1 /***************************************************************************
2 * Copyright (C) 2006 by Magnus Lundin *
5 * Copyright (C) 2008 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
22 ***************************************************************************/
28 * This defines formats and data structures used to talk to ADIv5 entities.
29 * Those include a DAP, different types of Debug Port (DP), and memory mapped
30 * resources accessed through a MEM-AP.
35 /* FIXME remove these JTAG-specific decls when mem_ap_read_buf_u32()
36 * is no longer JTAG-specific
38 #define JTAG_DP_DPACC 0xA
39 #define JTAG_DP_APACC 0xB
41 /* three-bit ACK values for SWD access (sent LSB first) */
42 #define SWD_ACK_OK 0x4
43 #define SWD_ACK_WAIT 0x2
44 #define SWD_ACK_FAULT 0x1
49 /* A[3:0] for DP registers; A[1:0] are always zero.
50 * - JTAG accesses all of these via JTAG_DP_DPACC, except for
51 * IDCODE (JTAG_DP_IDCODE) and ABORT (JTAG_DP_ABORT).
52 * - SWD accesses these directly, sometimes needing SELECT.CTRLSEL
54 #define DP_IDCODE 0 /* SWD: read */
55 #define DP_ABORT 0 /* SWD: write */
56 #define DP_CTRL_STAT 0x4 /* r/w */
57 #define DP_WCR 0x4 /* SWD: r/w (mux CTRLSEL) */
58 #define DP_RESEND 0x8 /* SWD: read */
59 #define DP_SELECT 0x8 /* JTAG: r/w; SWD: write */
60 #define DP_RDBUFF 0xC /* read-only */
62 #define WCR_TO_TRN(wcr) (1 + (3 & ((wcr)) >> 8)) /* 1..4 clocks */
63 #define WCR_TO_PRESCALE(wcr) (7 & ((wcr))) /* impl defined */
65 /* Fields of the DP's AP ABORT register */
66 #define DAPABORT (1 << 0)
67 #define STKCMPCLR (1 << 1) /* SWD-only */
68 #define STKERRCLR (1 << 2) /* SWD-only */
69 #define WDERRCLR (1 << 3) /* SWD-only */
70 #define ORUNERRCLR (1 << 4) /* SWD-only */
72 /* Fields of the DP's CTRL/STAT register */
73 #define CORUNDETECT (1 << 0)
74 #define SSTICKYORUN (1 << 1)
75 /* 3:2 - transaction mode (e.g. pushed compare) */
76 #define SSTICKYCMP (1 << 4)
77 #define SSTICKYERR (1 << 5)
78 #define READOK (1 << 6) /* SWD-only */
79 #define WDATAERR (1 << 7) /* SWD-only */
80 /* 11:8 - mask lanes for pushed compare or verify ops */
81 /* 21:12 - transaction counter */
82 #define CDBGRSTREQ (1 << 26)
83 #define CDBGRSTACK (1 << 27)
84 #define CDBGPWRUPREQ (1 << 28)
85 #define CDBGPWRUPACK (1 << 29)
86 #define CSYSPWRUPREQ (1 << 30)
87 #define CSYSPWRUPACK (1 << 31)
89 /* MEM-AP register addresses */
90 /* TODO: rename as MEM_AP_REG_* */
91 #define AP_REG_CSW 0x00
92 #define AP_REG_TAR 0x04
93 #define AP_REG_DRW 0x0C
94 #define AP_REG_BD0 0x10
95 #define AP_REG_BD1 0x14
96 #define AP_REG_BD2 0x18
97 #define AP_REG_BD3 0x1C
98 #define AP_REG_CFG 0xF4 /* big endian? */
99 #define AP_REG_BASE 0xF8
101 /* Generic AP register address */
102 #define AP_REG_IDR 0xFC
104 /* Fields of the MEM-AP's CSW register */
108 #define CSW_ADDRINC_MASK (3 << 4)
109 #define CSW_ADDRINC_OFF 0
110 #define CSW_ADDRINC_SINGLE (1 << 4)
111 #define CSW_ADDRINC_PACKED (2 << 4)
112 #define CSW_DEVICE_EN (1 << 6)
113 #define CSW_TRIN_PROG (1 << 7)
114 #define CSW_SPIDEN (1 << 23)
115 /* 30:24 - implementation-defined! */
116 #define CSW_HPROT (1 << 25) /* ? */
117 #define CSW_MASTER_DEBUG (1 << 29) /* ? */
118 #define CSW_DBGSWENABLE (1 << 31)
121 * This represents an ARM Debug Interface (v5) Debug Access Port (DAP).
