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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/5041

-- gerrit

commit 3329e293ea9b6bf6934e6a5902a0fe33fafb9a97
Author: Leonard Crestez <[email protected]>
Date:   Thu Apr 4 22:25:49 2019 +0300

    target/imx6sx: Initial support
    
    Unlike the rest of imx6 a Cortex-M4 was added with a second CoreSight
    DAP so a separate script is required.
    
    Tested on imx6sx-sdb running linux
    
    Change-Id: I1561910b233015f42508f341175822c0827655ec
    Signed-off-by: Leonard Crestez <[email protected]>

diff --git a/tcl/target/imx6sx.cfg b/tcl/target/imx6sx.cfg
new file mode 100644
index 0000000..3fe5f9a
--- /dev/null
+++ b/tcl/target/imx6sx.cfg
@@ -0,0 +1,50 @@
+#
+# Freescale i.MX6SoloX
+#
+
+if { [info exists CHIPNAME] } {
+   set  _CHIPNAME $CHIPNAME
+} else {
+   set  _CHIPNAME imx6sx
+}
+
+# 2x CoreSight Debug Access Port for Cortex-M4 and Cortex-A9
+if { [info exists DAP_TAPID] } {
+        set _DAP_TAPID $DAP_TAPID
+} else {
+        set _DAP_TAPID 0x4ba00477
+}
+
+jtag newtap $_CHIPNAME cpu_m4 -irlen 4 -ircapture 0x01 -irmask 0x0f \
+        -expected-id $_DAP_TAPID
+dap create $_CHIPNAME.dap_m4 -chain-position $_CHIPNAME.cpu_m4
+
+jtag newtap $_CHIPNAME cpu_a9 -irlen 4 -ircapture 0x01 -irmask 0x0f \
+        -expected-id $_DAP_TAPID
+dap create $_CHIPNAME.dap_a9 -chain-position $_CHIPNAME.cpu_a9
+
+# SDMA / no IDCODE
+jtag newtap $_CHIPNAME sdma -irlen 4 -ircapture 0x00 -irmask 0x0f
+
+# System JTAG Controller
+if { [info exists SJC_TAPID] } {
+        set _SJC_TAPID $SJC_TAPID
+} else {
+        set _SJC_TAPID 0x0891c01d
+}
+jtag newtap $_CHIPNAME sjc -irlen 5 -ircapture 0x01 -irmask 0x1f \
+        -expected-id $_SJC_TAPID -ignore-version
+
+# Cortex-A9 (boot core)
+target create $_CHIPNAME.cpu_a9 cortex_a -dap $_CHIPNAME.dap_a9 \
+        -coreid 0 -dbgbase 0x82150000
+
+# Cortex-M4 (default off)
+target create $_CHIPNAME.cpu_m4 cortex_m -dap $_CHIPNAME.dap_m4 \
+        -ap-num 0 -defer-examine
+
+# AHB mem-ap target
+target create $_CHIPNAME.ahb mem_ap -dap $_CHIPNAME.dap_a9 -ap-num 0
+
+# Default target is Cortex-A9
+targets $_CHIPNAME.cpu_a9

-- 


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