+# SPDX-License-Identifier: GPL-2.0-or-later
+
+#
+# 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
+}