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

/***************************************************************************
 *   Copyright (C) 2006 by Magnus Lundin                                   *
 *   lundin@mlu.mine.nu                                                    *
 *                                                                         *
 *   Copyright (C) 2008 by Spencer Oliver                                  *
 *   spen@spen-soft.co.uk                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
 ***************************************************************************/

#ifndef OPENOCD_TARGET_ARM_ADI_V5_H
#define OPENOCD_TARGET_ARM_ADI_V5_H

/**
 * @file
 * This defines formats and data structures used to talk to ADIv5 entities.
 * Those include a DAP, different types of Debug Port (DP), and memory mapped
 * resources accessed through a MEM-AP.
 */

#include <helper/list.h>
#include "arm_jtag.h"

/* three-bit ACK values for SWD access (sent LSB first) */
#define SWD_ACK_OK    0x1
#define SWD_ACK_WAIT  0x2
#define SWD_ACK_FAULT 0x4

#define DPAP_WRITE              0
#define DPAP_READ               1

#define BANK_REG(bank, reg)     (((bank) << 4) | (reg))

/* A[3:0] for DP registers; A[1:0] are always zero.
 * - JTAG accesses all of these via JTAG_DP_DPACC, except for
 *   IDCODE (JTAG_DP_IDCODE) and ABORT (JTAG_DP_ABORT).
 * - SWD accesses these directly, sometimes needing SELECT.DPBANKSEL
 */
#define DP_DPIDR        BANK_REG(0x0, 0x0) /* DPv1+: ro */
#define DP_ABORT        BANK_REG(0x0, 0x0) /* DPv1+: SWD: wo */
#define DP_CTRL_STAT    BANK_REG(0x0, 0x4) /* DPv0+: rw */
#define DP_DLCR         BANK_REG(0x1, 0x4) /* DPv1+: SWD: rw */
#define DP_TARGETID     BANK_REG(0x2, 0x4) /* DPv2: ro */
#define DP_DLPIDR       BANK_REG(0x3, 0x4) /* DPv2: ro */
#define DP_EVENTSTAT    BANK_REG(0x4, 0x4) /* DPv2: ro */
#define DP_RESEND       BANK_REG(0x0, 0x8) /* DPv1+: SWD: ro */
#define DP_SELECT       BANK_REG(0x0, 0x8) /* DPv0+: JTAG: rw; SWD: wo */
#define DP_RDBUFF       BANK_REG(0x0, 0xC) /* DPv0+: ro */
#define DP_TARGETSEL    BANK_REG(0x0, 0xC) /* DPv2: SWD: wo */

#define DLCR_TO_TRN(dlcr) ((uint32_t)(1 + ((3 & (dlcr)) >> 8))) /* 1..4 clocks */

/* Fields of the DP's AP ABORT register */
#define DAPABORT        (1UL << 0)
#define STKCMPCLR       (1UL << 1) /* SWD-only */
#define STKERRCLR       (1UL << 2) /* SWD-only */
#define WDERRCLR        (1UL << 3) /* SWD-only */
#define ORUNERRCLR      (1UL << 4) /* SWD-only */

/* Fields of the DP's CTRL/STAT register */
#define CORUNDETECT     (1UL << 0)
#define SSTICKYORUN     (1UL << 1)
/* 3:2 - transaction mode (e.g. pushed compare) */
#define SSTICKYCMP      (1UL << 4)
#define SSTICKYERR      (1UL << 5)
#define READOK          (1UL << 6) /* SWD-only */
#define WDATAERR        (1UL << 7) /* SWD-only */
/* 11:8 - mask lanes for pushed compare or verify ops */
/* 21:12 - transaction counter */
#define CDBGRSTREQ      (1UL << 26)
#define CDBGRSTACK      (1UL << 27)
#define CDBGPWRUPREQ    (1UL << 28)
#define CDBGPWRUPACK    (1UL << 29)
#define CSYSPWRUPREQ    (1UL << 30)
#define CSYSPWRUPACK    (1UL << 31)

/* MEM-AP register addresses */
#define MEM_AP_REG_CSW          0x00
#define MEM_AP_REG_TAR          0x04
#define MEM_AP_REG_TAR64        0x08            /* RW: Large Physical Address Extension */
#define MEM_AP_REG_DRW          0x0C            /* RW: Data Read/Write register */
#define MEM_AP_REG_BD0          0x10            /* RW: Banked Data register 0-3 */
#define MEM_AP_REG_BD1          0x14
#define MEM_AP_REG_BD2          0x18
#define MEM_AP_REG_BD3          0x1C
#define MEM_AP_REG_MBT          0x20            /* --: Memory Barrier Transfer register */
#define MEM_AP_REG_BASE64       0xF0            /* RO: Debug Base Address (LA) register */
#define MEM_AP_REG_CFG          0xF4            /* RO: Configuration register */
#define MEM_AP_REG_BASE         0xF8            /* RO: Debug Base Address register */
/* Generic AP register address */
#define AP_REG_IDR                      0xFC            /* RO: Identification Register */