122 * A DAP has two types of component: one Debug Port (DP), which is a
123 * transport agent; and at least one Access Port (AP), controlling
124 * resource access. Most common is a MEM-AP, for memory access.
126 * There are two basic DP transports: JTAG, and ARM's low pin-count SWD.
127 * Accordingly, this interface is responsible for hiding the transport
128 * differences so upper layer code can largely ignore them.
130 * When the chip is implemented with JTAG-DP or SW-DP, the transport is
131 * fixed as JTAG or SWD, respectively. Chips incorporating SWJ-DP permit
132 * a choice made at board design time (by only using the SWD pins), or
133 * as part of setting up a debug session (if all the dual-role JTAG/SWD
134 * signals are available).
138 const struct dap_ops
*ops
;
140 struct arm_jtag
*jtag_info
;
142 uint32_t dp_ctrl_stat
;
148 * Cache for DP_SELECT bits identifying the current AP. A DAP may
149 * connect to multiple APs, such as one MEM-AP for general access,
150 * another reserved for accessing debug modules, and a JTAG-DP.
151 * "-1" indicates no cached value.
156 * Cache for DP_SELECT bits identifying the current four-word AP
157 * register bank. This caches AP register addresss bits 7:4; JTAG
158 * and SWD access primitves pass address bits 3:2; bits 1:0 are zero.
159 * "-1" indicates no cached value.
161 uint32_t ap_bank_value
;
164 * Cache for (MEM-AP) AP_REG_CSW register value. This is written to
165 * configure an access mode, such as autoincrementing AP_REG_TAR during
166 * word access. "-1" indicates no cached value.
168 uint32_t ap_csw_value
;
171 * Cache for (MEM-AP) AP_REG_TAR register value This is written to
172 * configure the address being read or written
173 * "-1" indicates no cached value.
175 uint32_t ap_tar_value
;
177 /* information about current pending SWjDP-AHBAP transaction */
181 * Configures how many extra tck clocks are added after starting a
182 * MEM-AP access before we try to read its status (and/or result).
184 uint32_t memaccess_tck
;
185 /* Size of TAR autoincrement block, ARM ADI Specification requires at least 10 bits */
186 uint32_t tar_autoincr_block
;
190 * Transport-neutral representation of queued DAP transactions, supporting
191 * both JTAG and SWD transports. All submitted transactions are logically
192 * queued, until the queue is executed by run(). Some implementations might
193 * execute transactions as soon as they're submitted, but no status is made
194 * availablue until run().
197 /** If the DAP transport isn't SWD, it must be JTAG. Upper level
198 * code may need to care about the difference in some cases.
202 /** Reads the DAP's IDCODe register. */
203 int (*queue_idcode_read
)(struct adiv5_dap
*dap
,
204 uint8_t *ack
, uint32_t *data
);
206 /** DP register read. */
207 int (*queue_dp_read
)(struct adiv5_dap
*dap
, unsigned reg
,
209 /** DP register write. */
210 int (*queue_dp_write
)(struct adiv5_dap
*dap
, unsigned reg
,
213 /** AP register read. */
214 int (*queue_ap_read
)(struct adiv5_dap
*dap
, unsigned reg
,
216 /** AP register write. */
217 int (*queue_ap_write
)(struct adiv5_dap
*dap
, unsigned reg
,
219 /** AP operation abort. */
220 int (*queue_ap_abort
)(struct adiv5_dap
*dap
, uint8_t *ack
);
222 /** Executes all queued DAP operations. */
223 int (*run
)(struct adiv5_dap
*dap
);
227 * Queue an IDCODE register read. This is primarily useful for SWD
228 * transports, where it is required as part of link initialization.
229 * (For JTAG, this register is read as part of scan chain setup.)
231 * @param dap The DAP used for reading.
232 * @param ack Pointer to where transaction status will be stored.
233 * @param data Pointer saying where to store the IDCODE value.
235 * @return ERROR_OK for success, else a fault code.
