TI's CPU has PRUSS (Programmable Real-time Unit Sub System). This is very good machinery to control signal accurately. I like that. BBG-SWD takes advantage of PRUSS to control serial signal of SWD protocol as fast, and accurately.

Instruction is executed by non-pipelined way, all in single clock (@200MHz). I enjoyed programming in assembly language.

The announcement is here: http://lists.alioth.debian.org/pipermail/gnuk-users/2016q2/000337.html