arm_adi_v5: simplify handling of AP type

[openocd.git] / src / target / arm_adi_v5.c

/***************************************************************************
 *   Copyright (C) 2006 by Magnus Lundin                                   *
 *   lundin@mlu.mine.nu                                                    *
 *                                                                         *
 *   Copyright (C) 2008 by Spencer Oliver                                  *
 *   spen@spen-soft.co.uk                                                  *
 *                                                                         *
 *   Copyright (C) 2009-2010 by Oyvind Harboe                              *
 *   oyvind.harboe@zylin.com                                               *
 *                                                                         *
 *   Copyright (C) 2009-2010 by David Brownell                             *
 *                                                                         *
 *   Copyright (C) 2013 by Andreas Fritiofson                              *
 *   andreas.fritiofson@gmail.com                                          *
 *                                                                         *
 *   Copyright (C) 2019-2021, Ampere Computing LLC                         *
 *                                                                         *
 *   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, see <http://www.gnu.org/licenses/>. *
 ***************************************************************************/

/**
 * @file
 * This file implements support for the ARM Debug Interface version 5 (ADIv5)
 * debugging architecture.  Compared with previous versions, this includes
 * a low pin-count Serial Wire Debug (SWD) alternative to JTAG for message
 * transport, and focuses on memory mapped resources as defined by the
 * CoreSight architecture.
 *
 * A key concept in ADIv5 is the Debug Access Port, or DAP.  A DAP has two
 * basic components:  a Debug Port (DP) transporting messages to and from a
 * debugger, and an Access Port (AP) accessing resources.  Three types of DP
 * are defined.  One uses only JTAG for communication, and is called JTAG-DP.
 * One uses only SWD for communication, and is called SW-DP.  The third can
 * use either SWD or JTAG, and is called SWJ-DP.  The most common type of AP
 * is used to access memory mapped resources and is called a MEM-AP.  Also a
 * JTAG-AP is also defined, bridging to JTAG resources; those are uncommon.
 *
 * This programming interface allows DAP pipelined operations through a
 * transaction queue.  This primarily affects AP operations (such as using
 * a MEM-AP to access memory or registers).  If the current transaction has
 * not finished by the time the next one must begin, and the ORUNDETECT bit
 * is set in the DP_CTRL_STAT register, the SSTICKYORUN status is set and
 * further AP operations will fail.  There are two basic methods to avoid
 * such overrun errors.  One involves polling for status instead of using
 * transaction pipelining.  The other involves adding delays to ensure the
 * AP has enough time to complete one operation before starting the next
 * one.  (For JTAG these delays are controlled by memaccess_tck.)
 */

/*
 * Relevant specifications from ARM include:
 *
 * ARM(tm) Debug Interface v5 Architecture Specification    ARM IHI 0031E
 * CoreSight(tm) v1.0 Architecture Specification            ARM IHI 0029B
 *
 * CoreSight(tm) DAP-Lite TRM, ARM DDI 0316D
 * Cortex-M3(tm) TRM, ARM DDI 0337G
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "jtag/interface.h"
#include "arm.h"
#include "arm_adi_v5.h"
#include "arm_coresight.h"
#include "jtag/swd.h"
#include "transport/transport.h"
#include <helper/align.h>
#include <helper/jep106.h>
#include <helper/time_support.h>
#include <helper/list.h>
#include <helper/jim-nvp.h>

/* ARM ADI Specification requires at least 10 bits used for TAR autoincrement  */

/*
        uint32_t tar_block_size(uint32_t address)
        Return the largest block starting at address that does not cross a tar block size alignment boundary
*/
static uint32_t max_tar_block_size(uint32_t tar_autoincr_block, target_addr_t address)
{
        return tar_autoincr_block - ((tar_autoincr_block - 1) & address);
}

/***************************************************************************
 *                                                                         *
 * DP and MEM-AP  register access  through APACC and DPACC                 *
 *                                                                         *
***************************************************************************/

static int mem_ap_setup_csw(struct adiv5_ap *ap, uint32_t csw)
{
        csw |= ap->csw_default;

        if (csw != ap->csw_value) {
                /* LOG_DEBUG("DAP: Set CSW %x",csw); */
                int retval = dap_queue_ap_write(ap, MEM_AP_REG_CSW, csw);
                if (retval != ERROR_OK) {
                        ap->csw_value = 0;
                        return retval;
                }
                ap->csw_value = csw;
        }
        return ERROR_OK;
}

static int mem_ap_setup_tar(struct adiv5_ap *ap, target_addr_t tar)
{
        if (!ap->tar_valid || tar != ap->tar_value) {
                /* LOG_DEBUG("DAP: Set TAR %x",tar); */
                int retval = dap_queue_ap_write(ap, MEM_AP_REG_TAR, (uint32_t)(tar & 0xffffffffUL));
                if (retval == ERROR_OK && is_64bit_ap(ap)) {
                        /* See if bits 63:32 of tar is different from last setting */
                        if ((ap->tar_value >> 32) != (tar >> 32))
                                retval = dap_queue_ap_write(ap, MEM_AP_REG_TAR64, (uint32_t)(tar >> 32));
                }
                if (retval != ERROR_OK) {
                        ap->tar_valid = false;
                        return retval;
                }
                ap->tar_value = tar;
                ap->tar_valid = true;
        }
        return ERROR_OK;
}

static int mem_ap_read_tar(struct adiv5_ap *ap, target_addr_t *tar)
{
        uint32_t lower;
        uint32_t upper = 0;

        int retval = dap_queue_ap_read(ap, MEM_AP_REG_TAR, &lower);
        if (retval == ERROR_OK && is_64bit_ap(ap))
                retval = dap_queue_ap_read(ap, MEM_AP_REG_TAR64, &upper);

        if (retval != ERROR_OK) {
                ap->tar_valid = false;
                return retval;
        }

        retval = dap_run(ap->dap);
        if (retval != ERROR_OK) {
                ap->tar_valid = false;
                return retval;
        }

        *tar = (((target_addr_t)upper) << 32) | (target_addr_t)lower;

        ap->tar_value = *tar;
        ap->tar_valid = true;
        return ERROR_OK;
}

static uint32_t mem_ap_get_tar_increment(struct adiv5_ap *ap)
{
        switch (ap->csw_value & CSW_ADDRINC_MASK) {
        case CSW_ADDRINC_SINGLE:
                switch (ap->csw_value & CSW_SIZE_MASK) {
                case CSW_8BIT:
                        return 1;
                case CSW_16BIT:
                        return 2;
                case CSW_32BIT:
                        return 4;
                default:
                        return 0;
                }
        case CSW_ADDRINC_PACKED:
                return 4;
        }
        return 0;
}

/* mem_ap_update_tar_cache is called after an access to MEM_AP_REG_DRW
 */
static void mem_ap_update_tar_cache(struct adiv5_ap *ap)
{
        if (!ap->tar_valid)
                return;

        uint32_t inc = mem_ap_get_tar_increment(ap);
        if (inc >= max_tar_block_size(ap->tar_autoincr_block, ap->tar_value))
                ap->tar_valid = false;
        else
                ap->tar_value += inc;
}

/**
 * Queue transactions setting up transfer parameters for the
 * currently selected MEM-AP.
 *
 * Subsequent transfers using registers like MEM_AP_REG_DRW or MEM_AP_REG_BD2
 * initiate data reads or writes using memory or peripheral addresses.
 * If the CSW is configured for it, the TAR may be automatically
 * incremented after each transfer.
 *
 * @param ap The MEM-AP.
 * @param csw MEM-AP Control/Status Word (CSW) register to assign.  If this
 *      matches the cached value, the register is not changed.
 * @param tar MEM-AP Transfer Address Register (TAR) to assign.  If this
 *      matches the cached address, the register is not changed.
 *
 * @return ERROR_OK if the transaction was properly queued, else a fault code.
 */
static int mem_ap_setup_transfer(struct adiv5_ap *ap, uint32_t csw, target_addr_t tar)
{
        int retval;
        retval = mem_ap_setup_csw(ap, csw);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_setup_tar(ap, tar);
        if (retval != ERROR_OK)
                return retval;
        return ERROR_OK;
}

/**
 * Asynchronous (queued) read of a word from memory or a system register.
 *
 * @param ap The MEM-AP to access.
 * @param address Address of the 32-bit word to read; it must be
 *      readable by the currently selected MEM-AP.
 * @param value points to where the word will be stored when the
 *      transaction queue is flushed (assuming no errors).
 *
 * @return ERROR_OK for success.  Otherwise a fault code.
 */
int mem_ap_read_u32(struct adiv5_ap *ap, target_addr_t address,
                uint32_t *value)
{
        int retval;

        /* Use banked addressing (REG_BDx) to avoid some link traffic
         * (updating TAR) when reading several consecutive addresses.
         */
        retval = mem_ap_setup_transfer(ap,
                        CSW_32BIT | (ap->csw_value & CSW_ADDRINC_MASK),
                        address & 0xFFFFFFFFFFFFFFF0ull);
        if (retval != ERROR_OK)
                return retval;

        return dap_queue_ap_read(ap, MEM_AP_REG_BD0 | (address & 0xC), value);
}

/**
 * Synchronous read of a word from memory or a system register.
 * As a side effect, this flushes any queued transactions.
 *
 * @param ap The MEM-AP to access.
 * @param address Address of the 32-bit word to read; it must be
 *      readable by the currently selected MEM-AP.
 * @param value points to where the result will be stored.
 *
 * @return ERROR_OK for success; *value holds the result.
 * Otherwise a fault code.
 */
int mem_ap_read_atomic_u32(struct adiv5_ap *ap, target_addr_t address,
                uint32_t *value)
{
        int retval;

        retval = mem_ap_read_u32(ap, address, value);
        if (retval != ERROR_OK)
                return retval;

        return dap_run(ap->dap);
}

/**
 * Asynchronous (queued) write of a word to memory or a system register.
 *
 * @param ap The MEM-AP to access.
 * @param address Address to be written; it must be writable by
 *      the currently selected MEM-AP.
 * @param value Word that will be written to the address when transaction
 *      queue is flushed (assuming no errors).
 *
 * @return ERROR_OK for success.  Otherwise a fault code.
 */
int mem_ap_write_u32(struct adiv5_ap *ap, target_addr_t address,
                uint32_t value)
{
        int retval;

