1 /***************************************************************************
2 * Copyright (C) 2006 by Magnus Lundin *
5 * Copyright (C) 2008 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
22 ***************************************************************************/
29 * This defines formats and data structures used to talk to ADIv5 entities.
30 * Those include a DAP, different types of Debug Port (DP), and memory mapped
31 * resources accessed through a MEM-AP.
34 #include <helper/list.h>
37 /* FIXME remove these JTAG-specific decls when mem_ap_read_buf_u32()
38 * is no longer JTAG-specific
40 #define JTAG_DP_DPACC 0xA
41 #define JTAG_DP_APACC 0xB
43 /* three-bit ACK values for SWD access (sent LSB first) */
44 #define SWD_ACK_OK 0x1
45 #define SWD_ACK_WAIT 0x2
46 #define SWD_ACK_FAULT 0x4
51 #define BANK_REG(bank, reg) (((bank) << 4) | (reg))
53 /* A[3:0] for DP registers; A[1:0] are always zero.
54 * - JTAG accesses all of these via JTAG_DP_DPACC, except for
55 * IDCODE (JTAG_DP_IDCODE) and ABORT (JTAG_DP_ABORT).
56 * - SWD accesses these directly, sometimes needing SELECT.CTRLSEL
58 #define DP_IDCODE BANK_REG(0x0, 0x0) /* SWD: read */
59 #define DP_ABORT BANK_REG(0x0, 0x0) /* SWD: write */
60 #define DP_CTRL_STAT BANK_REG(0x0, 0x4) /* r/w */
61 #define DP_RESEND BANK_REG(0x0, 0x8) /* SWD: read */
62 #define DP_SELECT BANK_REG(0x0, 0x8) /* JTAG: r/w; SWD: write */
63 #define DP_RDBUFF BANK_REG(0x0, 0xC) /* read-only */
64 #define DP_WCR BANK_REG(0x1, 0x4) /* SWD: r/w */
66 #define WCR_TO_TRN(wcr) ((uint32_t)(1 + (3 & ((wcr)) >> 8))) /* 1..4 clocks */
67 #define WCR_TO_PRESCALE(wcr) ((uint32_t)(7 & ((wcr)))) /* impl defined */
69 /* Fields of the DP's AP ABORT register */
70 #define DAPABORT (1UL << 0)
71 #define STKCMPCLR (1UL << 1) /* SWD-only */
72 #define STKERRCLR (1UL << 2) /* SWD-only */
73 #define WDERRCLR (1UL << 3) /* SWD-only */
74 #define ORUNERRCLR (1UL << 4) /* SWD-only */
76 /* Fields of the DP's CTRL/STAT register */
77 #define CORUNDETECT (1UL << 0)
78 #define SSTICKYORUN (1UL << 1)
79 /* 3:2 - transaction mode (e.g. pushed compare) */
80 #define SSTICKYCMP (1UL << 4)
81 #define SSTICKYERR (1UL << 5)
82 #define READOK (1UL << 6) /* SWD-only */
83 #define WDATAERR (1UL << 7) /* SWD-only */
84 /* 11:8 - mask lanes for pushed compare or verify ops */
85 /* 21:12 - transaction counter */
86 #define CDBGRSTREQ (1UL << 26)
87 #define CDBGRSTACK (1UL << 27)
88 #define CDBGPWRUPREQ (1UL << 28)
89 #define CDBGPWRUPACK (1UL << 29)
90 #define CSYSPWRUPREQ (1UL << 30)
91 #define CSYSPWRUPACK (1UL << 31)
93 /* MEM-AP register addresses */
94 #define MEM_AP_REG_CSW 0x00
95 #define MEM_AP_REG_TAR 0x04
96 #define MEM_AP_REG_TAR64 0x08 /* RW: Large Physical Address Extension */
97 #define MEM_AP_REG_DRW 0x0C /* RW: Data Read/Write register */
98 #define MEM_AP_REG_BD0 0x10 /* RW: Banked Data register 0-3 */
99 #define MEM_AP_REG_BD1 0x14
100 #define MEM_AP_REG_BD2 0x18
101 #define MEM_AP_REG_BD3 0x1C
102 #define MEM_AP_REG_MBT 0x20 /* --: Memory Barrier Transfer register */
103 #define MEM_AP_REG_BASE64 0xF0 /* RO: Debug Base Address (LA) register */
104 #define MEM_AP_REG_CFG 0xF4 /* RO: Configuration register */
105 #define MEM_AP_REG_BASE 0xF8 /* RO: Debug Base Address register */
106 /* Generic AP register address */
107 #define AP_REG_IDR 0xFC /* RO: Identification Register */
109 /* Fields of the MEM-AP's CSW register */
113 #define CSW_ADDRINC_MASK (3UL << 4)
114 #define CSW_ADDRINC_OFF 0UL
115 #define CSW_ADDRINC_SINGLE (1UL << 4)
116 #define CSW_ADDRINC_PACKED (2UL << 4)
117 #define CSW_DEVICE_EN (1UL << 6)
118 #define CSW_TRIN_PROG (1UL << 7)
119 #define CSW_SPIDEN (1UL << 23)
120 /* 30:24 - implementation-defined! */
121 #define CSW_HPROT (1UL << 25) /* ? */
122 #define CSW_MASTER_DEBUG (1UL << 29) /* ? */
123 #define CSW_SPROT (1UL << 30)
124 #define CSW_DBGSWENABLE (1UL << 31)
126 /* Fields of the MEM-AP's IDR register */
127 #define IDR_REV (0xFUL << 28)
128 #define IDR_JEP106 (0x7FFUL << 17)
129 #define IDR_CLASS (0xFUL << 13)
130 #define IDR_VARIANT (0xFUL << 4)
131 #define IDR_TYPE (0xFUL << 0)
133 #define IDR_JEP106_ARM 0x04760000
135 #define DP_SELECT_APSEL 0xFF000000
136 #define DP_SELECT_APBANK 0x000000F0
137 #define DP_SELECT_DPBANK 0x0000000F
138 #define DP_SELECT_INVALID 0x00FFFF00 /* Reserved bits one */
141 * This represents an ARM Debug Interface (v5) Access Port (AP).
