icdi: add TI icdi interface

This is the new proprietary interface replacing the older FTDI based adapters.
It is currently fitted to the ek-lm4f232 and Stellaris LaunchPad.

Change-Id: I794ad79e31ff61ec8e9f49530aca9308025c0b60
Signed-off-by: Spencer Oliver <spen@spen-soft.co.uk>
Reviewed-on: http://openocd.zylin.com/922
Tested-by: jenkins

13 files changed, 858 insertions, 13 deletions

diff --git a/README b/README
index 7b1f4a2..08aa4f2 100644
--- a/README
+++ b/README
@@ -275,6 +275,8 @@ options may be available there:
 
   --enable-stlink         Enable building support for the ST-Link JTAG
                           Programmer
+  --enable-ti-icdi        Enable building support for the TI/Stellaris ICDI
+                          JTAG Programmer
 
   --enable-osbdm          Enable building support for the OSBDM (JTAG only)
                           Programmer
diff --git a/configure.ac b/configure.ac
index 99f39d4..51d43ba 100644
--- a/configure.ac
+++ b/configure.ac
@@ -477,7 +477,11 @@ AC_ARG_ENABLE([buspirate],
 
 AC_ARG_ENABLE([stlink],
   AS_HELP_STRING([--enable-stlink], [Enable building support for the ST-Link JTAG Programmer]),
-  [build_hladapter=$enableval], [build_hladapter=no])
+  [build_hladapter_stlink=$enableval], [build_hladapter_stlink=no])
+
+AC_ARG_ENABLE([ti-icdi],
+  AS_HELP_STRING([--enable-ti-icdi], [Enable building support for the TI ICDI JTAG Programmer]),
+  [build_hladapter_icdi=$enableval], [build_hladapter_icdi=no])
 
 AC_ARG_ENABLE([osbdm],
   AS_HELP_STRING([--enable-osbdm], [Enable building support for the OSBDM (JTAG only) Programmer]),
@@ -790,10 +794,10 @@ else
   AC_DEFINE([BUILD_BUSPIRATE], [0], [0 if you don't want the Buspirate JTAG driver.])
 fi
 
-if test $build_hladapter = yes; then
-  AC_DEFINE([BUILD_HLADAPTER], [1], [1 if you want the ST-Link JTAG driver.])
+if test $build_hladapter_stlink = yes -o $build_hladapter_icdi = yes; then
+  AC_DEFINE([BUILD_HLADAPTER], [1], [1 if you want the High Level JTAG driver.])
 else
-  AC_DEFINE([BUILD_HLADAPTER], [0], [0 if you don't want the ST-Link JTAG driver.])
+  AC_DEFINE([BUILD_HLADAPTER], [0], [0 if you don't want the High Level JTAG driver.])
 fi
 
 if test $build_osbdm = yes; then
@@ -1142,8 +1146,8 @@ fi
 
 # Check for libusb1 ported drivers.
 build_usb_ng=no
-if test $build_jlink = yes -o $build_hladapter = yes -o $build_osbdm = yes -o \
-  $build_opendous = yes -o $build_ftdi = yes
+if test $build_jlink = yes -o $build_hladapter_stlink = yes -o $build_osbdm = yes -o \
+  $build_opendous = yes -o $build_ftdi = yes -o $build_hladapter_icdi = yes
 then
   build_usb_ng=yes
 fi
@@ -1192,7 +1196,7 @@ AM_CONDITIONAL([ULINK], [test $build_ulink = yes])
 AM_CONDITIONAL([ARMJTAGEW], [test $build_armjtagew = yes])
 AM_CONDITIONAL([REMOTE_BITBANG], [test $build_remote_bitbang = yes])
 AM_CONDITIONAL([BUSPIRATE], [test $build_buspirate = yes])
-AM_CONDITIONAL([HLADAPTER], [test $build_hladapter = yes])
+AM_CONDITIONAL([HLADAPTER], [test $build_hladapter_stlink = yes -o $build_hladapter_icdi = yes])
 AM_CONDITIONAL([OSBDM], [test $build_osbdm = yes])
 AM_CONDITIONAL([OPENDOUS], [test $build_opendous = yes])
 AM_CONDITIONAL([SYSFSGPIO], [test $build_sysfsgpio = yes])
diff --git a/contrib/openocd.udev b/contrib/openocd.udev
index 5d4e639..7065014 100644
--- a/contrib/openocd.udev
+++ b/contrib/openocd.udev
@@ -49,12 +49,15 @@ ATTRS{idVendor}=="0640", ATTRS{idProduct}=="002c", MODE="664", GROUP="plugdev"
 # Hitex STM32-PerformanceStick
 ATTRS{idVendor}=="0640", ATTRS{idProduct}=="002d", MODE="664", GROUP="plugdev"
 
