openocd: add dmem support to am64xx and j784s4 platforms

Platform support patches:
   - Add SWD native configuration files for AM64x and J784s4 boards
   - Configure DMEM access parameters in ti_k3.cfg for direct memory operations
   - Set up DAPBUS debugger and emulated AP descriptions

Signed-off-by: Joao Lima <joao.lima@hbkworld.com>
Signed-off-by: Khem Raj <raj.khem@gmail.com>

3 files changed, 144 insertions, 0 deletions

diff --git a/meta-oe/recipes-devtools/openocd/openocd/0001-tcl-board-ti_-_swd_native.cfg-Add-support-for-direct.patch b/meta-oe/recipes-devtools/openocd/openocd/0001-tcl-board-ti_-_swd_native.cfg-Add-support-for-direct.patch
new file mode 100644
index 0000000000..8a3b72321f
--- /dev/null
+++ b/meta-oe/recipes-devtools/openocd/openocd/0001-tcl-board-ti_-_swd_native.cfg-Add-support-for-direct.patch
@@ -0,0 +1,77 @@
+From 5c55d79ecfecc4a1b5a5ebcf649227ca1e1bf38e Mon Sep 17 00:00:00 2001
+From: Joao Lima <joao.lima@hbkworld.com>
+Date: Tue, 30 Sep 2025 12:13:04 +0000
+Subject: [PATCH 1/2] tcl/board/ti_*_swd_native.cfg: Add support for direct
+ memory access via SW
+
+Add support for SWD emulation as a transport method for
+direct memory operations of boards TI AM64x and TI J784s4
+
+Upstream-Status: Submitted [http://openocd.zylin.com/#/c/9020/]
+
+Change-Id: I17fe9b2bef5c58886625bfdb88d92645ba4d7da7
+Signed-off-by: Joao Lima <joao.lima@hbkworld.com>
+---
+ tcl/board/ti_am64xx_swd_native.cfg | 23 +++++++++++++++++++++++
+ tcl/board/ti_j784s4_swd_native.cfg | 22 ++++++++++++++++++++++
+ 2 files changed, 45 insertions(+)
+ create mode 100644 tcl/board/ti_am64xx_swd_native.cfg
+ create mode 100644 tcl/board/ti_j784s4_swd_native.cfg
+
+diff --git a/tcl/board/ti_am64xx_swd_native.cfg b/tcl/board/ti_am64xx_swd_native.cfg
+new file mode 100644
+index 000000000..d3727149e
+--- /dev/null
++++ b/tcl/board/ti_am64xx_swd_native.cfg
+@@ -0,0 +1,23 @@
++# SPDX-License-Identifier: GPL-2.0-or-later
++# Copyright (C) 2022-2023 Texas Instruments Incorporated - http://www.ti.com/
++#
++# Texas Instruments am642
++# Link: https://www.ti.com/product/AM642
++#
++# This configuration file is used as a self hosted debug configuration that
++# works on every AM642 platform based on firewall configuration permitted
++# in the system.
++#
++# In this system openOCD runs on one of the CPUs inside AM625 and provides
++# network ports that can then be used to debug the microcontrollers on the
++# SoC - either self hosted IDE OR remotely.
++
++# We are using dmem, which uses dapdirect_swd transport
++adapter driver dmem
++transport select swd
++
++if { ![info exists SOC] } {
++       set SOC am642
++}
++
++source [find target/ti_k3.cfg]
+diff --git a/tcl/board/ti_j784s4_swd_native.cfg b/tcl/board/ti_j784s4_swd_native.cfg
+new file mode 100644
+index 000000000..13b2ac3b8
+--- /dev/null
++++ b/tcl/board/ti_j784s4_swd_native.cfg
+@@ -0,0 +1,22 @@
++# SPDX-License-Identifier: GPL-2.0-or-later
++# Copyright (C) 2022-2023 Texas Instruments Incorporated - http://www.ti.com/
++#
++# Texas Instruments TDA4VM/J721E
++# Link: https://www.ti.com/product/TDA4VM
++#
++# This configuration file is used as a self hosted debug configuration that
++# works on every TDA4VM platform based on firewall configuration permitted
++# in the system.
++#
++# In this system openOCD runs on one of the CPUs inside TDA4VM and provides
++# network ports that can then be used to debug the microcontrollers on the
++# SoC - either self hosted IDE OR remotely.
++
++# We are using dmem, which uses dapdirect_swd transport
++adapter driver dmem
++transport select swd
++
++if { ![info exists SOC] } {
++        set SOC j784s4
++}
++source [find target/ti_k3.cfg]
diff --git a/meta-oe/recipes-devtools/openocd/openocd/0002-tcl-target-ti_k3.cfg-Add-support-for-direct-memory-a.patch b/meta-oe/recipes-devtools/openocd/openocd/0002-tcl-target-ti_k3.cfg-Add-support-for-direct-memory-a.patch