237 static inline int dap_queue_idcode_read(struct adiv5_dap
*dap
,
238 uint8_t *ack
, uint32_t *data
)
240 assert(dap
->ops
!= NULL
);
241 return dap
->ops
->queue_idcode_read(dap
, ack
, data
);
245 * Queue a DP register read.
246 * Note that not all DP registers are readable; also, that JTAG and SWD
247 * have slight differences in DP register support.
249 * @param dap The DAP used for reading.
250 * @param reg The two-bit number of the DP register being read.
251 * @param data Pointer saying where to store the register's value
252 * (in host endianness).
254 * @return ERROR_OK for success, else a fault code.
256 static inline int dap_queue_dp_read(struct adiv5_dap
*dap
,
257 unsigned reg
, uint32_t *data
)
259 assert(dap
->ops
!= NULL
);
260 return dap
->ops
->queue_dp_read(dap
, reg
, data
);
264 * Queue a DP register write.
265 * Note that not all DP registers are writable; also, that JTAG and SWD
266 * have slight differences in DP register support.
268 * @param dap The DAP used for writing.
269 * @param reg The two-bit number of the DP register being written.
270 * @param data Value being written (host endianness)
272 * @return ERROR_OK for success, else a fault code.
274 static inline int dap_queue_dp_write(struct adiv5_dap
*dap
,
275 unsigned reg
, uint32_t data
)
277 assert(dap
->ops
!= NULL
);
278 return dap
->ops
->queue_dp_write(dap
, reg
, data
);
282 * Queue an AP register read.
284 * @param dap The DAP used for reading.
285 * @param reg The number of the AP register being read.
286 * @param data Pointer saying where to store the register's value
287 * (in host endianness).
289 * @return ERROR_OK for success, else a fault code.
291 static inline int dap_queue_ap_read(struct adiv5_dap
*dap
,
292 unsigned reg
, uint32_t *data
)
294 assert(dap
->ops
!= NULL
);
295 return dap
->ops
->queue_ap_read(dap
, reg
, data
);
299 * Queue an AP register write.
301 * @param dap The DAP used for writing.
302 * @param reg The number of the AP register being written.
303 * @param data Value being written (host endianness)
305 * @return ERROR_OK for success, else a fault code.
307 static inline int dap_queue_ap_write(struct adiv5_dap
*dap
,
308 unsigned reg
, uint32_t data
)
310 assert(dap
->ops
!= NULL
);
311 return dap
->ops
->queue_ap_write(dap
, reg
, data
);
315 * Queue an AP abort operation. The current AP transaction is aborted,
316 * including any update of the transaction counter. The AP is left in
317 * an unknown state (so it must be re-initialized). For use only after
318 * the AP has reported WAIT status for an extended period.
320 * @param dap The DAP used for writing.
321 * @param ack Pointer to where transaction status will be stored.
323 * @return ERROR_OK for success, else a fault code.
325 static inline int dap_queue_ap_abort(struct adiv5_dap
*dap
, uint8_t *ack
)
327 assert(dap
->ops
!= NULL
);
328 return dap
->ops
->queue_ap_abort(dap
, ack
);
332 * Perform all queued DAP operations, and clear any errors posted in the
333 * CTRL_STAT register when they are done. Note that if more than one AP
334 * operation will be queued, one of the first operations in the queue
335 * should probably enable CORUNDETECT in the CTRL/STAT register.
337 * @param dap The DAP used.
339 * @return ERROR_OK for success, else a fault code.