/* Fields of the MEM-AP's CSW register */
#define CSW_SIZE_MASK           7
#define CSW_8BIT                0
#define CSW_16BIT               1
#define CSW_32BIT               2
#define CSW_ADDRINC_MASK    (3UL << 4)
#define CSW_ADDRINC_OFF     0UL
#define CSW_ADDRINC_SINGLE  (1UL << 4)
#define CSW_ADDRINC_PACKED  (2UL << 4)
#define CSW_DEVICE_EN       (1UL << 6)
#define CSW_TRIN_PROG       (1UL << 7)

/* All fields in bits 12 and above are implementation-defined
 * Defaults for AHB/AXI in "Standard Memory Access Port Definitions" from ADI
 * Some bits are shared between buses
 */
#define CSW_SPIDEN          (1UL << 23)
#define CSW_DBGSWENABLE     (1UL << 31)

/* AHB: Privileged */
#define CSW_AHB_HPROT1          (1UL << 25)
/* AHB: set HMASTER signals to AHB-AP ID */
#define CSW_AHB_MASTER_DEBUG    (1UL << 29)
/* AHB5: non-secure access via HNONSEC
 * AHB3: SBO, UNPREDICTABLE if zero */
#define CSW_AHB_SPROT           (1UL << 30)
/* AHB: initial value of csw_default */
#define CSW_AHB_DEFAULT         (CSW_AHB_HPROT1 | CSW_AHB_MASTER_DEBUG | CSW_DBGSWENABLE)

/* AXI: Privileged */
#define CSW_AXI_ARPROT0_PRIV    (1UL << 28)
/* AXI: Non-secure */
#define CSW_AXI_ARPROT1_NONSEC  (1UL << 29)
/* AXI: initial value of csw_default */
#define CSW_AXI_DEFAULT         (CSW_AXI_ARPROT0_PRIV | CSW_AXI_ARPROT1_NONSEC | CSW_DBGSWENABLE)

/* APB: initial value of csw_default */
#define CSW_APB_DEFAULT         (CSW_DBGSWENABLE)


/* Fields of the MEM-AP's IDR register */
#define IDR_REV     (0xFUL << 28)
#define IDR_JEP106  (0x7FFUL << 17)
#define IDR_CLASS   (0xFUL << 13)
#define IDR_VARIANT (0xFUL << 4)
#define IDR_TYPE    (0xFUL << 0)

#define IDR_JEP106_ARM 0x04760000

#define DP_SELECT_APSEL 0xFF000000
#define DP_SELECT_APBANK 0x000000F0
#define DP_SELECT_DPBANK 0x0000000F
#define DP_SELECT_INVALID 0x00FFFF00 /* Reserved bits one */

#define DP_APSEL_MAX        (255)
#define DP_APSEL_INVALID    (-1)

/* FIXME: not SWD specific; should be renamed, e.g. adiv5_special_seq */
enum swd_special_seq {
        LINE_RESET,
        JTAG_TO_SWD,
        JTAG_TO_DORMANT,
        SWD_TO_JTAG,
        SWD_TO_DORMANT,
        DORMANT_TO_SWD,
};

/**
 * This represents an ARM Debug Interface (v5) Access Port (AP).
 * Most common is a MEM-AP, for memory access.
 */
struct adiv5_ap {
        /**
         * DAP this AP belongs to.
         */
        struct adiv5_dap *dap;

        /**
         * Number of this AP.
         */
        uint8_t ap_num;

        /**
         * Default value for (MEM-AP) AP_REG_CSW register.
         */
        uint32_t csw_default;

        /**
         * Cache for (MEM-AP) AP_REG_CSW register value.  This is written to
         * configure an access mode, such as autoincrementing AP_REG_TAR during
         * word access.  "-1" indicates no cached value.
         */
        uint32_t csw_value;

        /**
         * Cache for (MEM-AP) AP_REG_TAR register value This is written to
         * configure the address being read or written
         * "-1" indicates no cached value.
         */
        uint32_t tar_value;

        /**
         * Configures how many extra tck clocks are added after starting a
         * MEM-AP access before we try to read its status (and/or result).
         */
        uint32_t memaccess_tck;