new file mode 100644
index 0000000000..c879696ef5
--- /dev/null
+++ b/meta-oe/recipes-devtools/openocd/openocd/0002-tcl-target-ti_k3.cfg-Add-support-for-direct-memory-a.patch
@@ -0,0 +1,65 @@
+From 39bc4461642eaaf993d0a6cf772d51cdde8c0ae8 Mon Sep 17 00:00:00 2001
+From: Joao Lima <joao.lima@hbkworld.com>
+Date: Tue, 30 Sep 2025 12:13:30 +0000
+Subject: [PATCH 2/2] tcl/target/ti_k3.cfg: Add support for direct memory
+ access via SWD
+
+Adds support for direct memory access via SWD emulation for AM64x and
+J784s4 boards, configuring addresses and parameters required for
+direct memory operations.
+
+Upstream-Status: Submitted [http://openocd.zylin.com/#/c/9021/]
+
+Change-Id: Iebc16612b3990b2ef19ddc4143b66ab1bcbfe0f3
+Signed-off-by: Joao Lima <joao.lima@hbkworld.com>
+---
+ tcl/target/ti_k3.cfg | 22 +++++++++++++++++++++-
+ 1 file changed, 21 insertions(+), 1 deletion(-)
+
+diff --git a/tcl/target/ti_k3.cfg b/tcl/target/ti_k3.cfg
+index 0dee74e5e..6b0ac2e52 100644
+--- a/tcl/target/ti_k3.cfg
++++ b/tcl/target/ti_k3.cfg
+@@ -176,6 +176,16 @@ switch $_soc {
+                        # Uses the same JTAG ID
+                        set _armv8_cores 0
+                }
++
++               # Setup DMEM access descriptions
++               # DAPBUS (Debugger) description
++               set _dmem_base_address 0x740002000
++               set _dmem_ap_address_offset 0x100
++               set _dmem_max_aps 10
++               # Emulated AP description
++               set _dmem_emu_base_address 0x760000000
++               set _dmem_emu_base_address_map_to 0x1d500000
++               set _dmem_emu_ap_list 1
+        }
+        am625 {
+                set _K3_DAP_TAPID 0x0bb7e02f
+@@ -333,7 +343,7 @@ switch $_soc {
+                set ARMV8_CTIBASE {0x90420000 0x90520000 0x90620000 0x90720000
+                            0x90820000 0x90920000 0x90a20000 0x90b20000}
+ 
+-               # J721s2 has 4 clusters of 2 R5 cores each.
++               # J784s4 has 4 clusters of 2 R5 cores each.
+                set _r5_cores 8
+                set R5_DBGBASE {0x9d010000 0x9d012000
+                         0x9d410000 0x9d412000
+@@ -348,6 +358,16 @@ switch $_soc {
+                       main1_r5.0 main1_r5.1
+                       main2_r5.0 main2_r5.1}
+ 
++               # Setup DMEM access descriptions
++               # DAPBUS (Debugger) description
++               set _dmem_base_address 0x4c40002000
++               set _dmem_ap_address_offset 0x100
++               set _dmem_max_aps 8
++               # Emulated AP description
++               set _dmem_emu_base_address 0x4c60000000
++               set _dmem_emu_base_address_map_to 0x1d600000
++               set _dmem_emu_ap_list 1
++
+                # sysctrl CTI base
+                set CM3_CTIBASE {0x20001000}
+                # Sysctrl power-ap unlock offsets
diff --git a/meta-oe/recipes-devtools/openocd/openocd_git.bb b/meta-oe/recipes-devtools/openocd/openocd_git.bb
index 3b7705c41d..ce1389b060 100644
--- a/meta-oe/recipes-devtools/openocd/openocd_git.bb
+++ b/meta-oe/recipes-devtools/openocd/openocd_git.bb
@@ -10,6 +10,8 @@ SRC_URI = " \
     git://github.com/msteveb/jimtcl.git;protocol=https;destsuffix=${BB_GIT_DEFAULT_DESTSUFFIX}/jimtcl;name=jimtcl;branch=master \
     git://repo.or.cz/r/libjaylink.git;protocol=http;destsuffix=${BB_GIT_DEFAULT_DESTSUFFIX}/src/jtag/drivers/libjaylink;name=libjaylink;branch=master \
     file://0001-Makefile.am-Use-SOURCE_DATE_EPOCH-environment-variab.patch \
+    file://0001-tcl-board-ti_-_swd_native.cfg-Add-support-for-direct.patch \
+    file://0002-tcl-target-ti_k3.cfg-Add-support-for-direct-memory-a.patch \
 "
 
 SRCREV_FORMAT = "openocd"