( ($rw & 0x1) << 31)        | ( ($block & 0x7) << 28) | \
				( ($register & 0xF) << 24)  | ( $payload & 0xFFFFFF ) } ]

#	echo "\tNew router value:\t0x[format %x $new_dr_value]"

	# select router
	irscan $jrc [CONST IR_ROUTER] -endstate IRPAUSE

	# ROUTER instructions are 32 bits wide
	set old_dr_value 0x[drscan $jrc 32 $new_dr_value -endstate DRPAUSE]
#	echo "\tOld router value:\t0x[format %x $old_dr_value]"
}

# Configure the icepick control register
proc icepick_c_setup {jrc} {

	# send a router write, block is 0, register is 1, value is 0x2100
	icepick_c_router $jrc 1 0x0 0x1 0x001000
}

# jrc	== TAP name for the ICEpick
# port	== a port number, 0..15 for debug tap, 16..31 for test tap
proc icepick_c_tapenable {jrc port} {

	if { ($port >= 0) && ($port < 16) } {
		# Debug tap"
		set tap $port
		set block 0x2
	} elseif { $port < 32 } {
		# Test tap
		set tap [expr {$port - 16}]
		set block 0x1
	} else {
		echo "ERROR: Invalid ICEPick C port number: $port"
		return
	}

	# First CONNECT to the ICEPick
#	echo "Connecting to ICEPick"
	icepick_c_connect $jrc

#	echo "Configuring the ICEpick"
	icepick_c_setup $jrc

	# NOTE: it's important not to enter RUN/IDLE state until
	# done sending these instructions and data to the ICEpick.
	# And never to enter RESET, which will disable the TAPs.

	# first enable power and clock for TAP
	icepick_c_router $jrc 1 $block $tap 0x110048

	# TRM states that the register should be read back here, skipped for now

	# enable debug "default" mode
	icepick_c_router $jrc 1 $block $tap 0x112048

	# TRM states that debug enable and debug mode should be read back and
	# confirmed - skipped for now

	# Finally select the tap
	icepick_c_router $jrc 1 $block $tap 0x112148

	# Enter the bypass state
	irscan $jrc [CONST IR_BYPASS] -endstate RUN/IDLE
	runtest 10
}

# jrc	== TAP name for the ICEpick
# coreid== core id number 0..15 (not same as port number!)
proc icepick_d_set_core_control {jrc coreid value } {
	icepick_c_router $jrc 1 0x6 $coreid $value
}

# jrc	== TAP name for the ICEpick
# port	== a port number, 0..15
# Follow the sequence described in
# http://processors.wiki.ti.com/images/f/f6/Router_Scan_Sequence-ICEpick-D.pdf
proc icepick_d_tapenable {jrc port coreid { value 0x2008 } } {

	# First CONNECT to the ICEPick
	icepick_c_connect $jrc
	icepick_c_setup $jrc

	# Select the port
	icepick_c_router $jrc 1 0x2 $port 0x2108

	# Set icepick core control for $coreid
	icepick_d_set_core_control $jrc $coreid $value

	# Enter the bypass state
	irscan $jrc [CONST IF_BYPASS] -endstate RUN/IDLE
	runtest 10
}

# This function uses the ICEPick to send a warm system reset
proc icepick_c_wreset {jrc} {

	# send a router write, block is 0, register is 1, value is 0x2100
	icepick_c_router $jrc 1 0x0 0x1 0x002101
}