-# TI/Luminary Stellaris Evaluation Board (several)
+# TI/Luminary Stellaris Evaluation Board FTDI (several)
 ATTRS{idVendor}=="0403", ATTRS{idProduct}=="bcd9", MODE="664", GROUP="plugdev"
 
-# TI/Luminary Stellaris In-Circuit Debug Interface (ICDI) Board
+# TI/Luminary Stellaris In-Circuit Debug Interface FTDI (ICDI) Board
 ATTRS{idVendor}=="0403", ATTRS{idProduct}=="bcda", MODE="664", GROUP="plugdev"
 
+# TI/Luminary Stellaris In-Circuit Debug Interface (ICDI) Board
+ATTRS{idVendor}=="1cbe", ATTRS{idProduct}=="00fd", MODE="664", GROUP="plugdev"
+
 # Xverve Signalyzer Tool (DT-USB-ST)
 ATTRS{idVendor}=="0403", ATTRS{idProduct}=="bca0", MODE="664", GROUP="plugdev"
 
diff --git a/src/helper/binarybuffer.c b/src/helper/binarybuffer.c
index d98fa16..a90ec7b 100644
--- a/src/helper/binarybuffer.c
+++ b/src/helper/binarybuffer.c
@@ -370,3 +370,30 @@ void bit_copy_discard(struct bit_copy_queue *q)
 		free(qe);
 	}
 }
+
+int unhexify(char *bin, const char *hex, int count)
+{
+	int i, tmp;
+
+	for (i = 0; i < count; i++) {
+		if (sscanf(hex + (2 * i), "%02x", &tmp) != 1)
+			return i;
+		bin[i] = tmp;
+	}
+
+	return i;
+}
+
+int hexify(char *hex, const char *bin, int count, int out_maxlen)
+{
+	int i, cmd_len = 0;
+
+	/* May use a length, or a null-terminated string as input. */
+	if (count == 0)
+		count = strlen(bin);
+
+	for (i = 0; i < count; i++)
+		cmd_len += snprintf(hex + cmd_len, out_maxlen - cmd_len, "%02x", bin[i]);
+
+	return cmd_len;
+}
diff --git a/src/helper/binarybuffer.h b/src/helper/binarybuffer.h
index cc0be57..633ed9e 100644
--- a/src/helper/binarybuffer.h
+++ b/src/helper/binarybuffer.h
@@ -156,4 +156,9 @@ int bit_copy_queued(struct bit_copy_queue *q, uint8_t *dst, unsigned dst_offset,
 void bit_copy_execute(struct bit_copy_queue *q);
 void bit_copy_discard(struct bit_copy_queue *q);
 
