riscv-openocd/tcl/target/imx6.cfg

# Freescale i.MX6 series single/dual/quad core processor

if { [info exists CHIPNAME] } {
   set  _CHIPNAME $CHIPNAME
} else {
   set  _CHIPNAME imx6
}

# CoreSight Debug Access Port
if { [info exists DAP_TAPID] } {
        set _DAP_TAPID $DAP_TAPID
} else {
        set _DAP_TAPID 0x4ba00477
}

jtag newtap $_CHIPNAME dap -irlen 4 -ircapture 0x01 -irmask 0x0f \
        -expected-id $_DAP_TAPID

# 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 0x0191c01d
}
set _SJC_TAPID2 0x2191c01d
set _SJC_TAPID3 0x2191e01d

jtag newtap $_CHIPNAME sjc -irlen 5 -ircapture 0x01 -irmask 0x1f \
        -expected-id $_SJC_TAPID -expected-id $_SJC_TAPID2 \
        -expected-id $_SJC_TAPID3

# GDB target: Cortex-A9, using DAP, configuring only one core
# Base addresses of cores:
# core 0  -  0x82150000
# core 1  -  0x82152000
# core 2  -  0x82154000
# core 3  -  0x82156000
set _TARGETNAME $_CHIPNAME.cpu.0
target create $_TARGETNAME cortex_a -chain-position $_CHIPNAME.dap \
        -coreid 0 -dbgbase 0x82150000

# some TCK cycles are required to activate the DEBUG power domain
jtag configure $_CHIPNAME.sjc -event post-reset "runtest 100"

proc imx6_dbginit {target} {
        # General Cortex A8/A9 debug initialisation
        cortex_a dbginit
}

# Slow speed to be sure it will work
jtag_rclk 1000
$_TARGETNAME configure -event reset-start { jtag_rclk 1000 }

$_TARGETNAME configure -event reset-assert-post "imx6_dbginit $_TARGETNAME"
$_TARGETNAME configure -event gdb-attach { halt }