        /* Size of TAR autoincrement block, ARM ADI Specification requires at least 10 bits */
        uint32_t tar_autoincr_block;

        /* true if packed transfers are supported by the MEM-AP */
        bool packed_transfers;

        /* true if unaligned memory access is not supported by the MEM-AP */
        bool unaligned_access_bad;

        /* true if tar_value is in sync with TAR register */
        bool tar_valid;
};


/**
 * This represents an ARM Debug Interface (v5) Debug Access Port (DAP).
 * A DAP has two types of component:  one Debug Port (DP), which is a
 * transport agent; and at least one Access Port (AP), controlling
 * resource access.
 *
 * There are two basic DP transports: JTAG, and ARM's low pin-count SWD.
 * Accordingly, this interface is responsible for hiding the transport
 * differences so upper layer code can largely ignore them.
 *
 * When the chip is implemented with JTAG-DP or SW-DP, the transport is
 * fixed as JTAG or SWD, respectively.  Chips incorporating SWJ-DP permit
 * a choice made at board design time (by only using the SWD pins), or
 * as part of setting up a debug session (if all the dual-role JTAG/SWD
 * signals are available).
 */
struct adiv5_dap {
        const struct dap_ops *ops;

        /* dap transaction list for WAIT support */
        struct list_head cmd_journal;

        /* pool for dap_cmd objects */
        struct list_head cmd_pool;

        /* number of dap_cmd objects in the pool */
        size_t cmd_pool_size;

        struct jtag_tap *tap;
        /* Control config */
        uint32_t dp_ctrl_stat;

        struct adiv5_ap ap[DP_APSEL_MAX + 1];

        /* The current manually selected AP by the "dap apsel" command */
        uint32_t apsel;

        /**
         * Cache for DP_SELECT register. A value of DP_SELECT_INVALID
         * indicates no cached value and forces rewrite of the register.
         */
        uint32_t select;

        /* information about current pending SWjDP-AHBAP transaction */
        uint8_t  ack;

        /**
         * Holds the pointer to the destination word for the last queued read,
         * for use with posted AP read sequence optimization.
         */
        uint32_t *last_read;

        /* The TI TMS470 and TMS570 series processors use a BE-32 memory ordering
         * despite lack of support in the ARMv7 architecture. Memory access through
         * the AHB-AP has strange byte ordering these processors, and we need to
         * swizzle appropriately. */
        bool ti_be_32_quirks;

        /**
         * STLINK adapter need to know if last AP operation was read or write, and
         * in case of write has to flush it with a dummy read from DP_RDBUFF
         */
        bool stlink_flush_ap_write;

        /**
         * Signals that an attempt to reestablish communication afresh
         * should be performed before the next access.
         */
        bool do_reconnect;

        /** Flag saying whether to ignore the syspwrupack flag in DAP. Some devices
         *  do not set this bit until later in the bringup sequence */
        bool ignore_syspwrupack;
};

/**
 * Transport-neutral representation of queued DAP transactions, supporting
 * both JTAG and SWD transports.  All submitted transactions are logically
 * queued, until the queue is executed by run().  Some implementations might
 * execute transactions as soon as they're submitted, but no status is made
 * available until run().
 */
struct dap_ops {
        /** connect operation for SWD */
        int (*connect)(struct adiv5_dap *dap);

        /** send a sequence to the DAP */
        int (*send_sequence)(struct adiv5_dap *dap, enum swd_special_seq seq);

        /** DP register read. */
        int (*queue_dp_read)(struct adiv5_dap *dap, unsigned reg,
                        uint32_t *data);
        /** DP register write. */
        int (*queue_dp_write)(struct adiv5_dap *dap, unsigned reg,
                        uint32_t data);

        /** AP register read. */
        int (*queue_ap_read)(struct adiv5_ap *ap, unsigned reg,
                        uint32_t *data);
        /** AP register write. */
        int (*queue_ap_write)(struct adiv5_ap *ap, unsigned reg,
                        uint32_t data);

        /** AP operation abort. */
        int (*queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack);

        /** Executes all queued DAP operations. */
        int (*run)(struct adiv5_dap *dap);

        /** Executes all queued DAP operations but doesn't check
         * sticky error conditions */
        int (*sync)(struct adiv5_dap *dap);

        /** Optional; called at OpenOCD exit */
        void (*quit)(struct adiv5_dap *dap);
};

/*
 * Access Port classes
 */
enum ap_class {
        AP_CLASS_NONE   = 0x00000,  /* No class defined */
        AP_CLASS_MEM_AP = 0x10000,  /* MEM-AP */
};