+/* functions to convert to/from hex encoded buffer
+ * used in ti-icdi driver and gdb server */
+int unhexify(char *bin, const char *hex, int count);
+int hexify(char *hex, const char *bin, int count, int out_maxlen);
+
 #endif /* BINARYBUFFER_H */
diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am
index 6d232d2..e064399 100644
--- a/src/jtag/drivers/Makefile.am
+++ b/src/jtag/drivers/Makefile.am
@@ -100,6 +100,7 @@ DRIVERFILES += remote_bitbang.c
 endif
 if HLADAPTER
 DRIVERFILES += stlink_usb.c
+DRIVERFILES += ti_icdi_usb.c
 endif
 if OSBDM
 DRIVERFILES += osbdm.c
diff --git a/src/jtag/drivers/ti_icdi_usb.c b/src/jtag/drivers/ti_icdi_usb.c
new file mode 100644
index 0000000..6729522
--- /dev/null
+++ b/src/jtag/drivers/ti_icdi_usb.c
@@ -0,0 +1,730 @@
+/***************************************************************************
+ *                                                                         *
+ *   Copyright (C) 2012 by Spencer Oliver                                  *
+ *   spen@spen-soft.co.uk                                                  *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+/* project specific includes */
+#include <helper/binarybuffer.h>
+#include <jtag/interface.h>
+#include <jtag/hla/hla_layout.h>
+#include <jtag/hla/hla_transport.h>
+#include <jtag/hla/hla_interface.h>
+#include <target/target.h>
+
+#include <target/cortex_m.h>
+
+#include <libusb-1.0/libusb.h>
+
+#define ICDI_WRITE_ENDPOINT 0x02
+#define ICDI_READ_ENDPOINT 0x83
+
+#define ICDI_WRITE_TIMEOUT 1000
+#define ICDI_READ_TIMEOUT 1000
+#define ICDI_PACKET_SIZE 2048
+
+#define PACKET_START "$"
+#define PACKET_END "#"
+
+struct icdi_usb_handle_s {
+	libusb_context *usb_ctx;
+	libusb_device_handle *usb_dev;
+
+	char *read_buffer;
+	char *write_buffer;
+	int max_packet;
+	int read_count;
+};
+
+static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer);
+static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer);
+
+static int remote_escape_output(const char *buffer, int len, char *out_buf, int *out_len, int out_maxlen)
+{
+	int input_index, output_index;
+
+	output_index = 0;
+
+	for (input_index = 0; input_index < len; input_index++) {
+
+		char b = buffer[input_index];
+
+		if (b == '$' || b == '#' || b == '}' || b == '*') {
+			/* These must be escaped.  */
+			if (output_index + 2 > out_maxlen)
+				break;
+			out_buf[output_index++] = '}';
+			out_buf[output_index++] = b ^ 0x20;
+		} else {
+			if (output_index + 1 > out_maxlen)
+				break;
+			out_buf[output_index++] = b;
+		}
+	}
+
+	*out_len = input_index;
+	return output_index;
+}
+
+static int remote_unescape_input(const char *buffer, int len, char *out_buf, int out_maxlen)
+{
+	int input_index, output_index;
+	int escaped;
+
+	output_index = 0;
+	escaped = 0;
+
+	for (input_index = 0; input_index < len; input_index++) {
+
+		char b = buffer[input_index];
+
+		if (output_index + 1 > out_maxlen)
+			LOG_ERROR("Received too much data from the target.");
+
+		if (escaped) {
+			out_buf[output_index++] = b ^ 0x20;
+			escaped = 0;
+		} else if (b == '}')
+			escaped = 1;
+		else
+			out_buf[output_index++] = b;
+	}
+
+	if (escaped)
+		LOG_ERROR("Unmatched escape character in target response.");
+
+	return output_index;
+}
+
+static int icdi_send_packet(void *handle, int len)
+{
+	unsigned char cksum = 0;
+	struct icdi_usb_handle_s *h;
+	int result, retry = 0;
+	int transferred = 0;
+
+	assert(handle != NULL);
+	h = (struct icdi_usb_handle_s *)handle;
+
+	/* check we have a large enough buffer for checksum "#00" */
+	if (len + 3 > h->max_packet) {
+		LOG_ERROR("packet buffer too small");
+		return ERROR_FAIL;
+	}
+
+	/* calculate checksum - offset start of packet */
+	for (int i = 1; i < len; i++)
+		cksum += h->write_buffer[i];
+
+	len += sprintf(&h->write_buffer[len], PACKET_END "%02x", cksum);
+
+#ifdef _DEBUG_USB_COMMS_
+	char buffer[50];
+	char ch = h->write_buffer[1];
+	if (ch == 'x' || ch == 'X')
+		LOG_DEBUG("writing packet: <binary>");
+	else {
+		memcpy(buffer, h->write_buffer, len >= 50 ? 50-1 : len);
+		buffer[len] = 0;
+		LOG_DEBUG("writing packet: %s", buffer);
+	}
+#endif
+
+	while (1) {
+
+		result = libusb_bulk_transfer(h->usb_dev, ICDI_WRITE_ENDPOINT, (unsigned char *)h->write_buffer, len,
+				&transferred, ICDI_WRITE_TIMEOUT);
+		if (result != 0 || transferred != len) {
+			LOG_DEBUG("Error TX Data %d", result);
+			return ERROR_FAIL;
+		}
+
+		/* check that the client got the message ok, or shall we resend */