142 * Most common is a MEM-AP, for memory access.
146 * DAP this AP belongs to.
148 struct adiv5_dap
*dap
;
156 * Default value for (MEM-AP) AP_REG_CSW register.
158 uint32_t csw_default
;
161 * Cache for (MEM-AP) AP_REG_CSW register value. This is written to
162 * configure an access mode, such as autoincrementing AP_REG_TAR during
163 * word access. "-1" indicates no cached value.
168 * Cache for (MEM-AP) AP_REG_TAR register value This is written to
169 * configure the address being read or written
170 * "-1" indicates no cached value.
175 * Configures how many extra tck clocks are added after starting a
176 * MEM-AP access before we try to read its status (and/or result).
178 uint32_t memaccess_tck
;
180 /* Size of TAR autoincrement block, ARM ADI Specification requires at least 10 bits */
181 uint32_t tar_autoincr_block
;
183 /* true if packed transfers are supported by the MEM-AP */
184 bool packed_transfers
;
186 /* true if unaligned memory access is not supported by the MEM-AP */
187 bool unaligned_access_bad
;
192 * This represents an ARM Debug Interface (v5) Debug Access Port (DAP).
193 * A DAP has two types of component: one Debug Port (DP), which is a
194 * transport agent; and at least one Access Port (AP), controlling
197 * There are two basic DP transports: JTAG, and ARM's low pin-count SWD.
198 * Accordingly, this interface is responsible for hiding the transport
199 * differences so upper layer code can largely ignore them.
201 * When the chip is implemented with JTAG-DP or SW-DP, the transport is
202 * fixed as JTAG or SWD, respectively. Chips incorporating SWJ-DP permit
203 * a choice made at board design time (by only using the SWD pins), or
204 * as part of setting up a debug session (if all the dual-role JTAG/SWD
205 * signals are available).
208 const struct dap_ops
*ops
;
210 /* dap transaction list for WAIT support */
211 struct list_head cmd_journal
;
213 struct jtag_tap
*tap
;
215 uint32_t dp_ctrl_stat
;
217 struct adiv5_ap ap
[256];
219 /* The current manually selected AP by the "dap apsel" command */
223 * Cache for DP_SELECT register. A value of DP_SELECT_INVALID
224 * indicates no cached value and forces rewrite of the register.
228 /* information about current pending SWjDP-AHBAP transaction */
232 * Holds the pointer to the destination word for the last queued read,
233 * for use with posted AP read sequence optimization.
237 /* The TI TMS470 and TMS570 series processors use a BE-32 memory ordering
238 * despite lack of support in the ARMv7 architecture. Memory access through
239 * the AHB-AP has strange byte ordering these processors, and we need to
240 * swizzle appropriately. */
241 bool ti_be_32_quirks
;
244 * Signals that an attempt to reestablish communication afresh
245 * should be performed before the next access.
251 * Transport-neutral representation of queued DAP transactions, supporting
252 * both JTAG and SWD transports. All submitted transactions are logically
253 * queued, until the queue is executed by run(). Some implementations might
254 * execute transactions as soon as they're submitted, but no status is made
255 * available until run().
