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Leonard Crestez ([email protected]) just uploaded a new patch set to Gerrit, 
which you can find at http://openocd.zylin.com/5034

-- gerrit

commit 32d34295d4cce73219f3499b7a90e66fe66d1fab
Author: Leonard Crestez <[email protected]>
Date:   Fri Aug 10 19:54:43 2018 +0300

    target/imx6: Add all TAPIDs
    
    Copy all SJC TAPIPs from imx reference manuals.
    
    Some imx6 chips are based on Cortex-A7; did not check that they actually
    work with this base config.
    
    Change-Id: I3b07d94058c2c5e6313cfc8bb43134a90682a62e
    Signed-off-by: Leonard Crestez <[email protected]>

diff --git a/tcl/target/imx6.cfg b/tcl/target/imx6.cfg
index 58dc418..ac5987b 100644
--- a/tcl/target/imx6.cfg
+++ b/tcl/target/imx6.cfg
@@ -20,19 +20,42 @@ jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x01 -irmask 
0x0f \
 jtag newtap $_CHIPNAME sdma -irlen 4 -ircapture 0x00 -irmask 0x0f
 
 # System JTAG Controller
+
+# Supported SJC TAPIDs from imx reference manuals:
+set _SJC_TAPID_6Q   0x0191c01d
+set _SJC_TAPID_6D   0x0191e01d
+set _SJC_TAPID_6QP  0x3191c01d
+set _SJC_TAPID_6DP  0x3191d01d
+set _SJC_TAPID_6DL  0x0891a01d
+set _SJC_TAPID_6S   0x0891b01d
+set _SJC_TAPID_6SX  0x0891c01d
+set _SJC_TAPID_6SL  0x0891f01d
+set _SJC_TAPID_6SLL 0x088c201d
+set _SJC_TAPID_6UL  0x0891d01d
+set _SJC_TAPID_6ULL 0x0891e01d
+set _SJC_TAPID_6ULZ 0x1891e01d
+
+# Allow external override of the first SJC TAPID
 if { [info exists SJC_TAPID] } {
         set _SJC_TAPID $SJC_TAPID
 } else {
-        set _SJC_TAPID 0x0191c01d
+        set _SJC_TAPID $_SJC_TAPID_6Q
 }
-set _SJC_TAPID2 0x2191c01d
-set _SJC_TAPID3 0x2191e01d
-set _SJC_TAPID4 0x1191c01d
 
 jtag newtap $_CHIPNAME sjc -irlen 5 -ircapture 0x01 -irmask 0x1f \
         -ignore-version \
-        -expected-id $_SJC_TAPID -expected-id $_SJC_TAPID2 \
-        -expected-id $_SJC_TAPID3 -expected-id $_SJC_TAPID4
+        -expected-id $_SJC_TAPID \
+        -expected-id $_SJC_TAPID_6QP \
+        -expected-id $_SJC_TAPID_6DP \
+        -expected-id $_SJC_TAPID_6D \
+        -expected-id $_SJC_TAPID_6DL \
+        -expected-id $_SJC_TAPID_6S \
+        -expected-id $_SJC_TAPID_6SX \
+        -expected-id $_SJC_TAPID_6SL \
+        -expected-id $_SJC_TAPID_6SLL \
+        -expected-id $_SJC_TAPID_6UL \
+        -expected-id $_SJC_TAPID_6ULL \
+        -expected-id $_SJC_TAPID_6ULZ \
 
 # GDB target: Cortex-A9, using DAP, configuring only one core
 # Base addresses of cores:

-- 


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