        /* Use banked addressing (REG_BDx) to avoid some link traffic
         * (updating TAR) when writing several consecutive addresses.
         */
        retval = mem_ap_setup_transfer(ap,
                        CSW_32BIT | (ap->csw_value & CSW_ADDRINC_MASK),
                        address & 0xFFFFFFFFFFFFFFF0ull);
        if (retval != ERROR_OK)
                return retval;

        return dap_queue_ap_write(ap, MEM_AP_REG_BD0 | (address & 0xC),
                        value);
}

/**
 * Synchronous write of a word to memory or a system register.
 * As a side effect, this flushes any queued transactions.
 *
 * @param ap The MEM-AP to access.
 * @param address Address to be written; it must be writable by
 *      the currently selected MEM-AP.
 * @param value Word that will be written.
 *
 * @return ERROR_OK for success; the data was written.  Otherwise a fault code.
 */
int mem_ap_write_atomic_u32(struct adiv5_ap *ap, target_addr_t address,
                uint32_t value)
{
        int retval = mem_ap_write_u32(ap, address, value);

        if (retval != ERROR_OK)
                return retval;

        return dap_run(ap->dap);
}

/**
 * Synchronous write of a block of memory, using a specific access size.
 *
 * @param ap The MEM-AP to access.
 * @param buffer The data buffer to write. No particular alignment is assumed.
 * @param size Which access size to use, in bytes. 1, 2 or 4.
 * @param count The number of writes to do (in size units, not bytes).
 * @param address Address to be written; it must be writable by the currently selected MEM-AP.
 * @param addrinc Whether the target address should be increased for each write or not. This
 *  should normally be true, except when writing to e.g. a FIFO.
 * @return ERROR_OK on success, otherwise an error code.
 */
static int mem_ap_write(struct adiv5_ap *ap, const uint8_t *buffer, uint32_t size, uint32_t count,
                target_addr_t address, bool addrinc)
{
        struct adiv5_dap *dap = ap->dap;
        size_t nbytes = size * count;
        const uint32_t csw_addrincr = addrinc ? CSW_ADDRINC_SINGLE : CSW_ADDRINC_OFF;
        uint32_t csw_size;
        target_addr_t addr_xor;
        int retval = ERROR_OK;

        /* TI BE-32 Quirks mode:
         * Writes on big-endian TMS570 behave very strangely. Observed behavior:
         *   size   write address   bytes written in order
         *   4      TAR ^ 0         (val >> 24), (val >> 16), (val >> 8), (val)
         *   2      TAR ^ 2         (val >> 8), (val)
         *   1      TAR ^ 3         (val)
         * For example, if you attempt to write a single byte to address 0, the processor
         * will actually write a byte to address 3.
         *
         * To make writes of size < 4 work as expected, we xor a value with the address before
         * setting the TAP, and we set the TAP after every transfer rather then relying on
         * address increment. */

        if (size == 4) {
                csw_size = CSW_32BIT;
                addr_xor = 0;
        } else if (size == 2) {
                csw_size = CSW_16BIT;
                addr_xor = dap->ti_be_32_quirks ? 2 : 0;
        } else if (size == 1) {
                csw_size = CSW_8BIT;
                addr_xor = dap->ti_be_32_quirks ? 3 : 0;
        } else {
                return ERROR_TARGET_UNALIGNED_ACCESS;
        }

        if (ap->unaligned_access_bad && (address % size != 0))
                return ERROR_TARGET_UNALIGNED_ACCESS;

        while (nbytes > 0) {
                uint32_t this_size = size;

                /* Select packed transfer if possible */
                if (addrinc && ap->packed_transfers && nbytes >= 4
                                && max_tar_block_size(ap->tar_autoincr_block, address) >= 4) {
                        this_size = 4;
                        retval = mem_ap_setup_csw(ap, csw_size | CSW_ADDRINC_PACKED);
                } else {
                        retval = mem_ap_setup_csw(ap, csw_size | csw_addrincr);
                }

                if (retval != ERROR_OK)
                        break;

                retval = mem_ap_setup_tar(ap, address ^ addr_xor);
                if (retval != ERROR_OK)
                        return retval;

                /* How many source bytes each transfer will consume, and their location in the DRW,
                 * depends on the type of transfer and alignment. See ARM document IHI0031C. */
                uint32_t outvalue = 0;
                uint32_t drw_byte_idx = address;
                if (dap->ti_be_32_quirks) {
                        switch (this_size) {
                        case 4:
                                outvalue |= (uint32_t)*buffer++ << 8 * (3 ^ (drw_byte_idx++ & 3) ^ addr_xor);
                                outvalue |= (uint32_t)*buffer++ << 8 * (3 ^ (drw_byte_idx++ & 3) ^ addr_xor);
                                outvalue |= (uint32_t)*buffer++ << 8 * (3 ^ (drw_byte_idx++ & 3) ^ addr_xor);
                                outvalue |= (uint32_t)*buffer++ << 8 * (3 ^ (drw_byte_idx & 3) ^ addr_xor);
                                break;
                        case 2:
                                outvalue |= (uint32_t)*buffer++ << 8 * (1 ^ (drw_byte_idx++ & 3) ^ addr_xor);
                                outvalue |= (uint32_t)*buffer++ << 8 * (1 ^ (drw_byte_idx & 3) ^ addr_xor);
                                break;
                        case 1:
                                outvalue |= (uint32_t)*buffer++ << 8 * (0 ^ (drw_byte_idx & 3) ^ addr_xor);
                                break;
                        }
                } else {
                        switch (this_size) {
                        case 4:
                                outvalue |= (uint32_t)*buffer++ << 8 * (drw_byte_idx++ & 3);
                                outvalue |= (uint32_t)*buffer++ << 8 * (drw_byte_idx++ & 3);
                                /* fallthrough */
                        case 2:
                                outvalue |= (uint32_t)*buffer++ << 8 * (drw_byte_idx++ & 3);
                                /* fallthrough */
                        case 1:
                                outvalue |= (uint32_t)*buffer++ << 8 * (drw_byte_idx & 3);
                        }
                }

                nbytes -= this_size;

                retval = dap_queue_ap_write(ap, MEM_AP_REG_DRW, outvalue);
                if (retval != ERROR_OK)
                        break;

                mem_ap_update_tar_cache(ap);
                if (addrinc)
                        address += this_size;
        }

        /* REVISIT: Might want to have a queued version of this function that does not run. */
        if (retval == ERROR_OK)
                retval = dap_run(dap);

        if (retval != ERROR_OK) {
                target_addr_t tar;
                if (mem_ap_read_tar(ap, &tar) == ERROR_OK)
                        LOG_ERROR("Failed to write memory at " TARGET_ADDR_FMT, tar);
                else
                        LOG_ERROR("Failed to write memory and, additionally, failed to find out where");
        }

        return retval;
}

/**
 * Synchronous read of a block of memory, using a specific access size.
 *
 * @param ap The MEM-AP to access.
 * @param buffer The data buffer to receive the data. No particular alignment is assumed.
 * @param size Which access size to use, in bytes. 1, 2 or 4.
 * @param count The number of reads to do (in size units, not bytes).
 * @param adr Address to be read; it must be readable by the currently selected MEM-AP.
 * @param addrinc Whether the target address should be increased after each read or not. This
 *  should normally be true, except when reading from e.g. a FIFO.
 * @return ERROR_OK on success, otherwise an error code.
 */
static int mem_ap_read(struct adiv5_ap *ap, uint8_t *buffer, uint32_t size, uint32_t count,
                target_addr_t adr, bool addrinc)
{
        struct adiv5_dap *dap = ap->dap;
        size_t nbytes = size * count;
        const uint32_t csw_addrincr = addrinc ? CSW_ADDRINC_SINGLE : CSW_ADDRINC_OFF;
        uint32_t csw_size;
        target_addr_t address = adr;
        int retval = ERROR_OK;

        /* TI BE-32 Quirks mode:
         * Reads on big-endian TMS570 behave strangely differently than writes.
         * They read from the physical address requested, but with DRW byte-reversed.
         * For example, a byte read from address 0 will place the result in the high bytes of DRW.
         * Also, packed 8-bit and 16-bit transfers seem to sometimes return garbage in some bytes,
         * so avoid them. */

        if (size == 4)
                csw_size = CSW_32BIT;
        else if (size == 2)
                csw_size = CSW_16BIT;
        else if (size == 1)
                csw_size = CSW_8BIT;
        else
                return ERROR_TARGET_UNALIGNED_ACCESS;

        if (ap->unaligned_access_bad && (adr % size != 0))
                return ERROR_TARGET_UNALIGNED_ACCESS;

        /* Allocate buffer to hold the sequence of DRW reads that will be made. This is a significant
         * over-allocation if packed transfers are going to be used, but determining the real need at
         * this point would be messy. */
        uint32_t *read_buf = calloc(count, sizeof(uint32_t));
        /* Multiplication count * sizeof(uint32_t) may overflow, calloc() is safe */
        uint32_t *read_ptr = read_buf;
        if (!read_buf) {
                LOG_ERROR("Failed to allocate read buffer");
                return ERROR_FAIL;
        }

        /* Queue up all reads. Each read will store the entire DRW word in the read buffer. How many
         * useful bytes it contains, and their location in the word, depends on the type of transfer
         * and alignment. */
        while (nbytes > 0) {
                uint32_t this_size = size;

