What is ICEPick?

ICEPick is TI's name for the JTAG route controller in its devices
It offers Dynamic scan chain management within the device (Requires debugger support)
Has the ability to interface multiple cores with different frequencies (or RTCK domains)
It serves as a chip level TAP (Test Access Port) controller
There are various versions of ICEPick:
- ICEPick-B - used in ??
- ICEPick-C - used in OMAP34xx and ??
- ICEPick-D - used in DM814x and ??

What benefits does ICEpick bring?

When cores powered down they will not affect the emulator IEEE 1149.1 (JTAG) connection because their taps are not in the scan chain. Typically, a core powered down will sever the JTAG scan chain. ICEpick solves the dynamic addition/removal of taps from the scan chain preventing the scan chain from being severed, thus enabling power aware debug.

This is a good presentation describing the functionality of the ICEPick TAP Router (or generically refered to as JTAG Route Controller or JRC).
For some devices, ICEPICK provides Wait_in_Reset functionality.

A: The main difference between ICEpickb and ICEpickc is that ICEpick_B has only 2 bits in the JTAG IR register as opposed to ICEpickc which has 6 bits.

ICEpick_C also supports 32 router paths as opposed to 16 on ICEpickB.

Ideally we select ICEPICK_C during the CCS setup.

A: You need to setup the scan chain configration to include the ARM Cortex A8 into the scan chain. For the OMAP3xxx, you could just utilize the scan sequences to get ICEpick to setup the A8 into the scan chain. Details can be found here. Generally, the most up to date information should be in either the datasheet or the Technical Reference Manual (TRM) for the device.

A: A description of how to add devices to a ICEpick-C scan chain is described: Media:Router_Scan_Sequence.pdf

A: A description of how to add devices to a ICEpick-D scan chain is described: Media:Router_Scan_Sequence-ICEpick-D.pdf

A: Go to "Window"-->Preferences, and check the box for "Show non-processor devices (i.e. routers like ICEPick and DAP).

A: This is a good presentation describing the functionality of the ICEPick TAP Router (or generically refered to as JTAG Route Controller or JRC) and how to do some debugging through power state changes. Also see this wiki article on using the DAP to access registers via JTAG while the device is transitioning through power states.
A: For CCS v4/5 Low Power Run is now moved to: Tools -> Debugger Options -> Generic Debugger Options view, and select "Allow power transitions while running if supported (Low power running)", then do a "run", this is the same as using the low power run menu item.

A: You can see the clock and power status of each and every sub path by going to View-->Properties and by clicking on each sub path. You will get a view that looks like this:

A: DSP is at ICEpick port 0x11, ARM A8 is off the DAP at ICEpick port 0x13 (DAP address is at: 0xd401d030 with ID: 0xd401d030) with the A8 at address 0xd4011000.