/*
 * Access Port types
 */
enum ap_type {
        AP_TYPE_JTAG_AP = 0x0,  /* JTAG-AP - JTAG master for controlling other JTAG devices */
        AP_TYPE_AHB3_AP = 0x1,  /* AHB3 Memory-AP */
        AP_TYPE_APB_AP  = 0x2,  /* APB Memory-AP */
        AP_TYPE_AXI_AP  = 0x4,  /* AXI Memory-AP */
        AP_TYPE_AHB5_AP = 0x5,  /* AHB5 Memory-AP. */
};

/**
 * Send an adi-v5 sequence to the DAP.
 *
 * @param dap The DAP used for reading.
 * @param seq The sequence to send.
 *
 * @return ERROR_OK for success, else a fault code.
 */
static inline int dap_send_sequence(struct adiv5_dap *dap,
                enum swd_special_seq seq)
{
        assert(dap->ops != NULL);
        return dap->ops->send_sequence(dap, seq);
}

/**
 * Queue a DP register read.
 * Note that not all DP registers are readable; also, that JTAG and SWD
 * have slight differences in DP register support.
 *
 * @param dap The DAP used for reading.
 * @param reg The two-bit number of the DP register being read.
 * @param data Pointer saying where to store the register's value
 * (in host endianness).
 *
 * @return ERROR_OK for success, else a fault code.
 */
static inline int dap_queue_dp_read(struct adiv5_dap *dap,
                unsigned reg, uint32_t *data)
{
        assert(dap->ops != NULL);
        return dap->ops->queue_dp_read(dap, reg, data);
}

/**
 * Queue a DP register write.
 * Note that not all DP registers are writable; also, that JTAG and SWD
 * have slight differences in DP register support.
 *
 * @param dap The DAP used for writing.
 * @param reg The two-bit number of the DP register being written.
 * @param data Value being written (host endianness)
 *
 * @return ERROR_OK for success, else a fault code.
 */
static inline int dap_queue_dp_write(struct adiv5_dap *dap,
                unsigned reg, uint32_t data)
{
        assert(dap->ops != NULL);
        return dap->ops->queue_dp_write(dap, reg, data);
}

/**
 * Queue an AP register read.
 *
 * @param ap The AP used for reading.
 * @param reg The number of the AP register being read.
 * @param data Pointer saying where to store the register's value
 * (in host endianness).
 *
 * @return ERROR_OK for success, else a fault code.
 */
static inline int dap_queue_ap_read(struct adiv5_ap *ap,
                unsigned reg, uint32_t *data)
{
        assert(ap->dap->ops != NULL);
        return ap->dap->ops->queue_ap_read(ap, reg, data);
}

/**
 * Queue an AP register write.
 *
 * @param ap The AP used for writing.
 * @param reg The number of the AP register being written.
 * @param data Value being written (host endianness)
 *
 * @return ERROR_OK for success, else a fault code.
 */
static inline int dap_queue_ap_write(struct adiv5_ap *ap,
                unsigned reg, uint32_t data)
{
        assert(ap->dap->ops != NULL);
        return ap->dap->ops->queue_ap_write(ap, reg, data);
}

/**
 * Queue an AP abort operation.  The current AP transaction is aborted,
 * including any update of the transaction counter.  The AP is left in
 * an unknown state (so it must be re-initialized).  For use only after
 * the AP has reported WAIT status for an extended period.
 *
 * @param dap The DAP used for writing.
 * @param ack Pointer to where transaction status will be stored.
 *
 * @return ERROR_OK for success, else a fault code.
 */
static inline int dap_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
{
        assert(dap->ops != NULL);
        return dap->ops->queue_ap_abort(dap, ack);
}

/**
 * Perform all queued DAP operations, and clear any errors posted in the
 * CTRL_STAT register when they are done.  Note that if more than one AP
 * operation will be queued, one of the first operations in the queue
 * should probably enable CORUNDETECT in the CTRL/STAT register.
 *
 * @param dap The DAP used.
 *
 * @return ERROR_OK for success, else a fault code.
 */
static inline int dap_run(struct adiv5_dap *dap)
{
        assert(dap->ops != NULL);
        return dap->ops->run(dap);
}

static inline int dap_sync(struct adiv5_dap *dap)
{
        assert(dap->ops != NULL);
        if (dap->ops->sync)
                return dap->ops->sync(dap);
        return ERROR_OK;
}

static inline int dap_dp_read_atomic(struct adiv5_dap *dap, unsigned reg,
                                     uint32_t *value)
{
        int retval;

        retval = dap_queue_dp_read(dap, reg, value);
        if (retval != ERROR_OK)
                return retval;