                /* Select packed transfer if possible */
                if (addrinc && ap->packed_transfers && nbytes >= 4
                                && max_tar_block_size(ap->tar_autoincr_block, address) >= 4) {
                        this_size = 4;
                        retval = mem_ap_setup_csw(ap, csw_size | CSW_ADDRINC_PACKED);
                } else {
                        retval = mem_ap_setup_csw(ap, csw_size | csw_addrincr);
                }
                if (retval != ERROR_OK)
                        break;

                retval = mem_ap_setup_tar(ap, address);
                if (retval != ERROR_OK)
                        break;

                retval = dap_queue_ap_read(ap, MEM_AP_REG_DRW, read_ptr++);
                if (retval != ERROR_OK)
                        break;

                nbytes -= this_size;
                if (addrinc)
                        address += this_size;

                mem_ap_update_tar_cache(ap);
        }

        if (retval == ERROR_OK)
                retval = dap_run(dap);

        /* Restore state */
        address = adr;
        nbytes = size * count;
        read_ptr = read_buf;

        /* If something failed, read TAR to find out how much data was successfully read, so we can
         * at least give the caller what we have. */
        if (retval != ERROR_OK) {
                target_addr_t tar;
                if (mem_ap_read_tar(ap, &tar) == ERROR_OK) {
                        /* TAR is incremented after failed transfer on some devices (eg Cortex-M4) */
                        LOG_ERROR("Failed to read memory at " TARGET_ADDR_FMT, tar);
                        if (nbytes > tar - address)
                                nbytes = tar - address;
                } else {
                        LOG_ERROR("Failed to read memory and, additionally, failed to find out where");
                        nbytes = 0;
                }
        }

        /* Replay loop to populate caller's buffer from the correct word and byte lane */
        while (nbytes > 0) {
                uint32_t this_size = size;

                if (addrinc && ap->packed_transfers && nbytes >= 4
                                && max_tar_block_size(ap->tar_autoincr_block, address) >= 4) {
                        this_size = 4;
                }

                if (dap->ti_be_32_quirks) {
                        switch (this_size) {
                        case 4:
                                *buffer++ = *read_ptr >> 8 * (3 - (address++ & 3));
                                *buffer++ = *read_ptr >> 8 * (3 - (address++ & 3));
                                /* fallthrough */
                        case 2:
                                *buffer++ = *read_ptr >> 8 * (3 - (address++ & 3));
                                /* fallthrough */
                        case 1:
                                *buffer++ = *read_ptr >> 8 * (3 - (address++ & 3));
                        }
                } else {
                        switch (this_size) {
                        case 4:
                                *buffer++ = *read_ptr >> 8 * (address++ & 3);
                                *buffer++ = *read_ptr >> 8 * (address++ & 3);
                                /* fallthrough */
                        case 2:
                                *buffer++ = *read_ptr >> 8 * (address++ & 3);
                                /* fallthrough */
                        case 1:
                                *buffer++ = *read_ptr >> 8 * (address++ & 3);
                        }
                }

                read_ptr++;
                nbytes -= this_size;
        }

        free(read_buf);
        return retval;
}

int mem_ap_read_buf(struct adiv5_ap *ap,
                uint8_t *buffer, uint32_t size, uint32_t count, target_addr_t address)
{
        return mem_ap_read(ap, buffer, size, count, address, true);
}

int mem_ap_write_buf(struct adiv5_ap *ap,
                const uint8_t *buffer, uint32_t size, uint32_t count, target_addr_t address)
{
        return mem_ap_write(ap, buffer, size, count, address, true);
}

int mem_ap_read_buf_noincr(struct adiv5_ap *ap,
                uint8_t *buffer, uint32_t size, uint32_t count, target_addr_t address)
{
        return mem_ap_read(ap, buffer, size, count, address, false);
}

int mem_ap_write_buf_noincr(struct adiv5_ap *ap,
                const uint8_t *buffer, uint32_t size, uint32_t count, target_addr_t address)
{
        return mem_ap_write(ap, buffer, size, count, address, false);
}

/*--------------------------------------------------------------------------*/


#define DAP_POWER_DOMAIN_TIMEOUT (10)

/*--------------------------------------------------------------------------*/

/**
 * Invalidate cached DP select and cached TAR and CSW of all APs
 */
void dap_invalidate_cache(struct adiv5_dap *dap)
{
        dap->select = DP_SELECT_INVALID;
        dap->last_read = NULL;

        int i;
        for (i = 0; i <= DP_APSEL_MAX; i++) {
                /* force csw and tar write on the next mem-ap access */
                dap->ap[i].tar_valid = false;
                dap->ap[i].csw_value = 0;
        }
}

/**
 * Initialize a DAP.  This sets up the power domains, prepares the DP
 * for further use and activates overrun checking.
 *
 * @param dap The DAP being initialized.
 */
int dap_dp_init(struct adiv5_dap *dap)
{
        int retval;

        LOG_DEBUG("%s", adiv5_dap_name(dap));

        dap->do_reconnect = false;
        dap_invalidate_cache(dap);

        /*
         * Early initialize dap->dp_ctrl_stat.
         * In jtag mode only, if the following queue run (in dap_dp_poll_register)
         * fails and sets the sticky error, it will trigger the clearing
         * of the sticky. Without this initialization system and debug power
         * would be disabled while clearing the sticky error bit.
         */
        dap->dp_ctrl_stat = CDBGPWRUPREQ | CSYSPWRUPREQ;

        /*
         * This write operation clears the sticky error bit in jtag mode only and
         * is ignored in swd mode. It also powers-up system and debug domains in
         * both jtag and swd modes, if not done before.
         */
        retval = dap_queue_dp_write(dap, DP_CTRL_STAT, dap->dp_ctrl_stat | SSTICKYERR);
        if (retval != ERROR_OK)
                return retval;

        retval = dap_queue_dp_read(dap, DP_CTRL_STAT, NULL);
        if (retval != ERROR_OK)
                return retval;

        retval = dap_queue_dp_write(dap, DP_CTRL_STAT, dap->dp_ctrl_stat);
        if (retval != ERROR_OK)
                return retval;

        /* Check that we have debug power domains activated */
        LOG_DEBUG("DAP: wait CDBGPWRUPACK");
        retval = dap_dp_poll_register(dap, DP_CTRL_STAT,
                                      CDBGPWRUPACK, CDBGPWRUPACK,
                                      DAP_POWER_DOMAIN_TIMEOUT);
        if (retval != ERROR_OK)
                return retval;

        if (!dap->ignore_syspwrupack) {
                LOG_DEBUG("DAP: wait CSYSPWRUPACK");
                retval = dap_dp_poll_register(dap, DP_CTRL_STAT,
                                              CSYSPWRUPACK, CSYSPWRUPACK,
                                              DAP_POWER_DOMAIN_TIMEOUT);
                if (retval != ERROR_OK)
                        return retval;
        }

        retval = dap_queue_dp_read(dap, DP_CTRL_STAT, NULL);
        if (retval != ERROR_OK)
                return retval;

        /* With debug power on we can activate OVERRUN checking */
        dap->dp_ctrl_stat = CDBGPWRUPREQ | CSYSPWRUPREQ | CORUNDETECT;
        retval = dap_queue_dp_write(dap, DP_CTRL_STAT, dap->dp_ctrl_stat);
        if (retval != ERROR_OK)
                return retval;
        retval = dap_queue_dp_read(dap, DP_CTRL_STAT, NULL);
        if (retval != ERROR_OK)
                return retval;

        retval = dap_run(dap);
        if (retval != ERROR_OK)
                return retval;

        return retval;
}

/**
 * Initialize a DAP or do reconnect if DAP is not accessible.
 *
 * @param dap The DAP being initialized.
 */
int dap_dp_init_or_reconnect(struct adiv5_dap *dap)
{
        LOG_DEBUG("%s", adiv5_dap_name(dap));

        /*
         * Early initialize dap->dp_ctrl_stat.
         * In jtag mode only, if the following atomic reads fail and set the
         * sticky error, it will trigger the clearing of the sticky. Without this
         * initialization system and debug power would be disabled while clearing
         * the sticky error bit.
         */
        dap->dp_ctrl_stat = CDBGPWRUPREQ | CSYSPWRUPREQ;

        dap->do_reconnect = false;

        dap_dp_read_atomic(dap, DP_CTRL_STAT, NULL);
        if (dap->do_reconnect) {
                /* dap connect calls dap_dp_init() after transport dependent initialization */
                return dap->ops->connect(dap);
        } else {
                return dap_dp_init(dap);
        }
}

/**
 * Initialize a DAP.  This sets up the power domains, prepares the DP
 * for further use, and arranges to use AP #0 for all AP operations
 * until dap_ap-select() changes that policy.
 *
 * @param ap The MEM-AP being initialized.
 */
int mem_ap_init(struct adiv5_ap *ap)
{
        /* check that we support packed transfers */
        uint32_t csw, cfg;
        int retval;
        struct adiv5_dap *dap = ap->dap;

        /* Set ap->cfg_reg before calling mem_ap_setup_transfer(). */
        /* mem_ap_setup_transfer() needs to know if the MEM_AP supports LPAE. */
        retval = dap_queue_ap_read(ap, MEM_AP_REG_CFG, &cfg);
        if (retval != ERROR_OK)
                return retval;

        retval = dap_run(dap);
        if (retval != ERROR_OK)
                return retval;

        ap->cfg_reg = cfg;
        ap->tar_valid = false;
        ap->csw_value = 0;      /* force csw and tar write */
        retval = mem_ap_setup_transfer(ap, CSW_8BIT | CSW_ADDRINC_PACKED, 0);
        if (retval != ERROR_OK)
                return retval;

        retval = dap_queue_ap_read(ap, MEM_AP_REG_CSW, &csw);
        if (retval != ERROR_OK)
                return retval;

        retval = dap_run(dap);
        if (retval != ERROR_OK)
                return retval;

        if (csw & CSW_ADDRINC_PACKED)
                ap->packed_transfers = true;
        else
                ap->packed_transfers = false;