341 static inline int dap_run(struct adiv5_dap
*dap
)
343 assert(dap
->ops
!= NULL
);
344 return dap
->ops
->run(dap
);
347 /** Accessor for currently selected DAP-AP number (0..255) */
348 static inline uint8_t dap_ap_get_select(struct adiv5_dap
*swjdp
)
350 return (uint8_t)(swjdp
->ap_current
>> 24);
353 /* AP selection applies to future AP transactions */
354 void dap_ap_select(struct adiv5_dap
*dap
,uint8_t ap
);
356 /* Queued AP transactions */
357 int dap_setup_accessport(struct adiv5_dap
*swjdp
,
358 uint32_t csw
, uint32_t tar
);
360 /* Queued MEM-AP memory mapped single word transfers */
361 int mem_ap_read_u32(struct adiv5_dap
*swjdp
, uint32_t address
, uint32_t *value
);
362 int mem_ap_write_u32(struct adiv5_dap
*swjdp
, uint32_t address
, uint32_t value
);
364 /* Synchronous MEM-AP memory mapped single word transfers */
365 int mem_ap_read_atomic_u32(struct adiv5_dap
*swjdp
,
366 uint32_t address
, uint32_t *value
);
367 int mem_ap_write_atomic_u32(struct adiv5_dap
*swjdp
,
368 uint32_t address
, uint32_t value
);
370 /* MEM-AP memory mapped bus block transfers */
371 int mem_ap_read_buf_u8(struct adiv5_dap
*swjdp
,
372 uint8_t *buffer
, int count
, uint32_t address
);
373 int mem_ap_read_buf_u16(struct adiv5_dap
*swjdp
,
374 uint8_t *buffer
, int count
, uint32_t address
);
375 int mem_ap_read_buf_u32(struct adiv5_dap
*swjdp
,
376 uint8_t *buffer
, int count
, uint32_t address
);
378 int mem_ap_write_buf_u8(struct adiv5_dap
*swjdp
,
379 const uint8_t *buffer
, int count
, uint32_t address
);
380 int mem_ap_write_buf_u16(struct adiv5_dap
*swjdp
,
381 const uint8_t *buffer
, int count
, uint32_t address
);
382 int mem_ap_write_buf_u32(struct adiv5_dap
*swjdp
,
383 const uint8_t *buffer
, int count
, uint32_t address
);
387 /* Queued MEM-AP memory mapped single word transfers with selection of ap */
388 int mem_ap_sel_read_u32(struct adiv5_dap
*swjdp
, uint8_t ap
,
389 uint32_t address
, uint32_t *value
);
390 int mem_ap_sel_write_u32(struct adiv5_dap
*swjdp
, uint8_t ap
,
391 uint32_t address
, uint32_t value
);
393 /* Synchronous MEM-AP memory mapped single word transfers with selection of ap */
394 int mem_ap_sel_read_atomic_u32(struct adiv5_dap
*swjdp
, uint8_t ap
,
395 uint32_t address
, uint32_t *value
);
396 int mem_ap_sel_write_atomic_u32(struct adiv5_dap
*swjdp
, uint8_t ap
,
397 uint32_t address
, uint32_t value
);
399 /* MEM-AP memory mapped bus block transfers with selection of ap */
400 int mem_ap_sel_read_buf_u8(struct adiv5_dap
*swjdp
, uint8_t ap
,
401 uint8_t *buffer
, int count
, uint32_t address
);
402 int mem_ap_sel_read_buf_u16(struct adiv5_dap
*swjdp
, uint8_t ap
,
403 uint8_t *buffer
, int count
, uint32_t address
);
404 int mem_ap_sel_read_buf_u32(struct adiv5_dap
*swjdp
, uint8_t ap
,
405 uint8_t *buffer
, int count
, uint32_t address
);
407 int mem_ap_sel_write_buf_u8(struct adiv5_dap
*swjdp
, uint8_t ap
,
408 const uint8_t *buffer
, int count
, uint32_t address
);
409 int mem_ap_sel_write_buf_u16(struct adiv5_dap
*swjdp
, uint8_t ap
,
410 const uint8_t *buffer
, int count
, uint32_t address
);
411 int mem_ap_sel_write_buf_u32(struct adiv5_dap
*swjdp
, uint8_t ap
,
412 const uint8_t *buffer
, int count
, uint32_t address
);
416 /* Initialisation of the debug system, power domains and registers */
417 int ahbap_debugport_init(struct adiv5_dap
*swjdp
);
419 /* Probe the AP for ROM Table location */
420 int dap_get_debugbase(struct adiv5_dap
*dap
, int ap
,
421 uint32_t *dbgbase
, uint32_t *apid
);
423 /* Lookup CoreSight component */
424 int dap_lookup_cs_component(struct adiv5_dap
*dap
, int ap
,
425 uint32_t dbgbase
, uint8_t type
, uint32_t *addr
);
429 /* Put debug link into SWD mode */
430 int dap_to_swd(struct target
*target
);
432 /* Put debug link into JTAG mode */
433 int dap_to_jtag(struct target
*target
);
435 extern const struct command_registration dap_command_handlers
[];
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