+		result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer, h->max_packet,
+					&transferred, ICDI_READ_TIMEOUT);
+		if (result != 0 || transferred < 1) {
+			LOG_DEBUG("Error RX Data %d", result);
+			return ERROR_FAIL;
+		}
+
+#ifdef _DEBUG_USB_COMMS_
+		LOG_DEBUG("received reply: '%c' : count %d", h->read_buffer[0], transferred);
+#endif
+
+		if (h->read_buffer[0] == '-') {
+			LOG_DEBUG("Resending packet %d", ++retry);
+		} else {
+			if (h->read_buffer[0] != '+')
+				LOG_DEBUG("Unexpected Reply from ICDI: %c", h->read_buffer[0]);
+			break;
+		}
+
+		if (retry == 3) {
+			LOG_DEBUG("maximum nack retries attempted");
+			return ERROR_FAIL;
+		}
+	}
+
+	retry = 0;
+	h->read_count = transferred;
+
+	while (1) {
+
+		/* read reply from icdi */
+		result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer + h->read_count,
+				h->max_packet - h->read_count, &transferred, ICDI_READ_TIMEOUT);
+
+#ifdef _DEBUG_USB_COMMS_
+		LOG_DEBUG("received data: count %d", transferred);
+#endif
+
+		/* check for errors but retry for timeout */
+		if (result != 0) {
+
+			if (result == LIBUSB_ERROR_TIMEOUT) {
+				LOG_DEBUG("Error RX timeout %d", result);
+			} else {
+				LOG_DEBUG("Error RX Data %d", result);
+				return ERROR_FAIL;
+			}
+		}
+
+		h->read_count += transferred;
+
+		/* we need to make sure we have a full packet, including checksum */
+		if (h->read_count > 5) {
+
+			/* check that we have received an packet delimiter
+			 * we do not validate the checksum
+			 * reply should contain $...#AA - so we check for # */
+			if (h->read_buffer[h->read_count - 3] == '#')
+				return ERROR_OK;
+		}
+
+		if (retry++ == 3) {
+			LOG_DEBUG("maximum data retries attempted");
+			break;
+		}
+	}
+
+	return ERROR_FAIL;
+}
+
+static int icdi_send_cmd(void *handle, const char *cmd)
+{
+	struct icdi_usb_handle_s *h;
+	h = (struct icdi_usb_handle_s *)handle;
+
+	int cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "%s", cmd);
+	return icdi_send_packet(handle, cmd_len);
+}
+
+static int icdi_send_remote_cmd(void *handle, const char *data)
+{
+	struct icdi_usb_handle_s *h;
+	h = (struct icdi_usb_handle_s *)handle;
+
+	size_t cmd_len = sprintf(h->write_buffer, PACKET_START "qRcmd,");
+	cmd_len += hexify(h->write_buffer + cmd_len, data, 0, h->max_packet - cmd_len);
+
+	return icdi_send_packet(handle, cmd_len);
+}
+
+static int icdi_get_cmd_result(void *handle)
+{
+	struct icdi_usb_handle_s *h;
+	int offset = 0;
+	char ch;
+
+	assert(handle != NULL);
+	h = (struct icdi_usb_handle_s *)handle;
+
+	do {
+		ch = h->read_buffer[offset++];
+		if (offset > h->read_count)
+			return ERROR_FAIL;
+	} while (ch != '$');
+
+	if (memcmp("OK", h->read_buffer + offset, 2) == 0)
+		return ERROR_OK;
+
+	if (h->read_buffer[offset] == 'E') {
+		/* get error code */
+		char result;
+		if (unhexify(&result, h->read_buffer + offset + 1, 1) != 1)
+			return ERROR_FAIL;
+		return result;
+	}
+
+	/* for now we assume everything else is ok */
+	return ERROR_OK;
+}
+
+static int icdi_usb_idcode(void *handle, uint32_t *idcode)
+{
+	return ERROR_OK;
+}
+
+static int icdi_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
+{
+	return icdi_usb_write_mem32(handle, addr, 1, (uint8_t *)&val);
+}
+
+static enum target_state icdi_usb_state(void *handle)
+{
+	int result;
+	struct icdi_usb_handle_s *h;
+	uint32_t dhcsr;
+
+	h = (struct icdi_usb_handle_s *)handle;
+
+	result = icdi_usb_read_mem32(h, DCB_DHCSR, 1, (uint8_t *)&dhcsr);
+	if (result != ERROR_OK)
+		return TARGET_UNKNOWN;
+
+	if (dhcsr & S_HALT)
+		return TARGET_HALTED;
+
+	return TARGET_RUNNING;
+}
+
+static int icdi_usb_version(void *handle)
+{
+	struct icdi_usb_handle_s *h;
+	h = (struct icdi_usb_handle_s *)handle;
+
+	char version[20];
+
+	/* get info about icdi */
+	int result = icdi_send_remote_cmd(handle, "version");
+	if (result != ERROR_OK)
+		return result;
+
+	if (h->read_count < 8) {
+		LOG_ERROR("Invalid Reply Received");
+		return ERROR_FAIL;
+	}
+
+	/* convert reply */
+	if (unhexify(version, h->read_buffer + 2, 4) != 4) {
+		LOG_WARNING("unable to get ICDI version");
+		return ERROR_OK;
+	}
+
+	/* null terminate and print info */
+	version[4] = 0;
+
+	LOG_INFO("ICDI Firmware version: %s", version);
+
+	return ERROR_OK;
+}
+
+static int icdi_usb_query(void *handle)
+{
+	int result;
+
+	struct icdi_usb_handle_s *h;
+	h = (struct icdi_usb_handle_s *)handle;
+
+	result = icdi_send_cmd(handle, "qSupported");