        /* Packed transfers on TI BE-32 processors do not work correctly in
         * many cases. */
        if (dap->ti_be_32_quirks)
                ap->packed_transfers = false;

        LOG_DEBUG("MEM_AP Packed Transfers: %s",
                        ap->packed_transfers ? "enabled" : "disabled");

        /* The ARM ADI spec leaves implementation-defined whether unaligned
         * memory accesses work, only work partially, or cause a sticky error.
         * On TI BE-32 processors, reads seem to return garbage in some bytes
         * and unaligned writes seem to cause a sticky error.
         * TODO: it would be nice to have a way to detect whether unaligned
         * operations are supported on other processors. */
        ap->unaligned_access_bad = dap->ti_be_32_quirks;

        LOG_DEBUG("MEM_AP CFG: large data %d, long address %d, big-endian %d",
                        !!(cfg & MEM_AP_REG_CFG_LD), !!(cfg & MEM_AP_REG_CFG_LA), !!(cfg & MEM_AP_REG_CFG_BE));

        return ERROR_OK;
}

/**
 * Put the debug link into SWD mode, if the target supports it.
 * The link's initial mode may be either JTAG (for example,
 * with SWJ-DP after reset) or SWD.
 *
 * Note that targets using the JTAG-DP do not support SWD, and that
 * some targets which could otherwise support it may have been
 * configured to disable SWD signaling
 *
 * @param dap The DAP used
 * @return ERROR_OK or else a fault code.
 */
int dap_to_swd(struct adiv5_dap *dap)
{
        LOG_DEBUG("Enter SWD mode");

        return dap_send_sequence(dap, JTAG_TO_SWD);
}

/**
 * Put the debug link into JTAG mode, if the target supports it.
 * The link's initial mode may be either SWD or JTAG.
 *
 * Note that targets implemented with SW-DP do not support JTAG, and
 * that some targets which could otherwise support it may have been
 * configured to disable JTAG signaling
 *
 * @param dap The DAP used
 * @return ERROR_OK or else a fault code.
 */
int dap_to_jtag(struct adiv5_dap *dap)
{
        LOG_DEBUG("Enter JTAG mode");

        return dap_send_sequence(dap, SWD_TO_JTAG);
}

/* CID interpretation -- see ARM IHI 0029E table B2-7
 * and ARM IHI 0031E table D1-2.
 *
 * From 2009/11/25 commit 21378f58b604:
 *   "OptimoDE DESS" is ARM's semicustom DSPish stuff.
 * Let's keep it as is, for the time being
 */
static const char *class_description[16] = {
        [0x0] = "Generic verification component",
        [0x1] = "ROM table",
        [0x2] = "Reserved",
        [0x3] = "Reserved",
        [0x4] = "Reserved",
        [0x5] = "Reserved",
        [0x6] = "Reserved",
        [0x7] = "Reserved",
        [0x8] = "Reserved",
        [0x9] = "CoreSight component",
        [0xA] = "Reserved",
        [0xB] = "Peripheral Test Block",
        [0xC] = "Reserved",
        [0xD] = "OptimoDE DESS", /* see above */
        [0xE] = "Generic IP component",
        [0xF] = "CoreLink, PrimeCell or System component",
};

static const struct {
        enum ap_type type;
        const char *description;
} ap_types[] = {
        { AP_TYPE_JTAG_AP,  "JTAG-AP" },
        { AP_TYPE_COM_AP,   "COM-AP" },
        { AP_TYPE_AHB3_AP,  "MEM-AP AHB3" },
        { AP_TYPE_APB_AP,   "MEM-AP APB2 or APB3" },
        { AP_TYPE_AXI_AP,   "MEM-AP AXI3 or AXI4" },
        { AP_TYPE_AHB5_AP,  "MEM-AP AHB5" },
        { AP_TYPE_APB4_AP,  "MEM-AP APB4" },
        { AP_TYPE_AXI5_AP,  "MEM-AP AXI5" },
        { AP_TYPE_AHB5H_AP, "MEM-AP AHB5 with enhanced HPROT" },
};

static const char *ap_type_to_description(enum ap_type type)
{
        for (unsigned int i = 0; i < ARRAY_SIZE(ap_types); i++)
                if (type == ap_types[i].type)
                        return ap_types[i].description;

        return "Unknown";
}

/*
 * This function checks the ID for each access port to find the requested Access Port type
 */
int dap_find_ap(struct adiv5_dap *dap, enum ap_type type_to_find, struct adiv5_ap **ap_out)
{
        int ap_num;

        /* Maximum AP number is 255 since the SELECT register is 8 bits */
        for (ap_num = 0; ap_num <= DP_APSEL_MAX; ap_num++) {

                /* read the IDR register of the Access Port */
                uint32_t id_val = 0;

                int retval = dap_queue_ap_read(dap_ap(dap, ap_num), AP_REG_IDR, &id_val);
                if (retval != ERROR_OK)
                        return retval;

                retval = dap_run(dap);

                /* Reading register for a non-existent AP should not cause an error,
                 * but just to be sure, try to continue searching if an error does happen.
                 */
                if (retval == ERROR_OK && (id_val & AP_TYPE_MASK) == type_to_find) {
                        LOG_DEBUG("Found %s at AP index: %d (IDR=0x%08" PRIX32 ")",
                                                ap_type_to_description(type_to_find),
                                                ap_num, id_val);

                        *ap_out = &dap->ap[ap_num];
                        return ERROR_OK;
                }
        }

        LOG_DEBUG("No %s found", ap_type_to_description(type_to_find));
        return ERROR_FAIL;
}

int dap_get_debugbase(struct adiv5_ap *ap,
                        target_addr_t *dbgbase, uint32_t *apid)
{
        struct adiv5_dap *dap = ap->dap;
        int retval;
        uint32_t baseptr_upper, baseptr_lower;

        if (ap->cfg_reg == MEM_AP_REG_CFG_INVALID) {
                retval = dap_queue_ap_read(ap, MEM_AP_REG_CFG, &ap->cfg_reg);
                if (retval != ERROR_OK)
                        return retval;
        }
        retval = dap_queue_ap_read(ap, MEM_AP_REG_BASE, &baseptr_lower);
        if (retval != ERROR_OK)
                return retval;
        retval = dap_queue_ap_read(ap, AP_REG_IDR, apid);
        if (retval != ERROR_OK)
                return retval;
        /* MEM_AP_REG_BASE64 is defined as 'RES0'; can be read and then ignored on 32 bits AP */
        if (ap->cfg_reg == MEM_AP_REG_CFG_INVALID || is_64bit_ap(ap)) {
                retval = dap_queue_ap_read(ap, MEM_AP_REG_BASE64, &baseptr_upper);
                if (retval != ERROR_OK)
                        return retval;
        }

        retval = dap_run(dap);
        if (retval != ERROR_OK)
                return retval;

        if (!is_64bit_ap(ap))
                baseptr_upper = 0;
        *dbgbase = (((target_addr_t)baseptr_upper) << 32) | baseptr_lower;

        return ERROR_OK;
}

int dap_lookup_cs_component(struct adiv5_ap *ap,
                        target_addr_t dbgbase, uint8_t type, target_addr_t *addr, int32_t *idx)
{
        uint32_t romentry, entry_offset = 0, devtype;
        target_addr_t component_base;
        int retval;

        dbgbase &= 0xFFFFFFFFFFFFF000ull;
        *addr = 0;

        do {
                retval = mem_ap_read_atomic_u32(ap, dbgbase |
                                                entry_offset, &romentry);
                if (retval != ERROR_OK)
                        return retval;

                component_base = dbgbase + (target_addr_t)(romentry & ARM_CS_ROMENTRY_OFFSET_MASK);

                if (romentry & ARM_CS_ROMENTRY_PRESENT) {
                        uint32_t c_cid1;
                        retval = mem_ap_read_atomic_u32(ap, component_base + ARM_CS_CIDR1, &c_cid1);
                        if (retval != ERROR_OK) {
                                LOG_ERROR("Can't read component with base address " TARGET_ADDR_FMT
                                          ", the corresponding core might be turned off", component_base);
                                return retval;
                        }
                        unsigned int class = (c_cid1 & ARM_CS_CIDR1_CLASS_MASK) >> ARM_CS_CIDR1_CLASS_SHIFT;
                        if (class == ARM_CS_CLASS_0X1_ROM_TABLE) {
                                retval = dap_lookup_cs_component(ap, component_base,
                                                        type, addr, idx);
                                if (retval == ERROR_OK)
                                        break;
                                if (retval != ERROR_TARGET_RESOURCE_NOT_AVAILABLE)
                                        return retval;
                        }

                        retval = mem_ap_read_atomic_u32(ap, component_base + ARM_CS_C9_DEVTYPE, &devtype);
                        if (retval != ERROR_OK)
                                return retval;
                        if ((devtype & ARM_CS_C9_DEVTYPE_MASK) == type) {
                                if (!*idx) {
                                        *addr = component_base;
                                        break;
                                } else
                                        (*idx)--;
                        }
                }
                entry_offset += 4;
        } while ((romentry > 0) && (entry_offset < 0xf00));

        if (!*addr)
                return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;

        return ERROR_OK;
}

static int dap_read_part_id(struct adiv5_ap *ap, target_addr_t component_base, uint32_t *cid, uint64_t *pid)
{
        assert(IS_ALIGNED(component_base, ARM_CS_ALIGN));
        assert(ap && cid && pid);

        uint32_t cid0, cid1, cid2, cid3;
        uint32_t pid0, pid1, pid2, pid3, pid4;
        int retval;

        /* IDs are in last 4K section */
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_PIDR0, &pid0);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_PIDR1, &pid1);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_PIDR2, &pid2);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_PIDR3, &pid3);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_PIDR4, &pid4);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_CIDR0, &cid0);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_CIDR1, &cid1);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_CIDR2, &cid2);
        if (retval != ERROR_OK)
                return retval;
        retval = mem_ap_read_u32(ap, component_base + ARM_CS_CIDR3, &cid3);
        if (retval != ERROR_OK)
                return retval;

        retval = dap_run(ap->dap);
        if (retval != ERROR_OK)
                return retval;

