Gateworks JTAG support

To use the JTAG software with the Ventana boards, please see the JTAG Software Page

Gateworks has two models of JTAG programmers:

GW16042 - uses 14-pin, 0.1" connector for Avila, Cambria, Laguna (GW2387, GW2388, GW2391) boards.

GW16099 - uses 10-pin, 0.05" connector for Laguna (GW2380, GW2382, GW2383), Ventana, Newport boards.

Both of these programmers uses the FTDI ​FT2232D which has two general purpose 8-bit ports. The 1st port is configured for JTAG and utilizes the FTDI MPSSE engine. The 2nd port is configured for serial and used for the Serial Console.

GW16042 JTAG dongle

The diagram below shows the signal mapping for the 14-pin connector:

GW16099 JTAG dongle

The diagram below shows the signal mapping for the 10-pin connector:

Gateworks System Controller (GSC)

Most of our boards have a 'Gateworks System Controller' implemented with an MSP430 MPU which emulates several I2C devices used for system control and monitoring (see gsc). The MSP430 is on our JTAG chain, along with the board specific CPU so that we can access both of these devices via JTAG. The MSP430 does not use standard JTAG and by default and the part comes up in 'Spy-By-Wire' mode where you must transition TRST and SRST properly to get the part into JTAG mode. Without doing so, it will 'break the chain'. Additionally, the MSP430 must be manually clocked when accessing its JTAG interface which the TDI signal is used for. For these reasons the MSP430 must be the first device on the JTAG chain. On all Gateworks boards with a GSC a bypass resistor exists across the TDI and TDO pins of the GSC so that it can be optionally loaded with a 0ohm resistor to physically bypass the GSC from the JTAG chain. When this is done you can still access the rest of the chain, just not the GSC. The board will function normally you just wont be able to read/write GSC firmware via the GW16042 JTAG dongle and software. Refer the the individual product user manual for details about the resistor to bypass the GSC from the JTAG chain.

The following state transitions of JTAG TRST# and SRST# will put the MSP430 in JTAG mode:

1. JTAG TRST# = 0, JTAG SRST# = 1
2. JTAG TRST# = 1, JTAG SRST# = 1
3. JTAG TRST# = 1, JTAG SRST# = 0
4. JTAG TRST# = 0, JTAG SRST# = 0
5. JTAG TRST# = 1, JTAG SRST# = 0
6. JTAG TRST# = 1, JTAG SRST# = 1

Once in JTAG mode, it will be in bypass by default with an 8-bit instruction length. Note that the MSP430 does not have a JTAG ID thus it will not show up if you try to auto detect.

References:

• Gateworks System Controller: gsc
• FTDI AN_108 MPSSE - ​http://www.ftdichip.com/Support/Documents/AppNotes/AN_108_Command_Processor_for_MPSSE_and_MCU_Host_Bus_Emulation_Modes.pdf
• MSP430 Programming Via the JTAG interface - ​http://www.ti.com/lit/ug/slau320h/slau320h.pdf

JTAG Chain

The Gateworks Newport family has the following JTAG chain:

1. GSC (MSP430) (IR length=8bits, defaults to Spy-By-Wire mode on powerup)
2. Coresight Debug Access Port v5.2 (IR Length=4bits)

The Gateworks Ventana family has the following JTAG chain:

1. GSC (MSP430) (IR length=8bits, defaults to Spy-By-Wire mode on powerup)
2. IMX6 SoC which internally has the following devices on the JTAG chain:
   1. IMX6 SJC (IR length=5bits)
   2. IMX6 SDMA (IR length=4bits)
   3. ARMV7A DAP (IR length=4bits)

The Gateworks Laguna family has the following JTAG chain:

1. GSC (MSP430) (IR length=8bits, defaults to Spy-By-Wire mode on powerup)
2. CNS3xxx CPU (IR length=5 bits)
3. CNS3xxx CPU (IR length=5 bits) (if dual-core product)

The Gateworks Rincon family has the following JTAG chain:

1. GSC (MSP430) (IR length=8bits, defaults to Spy-By-Wire mode on powerup)
2. DM6446 CPU (IR length=6 bits) (in bypass mode at powerup)
3. ARM9 Core (IR length=4 bits)

The Gateworks Avila / Cambria family has the following JTAG chain:

1. GSC (MSP430) (IR length=8bits, defaults to Spy-By-Wire mode on powerup) (only certain avila/cambria products have a GSC)
2. IXP42x CPU (IR length=7 bits)
3. PLD (IR length=8 bits) (only certain avila/cambria products have a PLD)

OpenOCD

​OpenOCD is an on chip debugger which aims to provide in-system programming and debugging. In order to use OpenOCD on our platform, you must install current version of OpenOCD and apply a patch. Listed below are the steps involved.

Note: These steps were performed on Ubuntu 13.04 32-bit and Ubuntu 14.04 64-bit. The following dependencies were installed prior to installing OpenOCD: libtool, git, curl, texinfo, automake

$ git clone git://git.code.sf.net/p/openocd/code openocd
$ cd openocd
$ ./bootstrap
$ ./configure --enable-ftdi --enable-maintainer-mode
$ wget http://trac.gateworks.com/raw-attachment/wiki/jtag/gw16042.cfg
$ wget http://trac.gateworks.com/raw-attachment/wiki/jtag/gateworks-openocd.patch
$ git apply gateworks-openocd.patch
$ make

We currently have a board configuration file for the gw2388 and our Ventana family line. You can grab either one by doing the following:

wget http://trac.gateworks.com/raw-attachment/wiki/jtag/gw2388.cfg
wget http://trac.gateworks.com/raw-attachment/wiki/jtag/gw5xxx.cfg

To run OpenOCD on the gw2388, just enter the following:

./src/openocd -f gw16042.cfg -f gw2388.cfg

To run OpenOCD on our Ventana family line, do the following (Assuming you are in the build directory for OpenOCD):

./src/openocd -f gw16042.cfg -f tcl/target/imx6.cfg -f gw5xxx.cfg

Expect to see retries as the MSP430 takes a few tries to get into 4-wire JTAG mode. After that, just follow the ​openocd user manual.