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("query supported failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	/* from this we can get the max packet supported */
+
+	/* query packet buffer size */
+	char *offset = strstr(h->read_buffer, "PacketSize");
+	if (offset) {
+		char *separator;
+		int max_packet;
+
+		max_packet = strtoul(offset + 11, &separator, 16);
+		if (!max_packet)
+			LOG_ERROR("invalid max packet, using defaults");
+		else
+			h->max_packet = max_packet;
+		LOG_DEBUG("max packet supported : %" PRIu32 " bytes", h->max_packet);
+	}
+
+
+	/* if required re allocate packet buffer */
+	if (h->max_packet != ICDI_PACKET_SIZE) {
+		h->read_buffer = realloc(h->read_buffer, h->max_packet);
+		h->write_buffer = realloc(h->write_buffer, h->max_packet);
+		if (h->read_buffer == 0 || h->write_buffer == 0) {
+			LOG_ERROR("unable to reallocate memory");
+			return ERROR_FAIL;
+		}
+	}
+
+	/* set extended mode */
+	result = icdi_send_cmd(handle, "!");
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("unable to enable extended mode: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	return ERROR_OK;
+}
+
+static int icdi_usb_reset(void *handle)
+{
+	/* we do this in hla_target.c */
+	return ERROR_OK;
+}
+
+static int icdi_usb_assert_srst(void *handle, int srst)
+{
+	/* TODO not supported yet */
+	return ERROR_COMMAND_NOTFOUND;
+}
+
+static int icdi_usb_run(void *handle)
+{
+	int result;
+
+	/* resume target at current address */
+	result = icdi_send_cmd(handle, "c");
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("continue failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	return result;
+}
+
+static int icdi_usb_halt(void *handle)
+{
+	int result;
+
+	/* this query halts the target ?? */
+	result = icdi_send_cmd(handle, "?");
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("halt failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	return result;
+}
+
+static int icdi_usb_step(void *handle)
+{
+	int result;
+
+	/* step target at current address */
+	result = icdi_send_cmd(handle, "s");
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("step failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	return result;
+}
+
+static int icdi_usb_read_regs(void *handle)
+{
+	/* currently unsupported */
+	return ERROR_OK;
+}
+
+static int icdi_usb_read_reg(void *handle, int num, uint32_t *val)
+{
+	int result;
+	struct icdi_usb_handle_s *h;
+	char cmd[10];
+
+	h = (struct icdi_usb_handle_s *)handle;
+
+	snprintf(cmd, sizeof(cmd), "p%x", num);
+	result = icdi_send_cmd(handle, cmd);
+	if (result != ERROR_OK)
+		return result;
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("register read failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	/* convert result */
+	if (unhexify((char *)val, h->read_buffer + 2, 4) != 4) {
+		LOG_ERROR("failed to convert result");
+		return ERROR_FAIL;
+	}
+
+	return result;
+}
+
+static int icdi_usb_write_reg(void *handle, int num, uint32_t val)
+{
+	int result;
+	char cmd[20];
+
+	int cmd_len = snprintf(cmd, sizeof(cmd), "P%x=", num);
+	hexify(cmd + cmd_len, (char *)&val, 4, sizeof(cmd));
+
+	result = icdi_send_cmd(handle, cmd);
+	if (result != ERROR_OK)
+		return result;
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("register write failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	return result;
+}
+
+static int icdi_usb_read_mem(void *handle, uint32_t addr, uint32_t len, uint8_t *buffer)
+{
+	int result;
+	struct icdi_usb_handle_s *h;
+	char cmd[20];
+
+	h = (struct icdi_usb_handle_s *)handle;
+
+	snprintf(cmd, sizeof(cmd), "x%x,%x", addr, len);
+	result = icdi_send_cmd(handle, cmd);
+	if (result != ERROR_OK)
+		return result;
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("memory read failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	/* unescape input */
+	int read_len = remote_unescape_input(h->read_buffer + 5, h->read_count - 8, (char *)buffer, len);
+	if (read_len != (int)len) {
+		LOG_ERROR("read more bytes than expected: actual 0x%" PRIx32 " expected 0x%" PRIx32, read_len, len);
+		return ERROR_FAIL;
+	}
+
+	return ERROR_OK;
+}
+
+static int icdi_usb_write_mem(void *handle, uint32_t addr, uint32_t len, const uint8_t *buffer)
+{
+	int result;
+	struct icdi_usb_handle_s *h;
+
+	h = (struct icdi_usb_handle_s *)handle;
+
+	size_t cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "X%x,%x:", addr, len);
+
+	int out_len;
+	cmd_len += remote_escape_output((char *)buffer, len, h->write_buffer + cmd_len,
+			&out_len, h->max_packet - cmd_len);
+