        *cid = (cid3 & 0xff) << 24
                        | (cid2 & 0xff) << 16
                        | (cid1 & 0xff) << 8
                        | (cid0 & 0xff);
        *pid = (uint64_t)(pid4 & 0xff) << 32
                        | (pid3 & 0xff) << 24
                        | (pid2 & 0xff) << 16
                        | (pid1 & 0xff) << 8
                        | (pid0 & 0xff);

        return ERROR_OK;
}

/* Part number interpretations are from Cortex
 * core specs, the CoreSight components TRM
 * (ARM DDI 0314H), CoreSight System Design
 * Guide (ARM DGI 0012D) and ETM specs; also
 * from chip observation (e.g. TI SDTI).
 */

/* The legacy code only used the part number field to identify CoreSight peripherals.
 * This meant that the same part number from two different manufacturers looked the same.
 * It is desirable for all future additions to identify with both part number and JEP106.
 * "ANY_ID" is a wildcard (any JEP106) only to preserve legacy behavior for legacy entries.
 */

#define ANY_ID 0x1000

static const struct {
        uint16_t designer_id;
        uint16_t part_num;
        const char *type;
        const char *full;
} dap_partnums[] = {
        { ARM_ID, 0x000, "Cortex-M3 SCS",              "(System Control Space)", },
        { ARM_ID, 0x001, "Cortex-M3 ITM",              "(Instrumentation Trace Module)", },
        { ARM_ID, 0x002, "Cortex-M3 DWT",              "(Data Watchpoint and Trace)", },
        { ARM_ID, 0x003, "Cortex-M3 FPB",              "(Flash Patch and Breakpoint)", },
        { ARM_ID, 0x008, "Cortex-M0 SCS",              "(System Control Space)", },
        { ARM_ID, 0x00a, "Cortex-M0 DWT",              "(Data Watchpoint and Trace)", },
        { ARM_ID, 0x00b, "Cortex-M0 BPU",              "(Breakpoint Unit)", },
        { ARM_ID, 0x00c, "Cortex-M4 SCS",              "(System Control Space)", },
        { ARM_ID, 0x00d, "CoreSight ETM11",            "(Embedded Trace)", },
        { ARM_ID, 0x00e, "Cortex-M7 FPB",              "(Flash Patch and Breakpoint)", },
        { ARM_ID, 0x470, "Cortex-M1 ROM",              "(ROM Table)", },
        { ARM_ID, 0x471, "Cortex-M0 ROM",              "(ROM Table)", },
        { ARM_ID, 0x490, "Cortex-A15 GIC",             "(Generic Interrupt Controller)", },
        { ARM_ID, 0x4a1, "Cortex-A53 ROM",             "(v8 Memory Map ROM Table)", },
        { ARM_ID, 0x4a2, "Cortex-A57 ROM",             "(ROM Table)", },
        { ARM_ID, 0x4a3, "Cortex-A53 ROM",             "(v7 Memory Map ROM Table)", },
        { ARM_ID, 0x4a4, "Cortex-A72 ROM",             "(ROM Table)", },
        { ARM_ID, 0x4a9, "Cortex-A9 ROM",              "(ROM Table)", },
        { ARM_ID, 0x4aa, "Cortex-A35 ROM",             "(v8 Memory Map ROM Table)", },
        { ARM_ID, 0x4af, "Cortex-A15 ROM",             "(ROM Table)", },
        { ARM_ID, 0x4b5, "Cortex-R5 ROM",              "(ROM Table)", },
        { ARM_ID, 0x4c0, "Cortex-M0+ ROM",             "(ROM Table)", },
        { ARM_ID, 0x4c3, "Cortex-M3 ROM",              "(ROM Table)", },
        { ARM_ID, 0x4c4, "Cortex-M4 ROM",              "(ROM Table)", },
        { ARM_ID, 0x4c7, "Cortex-M7 PPB ROM",          "(Private Peripheral Bus ROM Table)", },
        { ARM_ID, 0x4c8, "Cortex-M7 ROM",              "(ROM Table)", },
        { ARM_ID, 0x4e0, "Cortex-A35 ROM",             "(v7 Memory Map ROM Table)", },
        { ARM_ID, 0x4e4, "Cortex-A76 ROM",             "(ROM Table)", },
        { ARM_ID, 0x906, "CoreSight CTI",              "(Cross Trigger)", },
        { ARM_ID, 0x907, "CoreSight ETB",              "(Trace Buffer)", },
        { ARM_ID, 0x908, "CoreSight CSTF",             "(Trace Funnel)", },
        { ARM_ID, 0x909, "CoreSight ATBR",             "(Advanced Trace Bus Replicator)", },
        { ARM_ID, 0x910, "CoreSight ETM9",             "(Embedded Trace)", },
        { ARM_ID, 0x912, "CoreSight TPIU",             "(Trace Port Interface Unit)", },
        { ARM_ID, 0x913, "CoreSight ITM",              "(Instrumentation Trace Macrocell)", },
        { ARM_ID, 0x914, "CoreSight SWO",              "(Single Wire Output)", },
        { ARM_ID, 0x917, "CoreSight HTM",              "(AHB Trace Macrocell)", },
        { ARM_ID, 0x920, "CoreSight ETM11",            "(Embedded Trace)", },
        { ARM_ID, 0x921, "Cortex-A8 ETM",              "(Embedded Trace)", },
        { ARM_ID, 0x922, "Cortex-A8 CTI",              "(Cross Trigger)", },
        { ARM_ID, 0x923, "Cortex-M3 TPIU",             "(Trace Port Interface Unit)", },
        { ARM_ID, 0x924, "Cortex-M3 ETM",              "(Embedded Trace)", },
        { ARM_ID, 0x925, "Cortex-M4 ETM",              "(Embedded Trace)", },
        { ARM_ID, 0x930, "Cortex-R4 ETM",              "(Embedded Trace)", },
        { ARM_ID, 0x931, "Cortex-R5 ETM",              "(Embedded Trace)", },
        { ARM_ID, 0x932, "CoreSight MTB-M0+",          "(Micro Trace Buffer)", },
        { ARM_ID, 0x941, "CoreSight TPIU-Lite",        "(Trace Port Interface Unit)", },
        { ARM_ID, 0x950, "Cortex-A9 PTM",              "(Program Trace Macrocell)", },
        { ARM_ID, 0x955, "Cortex-A5 ETM",              "(Embedded Trace)", },
        { ARM_ID, 0x95a, "Cortex-A72 ETM",             "(Embedded Trace)", },
        { ARM_ID, 0x95b, "Cortex-A17 PTM",             "(Program Trace Macrocell)", },
        { ARM_ID, 0x95d, "Cortex-A53 ETM",             "(Embedded Trace)", },
        { ARM_ID, 0x95e, "Cortex-A57 ETM",             "(Embedded Trace)", },
        { ARM_ID, 0x95f, "Cortex-A15 PTM",             "(Program Trace Macrocell)", },
        { ARM_ID, 0x961, "CoreSight TMC",              "(Trace Memory Controller)", },
        { ARM_ID, 0x962, "CoreSight STM",              "(System Trace Macrocell)", },
        { ARM_ID, 0x975, "Cortex-M7 ETM",              "(Embedded Trace)", },
        { ARM_ID, 0x9a0, "CoreSight PMU",              "(Performance Monitoring Unit)", },
        { ARM_ID, 0x9a1, "Cortex-M4 TPIU",             "(Trace Port Interface Unit)", },
        { ARM_ID, 0x9a4, "CoreSight GPR",              "(Granular Power Requester)", },
        { ARM_ID, 0x9a5, "Cortex-A5 PMU",              "(Performance Monitor Unit)", },
        { ARM_ID, 0x9a7, "Cortex-A7 PMU",              "(Performance Monitor Unit)", },
        { ARM_ID, 0x9a8, "Cortex-A53 CTI",             "(Cross Trigger)", },
        { ARM_ID, 0x9a9, "Cortex-M7 TPIU",             "(Trace Port Interface Unit)", },
        { ARM_ID, 0x9ae, "Cortex-A17 PMU",             "(Performance Monitor Unit)", },
        { ARM_ID, 0x9af, "Cortex-A15 PMU",             "(Performance Monitor Unit)", },
        { ARM_ID, 0x9b7, "Cortex-R7 PMU",              "(Performance Monitor Unit)", },
        { ARM_ID, 0x9d3, "Cortex-A53 PMU",             "(Performance Monitor Unit)", },
        { ARM_ID, 0x9d7, "Cortex-A57 PMU",             "(Performance Monitor Unit)", },
        { ARM_ID, 0x9d8, "Cortex-A72 PMU",             "(Performance Monitor Unit)", },
        { ARM_ID, 0x9da, "Cortex-A35 PMU/CTI/ETM",     "(Performance Monitor Unit/Cross Trigger/ETM)", },
        { ARM_ID, 0xc05, "Cortex-A5 Debug",            "(Debug Unit)", },
        { ARM_ID, 0xc07, "Cortex-A7 Debug",            "(Debug Unit)", },
        { ARM_ID, 0xc08, "Cortex-A8 Debug",            "(Debug Unit)", },
        { ARM_ID, 0xc09, "Cortex-A9 Debug",            "(Debug Unit)", },
        { ARM_ID, 0xc0e, "Cortex-A17 Debug",           "(Debug Unit)", },
        { ARM_ID, 0xc0f, "Cortex-A15 Debug",           "(Debug Unit)", },
        { ARM_ID, 0xc14, "Cortex-R4 Debug",            "(Debug Unit)", },
        { ARM_ID, 0xc15, "Cortex-R5 Debug",            "(Debug Unit)", },
        { ARM_ID, 0xc17, "Cortex-R7 Debug",            "(Debug Unit)", },
        { ARM_ID, 0xd03, "Cortex-A53 Debug",           "(Debug Unit)", },
        { ARM_ID, 0xd04, "Cortex-A35 Debug",           "(Debug Unit)", },
        { ARM_ID, 0xd07, "Cortex-A57 Debug",           "(Debug Unit)", },
        { ARM_ID, 0xd08, "Cortex-A72 Debug",           "(Debug Unit)", },
        { ARM_ID, 0xd0b, "Cortex-A76 Debug",           "(Debug Unit)", },
        { 0x017,  0x9af, "MSP432 ROM",                 "(ROM Table)" },
        { 0x01f,  0xcd0, "Atmel CPU with DSU",         "(CPU)" },
        { 0x041,  0x1db, "XMC4500 ROM",                "(ROM Table)" },
        { 0x041,  0x1df, "XMC4700/4800 ROM",           "(ROM Table)" },
        { 0x041,  0x1ed, "XMC1000 ROM",                "(ROM Table)" },
        { 0x065,  0x000, "SHARC+/Blackfin+",           "", },
        { 0x070,  0x440, "Qualcomm QDSS Component v1", "(Qualcomm Designed CoreSight Component v1)", },
        { 0x0bf,  0x100, "Brahma-B53 Debug",           "(Debug Unit)", },
        { 0x0bf,  0x9d3, "Brahma-B53 PMU",             "(Performance Monitor Unit)", },
        { 0x0bf,  0x4a1, "Brahma-B53 ROM",             "(ROM Table)", },
        { 0x0bf,  0x721, "Brahma-B53 ROM",             "(ROM Table)", },
        { 0x1eb,  0x181, "Tegra 186 ROM",              "(ROM Table)", },
        { 0x1eb,  0x202, "Denver ETM",                 "(Denver Embedded Trace)", },
        { 0x1eb,  0x211, "Tegra 210 ROM",              "(ROM Table)", },
        { 0x1eb,  0x302, "Denver Debug",               "(Debug Unit)", },
        { 0x1eb,  0x402, "Denver PMU",                 "(Performance Monitor Unit)", },
        /* legacy comment: 0x113: what? */
        { ANY_ID, 0x120, "TI SDTI",                    "(System Debug Trace Interface)", }, /* from OMAP3 memmap */
        { ANY_ID, 0x343, "TI DAPCTL",                  "", }, /* from OMAP3 memmap */
};