        return dap_run(dap);
}

static inline int dap_dp_poll_register(struct adiv5_dap *dap, unsigned reg,
                                       uint32_t mask, uint32_t value, int timeout)
{
        assert(timeout > 0);
        assert((value & mask) == value);

        int ret;
        uint32_t regval;
        LOG_DEBUG("DAP: poll %x, mask 0x%08" PRIx32 ", value 0x%08" PRIx32,
                  reg, mask, value);
        do {
                ret = dap_dp_read_atomic(dap, reg, &regval);
                if (ret != ERROR_OK)
                        return ret;

                if ((regval & mask) == value)
                        break;

                alive_sleep(10);
        } while (--timeout);

        if (!timeout) {
                LOG_DEBUG("DAP: poll %x timeout", reg);
                return ERROR_WAIT;
        } else {
                return ERROR_OK;
        }
}

/* Queued MEM-AP memory mapped single word transfers. */
int mem_ap_read_u32(struct adiv5_ap *ap,
                uint32_t address, uint32_t *value);
int mem_ap_write_u32(struct adiv5_ap *ap,
                uint32_t address, uint32_t value);

/* Synchronous MEM-AP memory mapped single word transfers. */
int mem_ap_read_atomic_u32(struct adiv5_ap *ap,
                uint32_t address, uint32_t *value);
int mem_ap_write_atomic_u32(struct adiv5_ap *ap,
                uint32_t address, uint32_t value);

/* Synchronous MEM-AP memory mapped bus block transfers. */
int mem_ap_read_buf(struct adiv5_ap *ap,
                uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
int mem_ap_write_buf(struct adiv5_ap *ap,
                const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);

/* Synchronous, non-incrementing buffer functions for accessing fifos. */
int mem_ap_read_buf_noincr(struct adiv5_ap *ap,
                uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
int mem_ap_write_buf_noincr(struct adiv5_ap *ap,
                const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);

/* Initialisation of the debug system, power domains and registers */
int dap_dp_init(struct adiv5_dap *dap);
int dap_dp_init_or_reconnect(struct adiv5_dap *dap);
int mem_ap_init(struct adiv5_ap *ap);

/* Invalidate cached DP select and cached TAR and CSW of all APs */
void dap_invalidate_cache(struct adiv5_dap *dap);

/* Probe the AP for ROM Table location */
int dap_get_debugbase(struct adiv5_ap *ap,
                        uint32_t *dbgbase, uint32_t *apid);

/* Probe Access Ports to find a particular type */
int dap_find_ap(struct adiv5_dap *dap,
                        enum ap_type type_to_find,
                        struct adiv5_ap **ap_out);

static inline struct adiv5_ap *dap_ap(struct adiv5_dap *dap, uint8_t ap_num)
{
        return &dap->ap[ap_num];
}

/* Lookup CoreSight component */
int dap_lookup_cs_component(struct adiv5_ap *ap,
                        uint32_t dbgbase, uint8_t type, uint32_t *addr, int32_t *idx);

struct target;

/* Put debug link into SWD mode */
int dap_to_swd(struct adiv5_dap *dap);

/* Put debug link into JTAG mode */
int dap_to_jtag(struct adiv5_dap *dap);

extern const struct command_registration dap_instance_commands[];

struct arm_dap_object;
extern struct adiv5_dap *dap_instance_by_jim_obj(Jim_Interp *interp, Jim_Obj *o);
extern struct adiv5_dap *adiv5_get_dap(struct arm_dap_object *obj);
extern int dap_info_command(struct command_invocation *cmd,
                                         struct adiv5_ap *ap);
extern int dap_register_commands(struct command_context *cmd_ctx);
extern const char *adiv5_dap_name(struct adiv5_dap *self);
extern const struct swd_driver *adiv5_dap_swd_driver(struct adiv5_dap *self);
extern int dap_cleanup_all(void);

struct adiv5_private_config {
        int ap_num;
        struct adiv5_dap *dap;
};

extern int adiv5_verify_config(struct adiv5_private_config *pc);
extern int adiv5_jim_configure(struct target *target, Jim_GetOptInfo *goi);

struct adiv5_mem_ap_spot {
        struct adiv5_dap *dap;
        int ap_num;
        uint32_t base;
};

extern int adiv5_mem_ap_spot_init(struct adiv5_mem_ap_spot *p);
extern int adiv5_jim_mem_ap_spot_configure(struct adiv5_mem_ap_spot *cfg,
                Jim_GetOptInfo *goi);

#endif /* OPENOCD_TARGET_ARM_ADI_V5_H */