+	if (out_len < (int)len) {
+		/* for now issue a error as we have no way of allocating a larger buffer */
+		LOG_ERROR("memory buffer too small: requires 0x%" PRIx32 " actual 0x%" PRIx32, out_len, len);
+		return ERROR_FAIL;
+	}
+
+	result = icdi_send_packet(handle, cmd_len);
+	if (result != ERROR_OK)
+		return result;
+
+	/* check result */
+	result = icdi_get_cmd_result(handle);
+	if (result != ERROR_OK) {
+		LOG_ERROR("memory write failed: 0x%x", result);
+		return ERROR_FAIL;
+	}
+
+	return ERROR_OK;
+}
+
+static int icdi_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
+{
+	return icdi_usb_read_mem(handle, addr, len, buffer);
+}
+
+static int icdi_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
+{
+	return icdi_usb_write_mem(handle, addr, len, buffer);
+}
+
+static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
+{
+	return icdi_usb_read_mem(handle, addr, len * 4, buffer);
+}
+
+static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
+{
+	return icdi_usb_write_mem(handle, addr, len * 4, buffer);
+}
+
+static int icdi_usb_close(void *handle)
+{
+	struct icdi_usb_handle_s *h;
+
+	h = (struct icdi_usb_handle_s *)handle;
+
+	if (h->usb_dev)
+		libusb_close(h->usb_dev);
+
+	if (h->usb_ctx)
+		libusb_exit(h->usb_ctx);
+
+	if (h->read_buffer)
+		free(h->read_buffer);
+
+	if (h->write_buffer)
+		free(h->write_buffer);
+
+	free(handle);
+
+	return ERROR_OK;
+}
+
+static int icdi_usb_open(struct hl_interface_param_s *param, void **fd)
+{
+	int retval;
+	struct icdi_usb_handle_s *h;
+
+	LOG_DEBUG("icdi_usb_open");
+
+	h = calloc(1, sizeof(struct icdi_usb_handle_s));
+
+	if (h == 0) {
+		LOG_ERROR("unable to allocate memory");
+		return ERROR_FAIL;
+	}
+
+	LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
+		param->vid, param->pid);
+
+	if (libusb_init(&h->usb_ctx) != 0) {
+		LOG_ERROR("libusb init failed");
+		goto error_open;
+	}
+
+	h->usb_dev = libusb_open_device_with_vid_pid(h->usb_ctx, param->vid, param->pid);
+	if (!h->usb_dev) {
+		LOG_ERROR("open failed");
+		goto error_open;
+	}
+
+	if (libusb_claim_interface(h->usb_dev, 2)) {
+		LOG_DEBUG("claim interface failed");
+		goto error_open;
+	}
+
+	/* check if mode is supported */
+	retval = ERROR_OK;
+
+	switch (param->transport) {
+#if 0
+		/* TODO place holder as swd is not currently supported */
+		case HL_TRANSPORT_SWD:
+#endif
+		case HL_TRANSPORT_JTAG:
+			break;
+		default:
+			retval = ERROR_FAIL;
+			break;
+	}
+
+	if (retval != ERROR_OK) {
+		LOG_ERROR("mode (transport) not supported by device");
+		goto error_open;
+	}
+
+	/* allocate buffer */
+	h->read_buffer = malloc(ICDI_PACKET_SIZE);
+	h->write_buffer = malloc(ICDI_PACKET_SIZE);
+	h->max_packet = ICDI_PACKET_SIZE;
+
+	if (h->read_buffer == 0 || h->write_buffer == 0) {
+		LOG_DEBUG("malloc failed");
+		goto error_open;
+	}
+
+	/* query icdi version etc */
+	retval = icdi_usb_version(h);
+	if (retval != ERROR_OK)
+		goto error_open;
+
+	/* query icdi support */
+	retval = icdi_usb_query(h);
+	if (retval != ERROR_OK)
+		goto error_open;
+
+	*fd = h;
+
+	/* set the max target read/write buffer in bytes
+	 * as we are using gdb binary packets to transfer memory we have to
+	 * reserve half the buffer for any possible escape chars plus
+	 * at least 64 bytes for the gdb packet header */
+	param->max_buffer = (((h->max_packet - 64) / 4) * 4) / 2;
+
+	return ERROR_OK;
+
+error_open:
+	icdi_usb_close(h);
+
+	return ERROR_FAIL;
+}
+
+struct hl_layout_api_s icdi_usb_layout_api = {
+	.open = icdi_usb_open,
+	.close = icdi_usb_close,
+	.idcode = icdi_usb_idcode,
+	.state = icdi_usb_state,
+	.reset = icdi_usb_reset,
+	.assert_srst = icdi_usb_assert_srst,
+	.run = icdi_usb_run,
+	.halt = icdi_usb_halt,
+	.step = icdi_usb_step,
+	.read_regs = icdi_usb_read_regs,
+	.read_reg = icdi_usb_read_reg,
+	.write_reg = icdi_usb_write_reg,
+	.read_mem8 = icdi_usb_read_mem8,
+	.write_mem8 = icdi_usb_write_mem8,
+	.read_mem32 = icdi_usb_read_mem32,
+	.write_mem32 = icdi_usb_write_mem32,
+	.write_debug_reg = icdi_usb_write_debug_reg
+};
diff --git a/src/jtag/hla/hla_layout.c b/src/jtag/hla/hla_layout.c
index 5565729..54c5314 100644
--- a/src/jtag/hla/hla_layout.c
+++ b/src/jtag/hla/hla_layout.c
@@ -71,6 +71,12 @@ static const struct hl_layout hl_layouts[] = {
 	 .close = hl_layout_close,
 	 .api = &stlink_usb_layout_api,
 	 },
+	{
+	 .name = "ti-icdi",
+	 .open = hl_layout_open,
+	 .close = hl_layout_close,
+	 .api = &icdi_usb_layout_api,
+	},
 	{.name = NULL, /* END OF TABLE */ },
 };
 