static int dap_rom_display(struct command_invocation *cmd,
                                struct adiv5_ap *ap, target_addr_t dbgbase, int depth)
{
        int retval;
        uint64_t pid;
        uint32_t cid;
        char tabs[16] = "";

        if (depth > 16) {
                command_print(cmd, "\tTables too deep");
                return ERROR_FAIL;
        }

        if (depth)
                snprintf(tabs, sizeof(tabs), "[L%02d] ", depth);

        target_addr_t base_addr = dbgbase & 0xFFFFFFFFFFFFF000ull;
        command_print(cmd, "\t\tComponent base address " TARGET_ADDR_FMT, base_addr);

        retval = dap_read_part_id(ap, base_addr, &cid, &pid);
        if (retval != ERROR_OK) {
                command_print(cmd, "\t\tCan't read component, the corresponding core might be turned off");
                return ERROR_OK; /* Don't abort recursion */
        }

        if (!is_valid_arm_cs_cidr(cid)) {
                command_print(cmd, "\t\tInvalid CID 0x%08" PRIx32, cid);
                return ERROR_OK; /* Don't abort recursion */
        }

        /* component may take multiple 4K pages */
        uint32_t size = ARM_CS_PIDR_SIZE(pid);
        if (size > 0)
                command_print(cmd, "\t\tStart address " TARGET_ADDR_FMT, base_addr - 0x1000 * size);

        command_print(cmd, "\t\tPeripheral ID 0x%010" PRIx64, pid);

        uint8_t class = (cid & ARM_CS_CIDR_CLASS_MASK) >> ARM_CS_CIDR_CLASS_SHIFT;
        uint16_t part_num = ARM_CS_PIDR_PART(pid);
        uint16_t designer_id = ARM_CS_PIDR_DESIGNER(pid);

        if (pid & ARM_CS_PIDR_JEDEC) {
                /* JEP106 code */
                command_print(cmd, "\t\tDesigner is 0x%03" PRIx16 ", %s",
                                designer_id, jep106_manufacturer(designer_id));
        } else {
                /* Legacy ASCII ID, clear invalid bits */
                designer_id &= 0x7f;
                command_print(cmd, "\t\tDesigner ASCII code 0x%02" PRIx16 ", %s",
                                designer_id, designer_id == 0x41 ? "ARM" : "<unknown>");
        }

        /* default values to be overwritten upon finding a match */
        const char *type = "Unrecognized";
        const char *full = "";

        /* search dap_partnums[] array for a match */
        for (unsigned entry = 0; entry < ARRAY_SIZE(dap_partnums); entry++) {

                if ((dap_partnums[entry].designer_id != designer_id) && (dap_partnums[entry].designer_id != ANY_ID))
                        continue;

                if (dap_partnums[entry].part_num != part_num)
                        continue;

                type = dap_partnums[entry].type;
                full = dap_partnums[entry].full;
                break;
        }

        command_print(cmd, "\t\tPart is 0x%" PRIx16", %s %s", part_num, type, full);
        command_print(cmd, "\t\tComponent class is 0x%" PRIx8 ", %s", class, class_description[class]);

        if (class == ARM_CS_CLASS_0X1_ROM_TABLE) {
                uint32_t memtype;
                retval = mem_ap_read_atomic_u32(ap, base_addr + ARM_CS_C1_MEMTYPE, &memtype);
                if (retval != ERROR_OK)
                        return retval;

                if (memtype & ARM_CS_C1_MEMTYPE_SYSMEM_MASK)
                        command_print(cmd, "\t\tMEMTYPE system memory present on bus");
                else
                        command_print(cmd, "\t\tMEMTYPE system memory not present: dedicated debug bus");

                /* Read ROM table entries from base address until we get 0x00000000 or reach the reserved area */
                for (uint16_t entry_offset = 0; entry_offset < 0xF00; entry_offset += 4) {
                        uint32_t romentry;
                        retval = mem_ap_read_atomic_u32(ap, base_addr | entry_offset, &romentry);
                        if (retval != ERROR_OK)
                                return retval;
                        command_print(cmd, "\t%sROMTABLE[0x%x] = 0x%" PRIx32 "",
                                        tabs, entry_offset, romentry);
                        if (romentry & ARM_CS_ROMENTRY_PRESENT) {
                                /* Recurse. "romentry" is signed */
                                retval = dap_rom_display(cmd, ap, base_addr + (int32_t)(romentry & ARM_CS_ROMENTRY_OFFSET_MASK),
                                                                                 depth + 1);
                                if (retval != ERROR_OK)
                                        return retval;
                        } else if (romentry != 0) {
                                command_print(cmd, "\t\tComponent not present");
                        } else {
                                command_print(cmd, "\t%s\tEnd of ROM table", tabs);
                                break;
                        }
                }
        } else if (class == ARM_CS_CLASS_0X9_CS_COMPONENT) {
                const char *major = "Reserved", *subtype = "Reserved";

                uint32_t devtype;
                retval = mem_ap_read_atomic_u32(ap, base_addr + ARM_CS_C9_DEVTYPE, &devtype);
                if (retval != ERROR_OK)
                        return retval;
                unsigned int minor = (devtype & ARM_CS_C9_DEVTYPE_SUB_MASK) >> ARM_CS_C9_DEVTYPE_SUB_SHIFT;
                unsigned int devtype_major = (devtype & ARM_CS_C9_DEVTYPE_MAJOR_MASK) >> ARM_CS_C9_DEVTYPE_MAJOR_SHIFT;
                switch (devtype_major) {
                case 0:
                        major = "Miscellaneous";
                        switch (minor) {
                        case 0:
                                subtype = "other";
                                break;
                        case 4:
                                subtype = "Validation component";
                                break;
                        }
                        break;
                case 1:
                        major = "Trace Sink";
                        switch (minor) {
                        case 0:
                                subtype = "other";
                                break;
                        case 1:
                                subtype = "Port";
                                break;
                        case 2:
                                subtype = "Buffer";
                                break;
                        case 3:
                                subtype = "Router";
                                break;
                        }
                        break;
                case 2:
                        major = "Trace Link";
                        switch (minor) {
                        case 0:
                                subtype = "other";
                                break;
                        case 1:
                                subtype = "Funnel, router";
                                break;
                        case 2:
                                subtype = "Filter";
                                break;
                        case 3:
                                subtype = "FIFO, buffer";
                                break;
                        }
                        break;
                case 3:
                        major = "Trace Source";
                        switch (minor) {
                        case 0:
                                subtype = "other";
                                break;
                        case 1:
                                subtype = "Processor";
                                break;
                        case 2:
                                subtype = "DSP";
                                break;
                        case 3:
                                subtype = "Engine/Coprocessor";
                                break;
                        case 4:
                                subtype = "Bus";
                                break;
                        case 6:
                                subtype = "Software";
                                break;
                        }
                        break;
                case 4:
                        major = "Debug Control";
                        switch (minor) {
                        case 0:
                                subtype = "other";
                                break;
                        case 1:
                                subtype = "Trigger Matrix";
                                break;
                        case 2:
                                subtype = "Debug Auth";
                                break;
                        case 3:
                                subtype = "Power Requestor";
                                break;
                        }
                        break;
                case 5:
                        major = "Debug Logic";
                        switch (minor) {
                        case 0:
                                subtype = "other";
                                break;
                        case 1:
                                subtype = "Processor";
                                break;
                        case 2:
                                subtype = "DSP";
                                break;
                        case 3:
                                subtype = "Engine/Coprocessor";
                                break;
                        case 4:
                                subtype = "Bus";
                                break;
                        case 5:
                                subtype = "Memory";
                                break;
                        }
                        break;
                case 6:
                        major = "Performance Monitor";
                        switch (minor) {
                        case 0:
                                subtype = "other";
                                break;
                        case 1:
                                subtype = "Processor";
                                break;
                        case 2:
                                subtype = "DSP";
                                break;
                        case 3:
                                subtype = "Engine/Coprocessor";
                                break;
                        case 4:
                                subtype = "Bus";
                                break;
                        case 5:
                                subtype = "Memory";
                                break;
                        }
                        break;
                }
                command_print(cmd, "\t\tType is 0x%02x, %s, %s",
                                devtype & ARM_CS_C9_DEVTYPE_MASK,
                                major, subtype);
                /* REVISIT also show ARM_CS_C9_DEVID */
        }

        return ERROR_OK;
}

int dap_info_command(struct command_invocation *cmd,
                struct adiv5_ap *ap)
{
        int retval;
        uint32_t apid;
        target_addr_t dbgbase;
        target_addr_t dbgaddr;

        /* Now we read ROM table ID registers, ref. ARM IHI 0029B sec  */
        retval = dap_get_debugbase(ap, &dbgbase, &apid);
        if (retval != ERROR_OK)
                return retval;

        command_print(cmd, "AP ID register 0x%8.8" PRIx32, apid);
        if (apid == 0) {
                command_print(cmd, "No AP found at this ap 0x%x", ap->ap_num);
                return ERROR_FAIL;
        }

        command_print(cmd, "\tType is %s", ap_type_to_description(apid & AP_TYPE_MASK));

        /* NOTE: a MEM-AP may have a single CoreSight component that's
         * not a ROM table ... or have no such components at all.
         */
        const unsigned int class = (apid & AP_REG_IDR_CLASS_MASK) >> AP_REG_IDR_CLASS_SHIFT;

        if (class == AP_REG_IDR_CLASS_MEM_AP) {
                if (is_64bit_ap(ap))
                        dbgaddr = 0xFFFFFFFFFFFFFFFFull;
                else
                        dbgaddr = 0xFFFFFFFFul;

                command_print(cmd, "MEM-AP BASE " TARGET_ADDR_FMT, dbgbase);

                if (dbgbase == dbgaddr || (dbgbase & 0x3) == 0x2) {
                        command_print(cmd, "\tNo ROM table present");
                } else {
                        if (dbgbase & 0x01)
                                command_print(cmd, "\tValid ROM table present");
                        else
                                command_print(cmd, "\tROM table in legacy format");

                        dap_rom_display(cmd, ap, dbgbase & 0xFFFFFFFFFFFFF000ull, 0);
                }
        }

        return ERROR_OK;
}

enum adiv5_cfg_param {
        CFG_DAP,
        CFG_AP_NUM,
        CFG_BASEADDR,
        CFG_CTIBASE, /* DEPRECATED */
};

static const struct jim_nvp nvp_config_opts[] = {
        { .name = "-dap",       .value = CFG_DAP },
        { .name = "-ap-num",    .value = CFG_AP_NUM },
        { .name = "-baseaddr",  .value = CFG_BASEADDR },
        { .name = "-ctibase",   .value = CFG_CTIBASE }, /* DEPRECATED */
        { .name = NULL, .value = -1 }
};

static int adiv5_jim_spot_configure(struct jim_getopt_info *goi,
                struct adiv5_dap **dap_p, int *ap_num_p, uint32_t *base_p)
{
        if (!goi->argc)
                return JIM_OK;

        Jim_SetEmptyResult(goi->interp);

        struct jim_nvp *n;
        int e = jim_nvp_name2value_obj(goi->interp, nvp_config_opts,
                                goi->argv[0], &n);
        if (e != JIM_OK)
                return JIM_CONTINUE;

        /* base_p can be NULL, then '-baseaddr' option is treated as unknown */
        if (!base_p && (n->value == CFG_BASEADDR || n->value == CFG_CTIBASE))
                return JIM_CONTINUE;

        e = jim_getopt_obj(goi, NULL);
        if (e != JIM_OK)
                return e;

        switch (n->value) {
        case CFG_DAP:
                if (goi->isconfigure) {
                        Jim_Obj *o_t;
                        struct adiv5_dap *dap;
                        e = jim_getopt_obj(goi, &o_t);
                        if (e != JIM_OK)
                                return e;
                        dap = dap_instance_by_jim_obj(goi->interp, o_t);
                        if (!dap) {
                                Jim_SetResultString(goi->interp, "DAP name invalid!", -1);
                                return JIM_ERR;
                        }
                        if (*dap_p && *dap_p != dap) {
                                Jim_SetResultString(goi->interp,
                                        "DAP assignment cannot be changed!", -1);
                                return JIM_ERR;
                        }
                        *dap_p = dap;
                } else {
                        if (goi->argc)
                                goto err_no_param;
                        if (!*dap_p) {
                                Jim_SetResultString(goi->interp, "DAP not configured", -1);
                                return JIM_ERR;
                        }
                        Jim_SetResultString(goi->interp, adiv5_dap_name(*dap_p), -1);
                }
                break;

        case CFG_AP_NUM:
                if (goi->isconfigure) {
                        jim_wide ap_num;
                        e = jim_getopt_wide(goi, &ap_num);
                        if (e != JIM_OK)
                                return e;
                        if (ap_num < 0 || ap_num > DP_APSEL_MAX) {
                                Jim_SetResultString(goi->interp, "Invalid AP number!", -1);
                                return JIM_ERR;
                        }
                        *ap_num_p = ap_num;
                } else {
                        if (goi->argc)
                                goto err_no_param;
                        if (*ap_num_p == DP_APSEL_INVALID) {
                                Jim_SetResultString(goi->interp, "AP number not configured", -1);
                                return JIM_ERR;
                        }
                        Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, *ap_num_p));
                }
                break;

        case CFG_CTIBASE:
                LOG_WARNING("DEPRECATED! use \'-baseaddr' not \'-ctibase\'");
                /* fall through */
        case CFG_BASEADDR:
                if (goi->isconfigure) {
                        jim_wide base;
                        e = jim_getopt_wide(goi, &base);
                        if (e != JIM_OK)
                                return e;
                        *base_p = (uint32_t)base;
                } else {
                        if (goi->argc)
                                goto err_no_param;
                        Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, *base_p));
                }
                break;
        };

        return JIM_OK;

err_no_param:
        Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "NO PARAMS");
        return JIM_ERR;
}

int adiv5_jim_configure(struct target *target, struct jim_getopt_info *goi)
{
        struct adiv5_private_config *pc;
        int e;

        pc = (struct adiv5_private_config *)target->private_config;
        if (!pc) {
                pc = calloc(1, sizeof(struct adiv5_private_config));
                pc->ap_num = DP_APSEL_INVALID;
                target->private_config = pc;
        }

        target->has_dap = true;

        e = adiv5_jim_spot_configure(goi, &pc->dap, &pc->ap_num, NULL);
        if (e != JIM_OK)
                return e;

        if (pc->dap && !target->dap_configured) {
                if (target->tap_configured) {
                        pc->dap = NULL;
                        Jim_SetResultString(goi->interp,
                                "-chain-position and -dap configparams are mutually exclusive!", -1);
                        return JIM_ERR;
                }
                target->tap = pc->dap->tap;
                target->dap_configured = true;
        }

        return JIM_OK;
}

int adiv5_verify_config(struct adiv5_private_config *pc)
{
        if (!pc)
                return ERROR_FAIL;

        if (!pc->dap)
                return ERROR_FAIL;

        return ERROR_OK;
}

int adiv5_jim_mem_ap_spot_configure(struct adiv5_mem_ap_spot *cfg,
                struct jim_getopt_info *goi)
{
        return adiv5_jim_spot_configure(goi, &cfg->dap, &cfg->ap_num, &cfg->base);
}

int adiv5_mem_ap_spot_init(struct adiv5_mem_ap_spot *p)
{
        p->dap = NULL;
        p->ap_num = DP_APSEL_INVALID;
        p->base = 0;
        return ERROR_OK;
}

COMMAND_HANDLER(handle_dap_info_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t apsel;

        switch (CMD_ARGC) {
        case 0:
                apsel = dap->apsel;
                break;
        case 1:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
                if (apsel > DP_APSEL_MAX) {
                        command_print(CMD, "Invalid AP number");
                        return ERROR_COMMAND_ARGUMENT_INVALID;
                }
                break;
        default:
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        return dap_info_command(CMD, &dap->ap[apsel]);
}