diff --git a/src/jtag/hla/hla_layout.h b/src/jtag/hla/hla_layout.h
index 982d71a..3fd361e 100644
--- a/src/jtag/hla/hla_layout.h
+++ b/src/jtag/hla/hla_layout.h
@@ -30,6 +30,7 @@ struct hl_interface_param_s;
 
 /** */
 extern struct hl_layout_api_s stlink_usb_layout_api;
+extern struct hl_layout_api_s icdi_usb_layout_api;
 
 /** */
 struct hl_layout_api_s {
diff --git a/tcl/board/ek-lm4f120xl.cfg b/tcl/board/ek-lm4f120xl.cfg
new file mode 100644
index 0000000..aa6935c
--- /dev/null
+++ b/tcl/board/ek-lm4f120xl.cfg
@@ -0,0 +1,15 @@
+#
+# TI Stellaris Launchpad ek-lm4f120xl Evaluation Kits
+#
+# http://www.ti.com/tool/ek-lm4f120xl
+#
+
+#
+# NOTE: using the bundled ICDI interface is optional!
+# This interface is not ftdi based as previous boards were
+#
+source [find interface/ti-icdi.cfg]
+
+set WORKAREASIZE 0x8000
+set CHIPNAME lm4f120h5qr
+source [find target/stellaris_icdi.cfg]
diff --git a/tcl/board/ek-lm4f232.cfg b/tcl/board/ek-lm4f232.cfg
index 6e3f8e3..ebbc01d 100644
--- a/tcl/board/ek-lm4f232.cfg
+++ b/tcl/board/ek-lm4f232.cfg
@@ -4,10 +4,12 @@
 # http://www.ti.com/tool/ek-lm4f232
 #
 