COMMAND_HANDLER(dap_baseaddr_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t apsel, baseaddr_lower, baseaddr_upper;
        struct adiv5_ap *ap;
        target_addr_t baseaddr;
        int retval;

        baseaddr_upper = 0;

        switch (CMD_ARGC) {
        case 0:
                apsel = dap->apsel;
                break;
        case 1:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
                /* AP address is in bits 31:24 of DP_SELECT */
                if (apsel > DP_APSEL_MAX) {
                        command_print(CMD, "Invalid AP number");
                        return ERROR_COMMAND_ARGUMENT_INVALID;
                }
                break;
        default:
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        /* NOTE:  assumes we're talking to a MEM-AP, which
         * has a base address.  There are other kinds of AP,
         * though they're not common for now.  This should
         * use the ID register to verify it's a MEM-AP.
         */

        ap = dap_ap(dap, apsel);
        retval = dap_queue_ap_read(ap, MEM_AP_REG_BASE, &baseaddr_lower);

        if (retval == ERROR_OK && ap->cfg_reg == MEM_AP_REG_CFG_INVALID)
                retval = dap_queue_ap_read(ap, MEM_AP_REG_CFG, &ap->cfg_reg);

        if (retval == ERROR_OK && (ap->cfg_reg == MEM_AP_REG_CFG_INVALID || is_64bit_ap(ap))) {
                /* MEM_AP_REG_BASE64 is defined as 'RES0'; can be read and then ignored on 32 bits AP */
                retval = dap_queue_ap_read(ap, MEM_AP_REG_BASE64, &baseaddr_upper);
        }

        if (retval == ERROR_OK)
                retval = dap_run(dap);
        if (retval != ERROR_OK)
                return retval;

        if (is_64bit_ap(ap)) {
                baseaddr = (((target_addr_t)baseaddr_upper) << 32) | baseaddr_lower;
                command_print(CMD, "0x%016" PRIx64, baseaddr);
        } else
                command_print(CMD, "0x%08" PRIx32, baseaddr_lower);

        return ERROR_OK;
}

COMMAND_HANDLER(dap_memaccess_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t memaccess_tck;

        switch (CMD_ARGC) {
        case 0:
                memaccess_tck = dap->ap[dap->apsel].memaccess_tck;
                break;
        case 1:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], memaccess_tck);
                break;
        default:
                return ERROR_COMMAND_SYNTAX_ERROR;
        }
        dap->ap[dap->apsel].memaccess_tck = memaccess_tck;

        command_print(CMD, "memory bus access delay set to %" PRIu32 " tck",
                        dap->ap[dap->apsel].memaccess_tck);

        return ERROR_OK;
}

COMMAND_HANDLER(dap_apsel_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t apsel;

        switch (CMD_ARGC) {
        case 0:
                command_print(CMD, "%" PRIu32, dap->apsel);
                return ERROR_OK;
        case 1:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
                /* AP address is in bits 31:24 of DP_SELECT */
                if (apsel > DP_APSEL_MAX) {
                        command_print(CMD, "Invalid AP number");
                        return ERROR_COMMAND_ARGUMENT_INVALID;
                }
                break;
        default:
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        dap->apsel = apsel;
        return ERROR_OK;
}

COMMAND_HANDLER(dap_apcsw_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t apcsw = dap->ap[dap->apsel].csw_default;
        uint32_t csw_val, csw_mask;

        switch (CMD_ARGC) {
        case 0:
                command_print(CMD, "ap %" PRIu32 " selected, csw 0x%8.8" PRIx32,
                        dap->apsel, apcsw);
                return ERROR_OK;
        case 1:
                if (strcmp(CMD_ARGV[0], "default") == 0)
                        csw_val = CSW_AHB_DEFAULT;
                else
                        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], csw_val);

                if (csw_val & (CSW_SIZE_MASK | CSW_ADDRINC_MASK)) {
                        LOG_ERROR("CSW value cannot include 'Size' and 'AddrInc' bit-fields");
                        return ERROR_COMMAND_ARGUMENT_INVALID;
                }
                apcsw = csw_val;
                break;
        case 2:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], csw_val);
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], csw_mask);
                if (csw_mask & (CSW_SIZE_MASK | CSW_ADDRINC_MASK)) {
                        LOG_ERROR("CSW mask cannot include 'Size' and 'AddrInc' bit-fields");
                        return ERROR_COMMAND_ARGUMENT_INVALID;
                }
                apcsw = (apcsw & ~csw_mask) | (csw_val & csw_mask);
                break;
        default:
                return ERROR_COMMAND_SYNTAX_ERROR;
        }
        dap->ap[dap->apsel].csw_default = apcsw;

        return 0;
}



COMMAND_HANDLER(dap_apid_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t apsel, apid;
        int retval;

        switch (CMD_ARGC) {
        case 0:
                apsel = dap->apsel;
                break;
        case 1:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
                /* AP address is in bits 31:24 of DP_SELECT */
                if (apsel > DP_APSEL_MAX) {
                        command_print(CMD, "Invalid AP number");
                        return ERROR_COMMAND_ARGUMENT_INVALID;
                }
                break;
        default:
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        retval = dap_queue_ap_read(dap_ap(dap, apsel), AP_REG_IDR, &apid);
        if (retval != ERROR_OK)
                return retval;
        retval = dap_run(dap);
        if (retval != ERROR_OK)
                return retval;

        command_print(CMD, "0x%8.8" PRIx32, apid);

        return retval;
}

COMMAND_HANDLER(dap_apreg_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t apsel, reg, value;
        struct adiv5_ap *ap;
        int retval;

        if (CMD_ARGC < 2 || CMD_ARGC > 3)
                return ERROR_COMMAND_SYNTAX_ERROR;

        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
        /* AP address is in bits 31:24 of DP_SELECT */
        if (apsel > DP_APSEL_MAX) {
                command_print(CMD, "Invalid AP number");
                return ERROR_COMMAND_ARGUMENT_INVALID;
        }

        ap = dap_ap(dap, apsel);

        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], reg);
        if (reg >= 256 || (reg & 3)) {
                command_print(CMD, "Invalid reg value (should be less than 256 and 4 bytes aligned)");
                return ERROR_COMMAND_ARGUMENT_INVALID;
        }

        if (CMD_ARGC == 3) {
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[2], value);
                switch (reg) {
                case MEM_AP_REG_CSW:
                        ap->csw_value = 0;  /* invalid, in case write fails */
                        retval = dap_queue_ap_write(ap, reg, value);
                        if (retval == ERROR_OK)
                                ap->csw_value = value;
                        break;
                case MEM_AP_REG_TAR:
                        retval = dap_queue_ap_write(ap, reg, value);
                        if (retval == ERROR_OK)
                                ap->tar_value = (ap->tar_value & ~0xFFFFFFFFull) | value;
                        else {
                                /* To track independent writes to TAR and TAR64, two tar_valid flags */
                                /* should be used. To keep it simple, tar_valid is only invalidated on a */
                                /* write fail. This approach causes a later re-write of the TAR and TAR64 */
                                /* if tar_valid is false. */
                                ap->tar_valid = false;
                        }
                        break;
                case MEM_AP_REG_TAR64:
                        retval = dap_queue_ap_write(ap, reg, value);
                        if (retval == ERROR_OK)
                                ap->tar_value = (ap->tar_value & 0xFFFFFFFFull) | (((target_addr_t)value) << 32);
                        else {
                                /* See above comment for the MEM_AP_REG_TAR failed write case */
                                ap->tar_valid = false;
                        }
                        break;
                default:
                        retval = dap_queue_ap_write(ap, reg, value);
                        break;
                }
        } else {
                retval = dap_queue_ap_read(ap, reg, &value);
        }
        if (retval == ERROR_OK)
                retval = dap_run(dap);

        if (retval != ERROR_OK)
                return retval;

        if (CMD_ARGC == 2)
                command_print(CMD, "0x%08" PRIx32, value);

        return retval;
}

COMMAND_HANDLER(dap_dpreg_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        uint32_t reg, value;
        int retval;

        if (CMD_ARGC < 1 || CMD_ARGC > 2)
                return ERROR_COMMAND_SYNTAX_ERROR;

        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], reg);
        if (reg >= 256 || (reg & 3)) {
                command_print(CMD, "Invalid reg value (should be less than 256 and 4 bytes aligned)");
                return ERROR_COMMAND_ARGUMENT_INVALID;
        }

        if (CMD_ARGC == 2) {
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], value);
                retval = dap_queue_dp_write(dap, reg, value);
        } else {
                retval = dap_queue_dp_read(dap, reg, &value);
        }
        if (retval == ERROR_OK)
                retval = dap_run(dap);

        if (retval != ERROR_OK)
                return retval;

        if (CMD_ARGC == 1)
                command_print(CMD, "0x%08" PRIx32, value);

        return retval;
}

COMMAND_HANDLER(dap_ti_be_32_quirks_command)
{
        struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
        return CALL_COMMAND_HANDLER(handle_command_parse_bool, &dap->ti_be_32_quirks,
                "TI BE-32 quirks mode");
}

const struct command_registration dap_instance_commands[] = {
        {
                .name = "info",
                .handler = handle_dap_info_command,
                .mode = COMMAND_EXEC,
                .help = "display ROM table for MEM-AP "
                        "(default currently selected AP)",
                .usage = "[ap_num]",
        },
        {
                .name = "apsel",
                .handler = dap_apsel_command,
                .mode = COMMAND_ANY,
                .help = "Set the currently selected AP (default 0) "
                        "and display the result",
                .usage = "[ap_num]",
        },
        {
                .name = "apcsw",
                .handler = dap_apcsw_command,
                .mode = COMMAND_ANY,
                .help = "Set CSW default bits",
                .usage = "[value [mask]]",
        },

        {
                .name = "apid",
                .handler = dap_apid_command,
                .mode = COMMAND_EXEC,
                .help = "return ID register from AP "
                        "(default currently selected AP)",
                .usage = "[ap_num]",
        },
        {
                .name = "apreg",
                .handler = dap_apreg_command,
                .mode = COMMAND_EXEC,
                .help = "read/write a register from AP "
                        "(reg is byte address of a word register, like 0 4 8...)",
                .usage = "ap_num reg [value]",
        },
        {
                .name = "dpreg",
                .handler = dap_dpreg_command,
                .mode = COMMAND_EXEC,
                .help = "read/write a register from DP "
                        "(reg is byte address (bank << 4 | reg) of a word register, like 0 4 8...)",
                .usage = "reg [value]",
        },
        {
                .name = "baseaddr",
                .handler = dap_baseaddr_command,
                .mode = COMMAND_EXEC,
                .help = "return debug base address from MEM-AP "
                        "(default currently selected AP)",
                .usage = "[ap_num]",
        },
        {
                .name = "memaccess",
                .handler = dap_memaccess_command,
                .mode = COMMAND_EXEC,
                .help = "set/get number of extra tck for MEM-AP memory "
                        "bus access [0-255]",
                .usage = "[cycles]",
        },
        {
                .name = "ti_be_32_quirks",
                .handler = dap_ti_be_32_quirks_command,
                .mode = COMMAND_CONFIG,
                .help = "set/get quirks mode for TI TMS450/TMS570 processors",
                .usage = "[enable]",
        },
        COMMAND_REGISTRATION_DONE
};