-# NOTE:  using the bundled FT2232 JTAG/SWD/SWO interface is optional!
-# so is using in JTAG mode, as done here.
-source [find interface/luminary-icdi.cfg]
+#
+# NOTE: using the bundled ICDI interface is optional!
+# This interface is not ftdi based as previous boards were
+#
+source [find interface/ti-icdi.cfg]
 
 set WORKAREASIZE 0x8000
 set CHIPNAME lm4f23x
-source [find target/stellaris.cfg]
+source [find target/stellaris_icdi.cfg]
diff --git a/tcl/interface/ti-icdi.cfg b/tcl/interface/ti-icdi.cfg
new file mode 100644
index 0000000..16a901e
--- /dev/null
+++ b/tcl/interface/ti-icdi.cfg
@@ -0,0 +1,15 @@
+#
+# TI Stellaris In-Circuit Debug Interface (ICDI) Board
+#
+# This is the propriety ICDI interface used on newer boards such as
+# LM4F232 Evaluation Kit - http://www.ti.com/tool/ek-lm4f232
+# Stellaris Launchpad - http://www.ti.com/stellaris-launchpad
+# http://www.ti.com/tool/ek-lm4f232
+#
+
+interface hla
+hla_layout ti-icdi
+hla_vid_pid 0x1cbe 0x00fd
+
+# unused but set to disable warnings
+adapter_khz 1000
diff --git a/tcl/target/stellaris_icdi.cfg b/tcl/target/stellaris_icdi.cfg
new file mode 100644
index 0000000..11d57c2
--- /dev/null
+++ b/tcl/target/stellaris_icdi.cfg
@@ -0,0 +1,34 @@
+#
+# lm3s icdi pseudo target
+#
+
+if { [info exists CHIPNAME] } {
+   set _CHIPNAME $CHIPNAME
+} else {
+   set _CHIPNAME lm3s
+}
+
+# Work-area is a space in RAM used for flash programming
+# By default use 16kB
+if { [info exists WORKAREASIZE] } {
+   set _WORKAREASIZE $WORKAREASIZE
+} else {
+   set _WORKAREASIZE 0x4000
+}
+
+#
+# possible value are hla_jtag
+# currently swd is not supported
+#
+transport select hla_jtag
+
+# do not check id as icdi currently does not support it
+hla newtap $_CHIPNAME cpu -expected-id 0
+
+set _TARGETNAME $_CHIPNAME.cpu
+target create $_TARGETNAME hla_target -chain-position $_TARGETNAME
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+# flash configuration ... autodetects sizes, autoprobed
+flash bank $_CHIPNAME.flash stellaris 0 0 0 0 $_TARGETNAME