258 /** DP register read. */
259 int (*queue_dp_read
)(struct adiv5_dap
*dap
, unsigned reg
,
261 /** DP register write. */
262 int (*queue_dp_write
)(struct adiv5_dap
*dap
, unsigned reg
,
265 /** AP register read. */
266 int (*queue_ap_read
)(struct adiv5_ap
*ap
, unsigned reg
,
268 /** AP register write. */
269 int (*queue_ap_write
)(struct adiv5_ap
*ap
, unsigned reg
,
272 /** AP operation abort. */
273 int (*queue_ap_abort
)(struct adiv5_dap
*dap
, uint8_t *ack
);
275 /** Executes all queued DAP operations. */
276 int (*run
)(struct adiv5_dap
*dap
);
278 /** Executes all queued DAP operations but doesn't check
279 * sticky error conditions */
280 int (*sync
)(struct adiv5_dap
*dap
);
284 * Access Port classes
287 AP_CLASS_NONE
= 0x00000, /* No class defined */
288 AP_CLASS_MEM_AP
= 0x10000, /* MEM-AP */
295 AP_TYPE_JTAG_AP
= 0x0, /* JTAG-AP - JTAG master for controlling other JTAG devices */
296 AP_TYPE_AHB_AP
= 0x1, /* AHB Memory-AP */
297 AP_TYPE_APB_AP
= 0x2, /* APB Memory-AP */
298 AP_TYPE_AXI_AP
= 0x4, /* AXI Memory-AP */
302 * Queue a DP register read.
303 * Note that not all DP registers are readable; also, that JTAG and SWD
304 * have slight differences in DP register support.
306 * @param dap The DAP used for reading.
307 * @param reg The two-bit number of the DP register being read.
308 * @param data Pointer saying where to store the register's value
309 * (in host endianness).
311 * @return ERROR_OK for success, else a fault code.
313 static inline int dap_queue_dp_read(struct adiv5_dap
*dap
,
314 unsigned reg
, uint32_t *data
)
316 assert(dap
->ops
!= NULL
);
317 return dap
->ops
->queue_dp_read(dap
, reg
, data
);
321 * Queue a DP register write.
322 * Note that not all DP registers are writable; also, that JTAG and SWD
323 * have slight differences in DP register support.
325 * @param dap The DAP used for writing.
326 * @param reg The two-bit number of the DP register being written.
327 * @param data Value being written (host endianness)
329 * @return ERROR_OK for success, else a fault code.
331 static inline int dap_queue_dp_write(struct adiv5_dap
*dap
,
332 unsigned reg
, uint32_t data
)
334 assert(dap
->ops
!= NULL
);
335 return dap
->ops
->queue_dp_write(dap
, reg
, data
);
339 * Queue an AP register read.
341 * @param ap The AP used for reading.
342 * @param reg The number of the AP register being read.
343 * @param data Pointer saying where to store the register's value
344 * (in host endianness).
346 * @return ERROR_OK for success, else a fault code.
348 static inline int dap_queue_ap_read(struct adiv5_ap
*ap
,
349 unsigned reg
, uint32_t *data
)
351 assert(ap
->dap
->ops
!= NULL
);
352 return ap
->dap
->ops
->queue_ap_read(ap
, reg
, data
);
356 * Queue an AP register write.
358 * @param ap The AP used for writing.
359 * @param reg The number of the AP register being written.
360 * @param data Value being written (host endianness)
362 * @return ERROR_OK for success, else a fault code.
364 static inline int dap_queue_ap_write(struct adiv5_ap
*ap
,
365 unsigned reg
, uint32_t data
)
367 assert(ap
->dap
->ops
!= NULL
);
368 return ap
->dap
->ops
->queue_ap_write(ap
, reg
, data
);
372 * Queue an AP abort operation. The current AP transaction is aborted,
373 * including any update of the transaction counter. The AP is left in
374 * an unknown state (so it must be re-initialized). For use only after
375 * the AP has reported WAIT status for an extended period.
377 * @param dap The DAP used for writing.
378 * @param ack Pointer to where transaction status will be stored.
380 * @return ERROR_OK for success, else a fault code.
382 static inline int dap_queue_ap_abort(struct adiv5_dap
*dap
, uint8_t *ack
)
384 assert(dap
->ops
!= NULL
);
385 return dap
->ops
->queue_ap_abort(dap
, ack
);
389 * Perform all queued DAP operations, and clear any errors posted in the
390 * CTRL_STAT register when they are done. Note that if more than one AP
391 * operation will be queued, one of the first operations in the queue
392 * should probably enable CORUNDETECT in the CTRL/STAT register.
394 * @param dap The DAP used.
396 * @return ERROR_OK for success, else a fault code.
398 static inline int dap_run(struct adiv5_dap
*dap
)
400 assert(dap
->ops
!= NULL
);
401 return dap
->ops
->run(dap
);
404 static inline int dap_sync(struct adiv5_dap
*dap
)
406 assert(dap
->ops
!= NULL
);
408 return dap
->ops
->sync(dap
);
412 static inline int dap_dp_read_atomic(struct adiv5_dap
*dap
, unsigned reg
,
417 retval
= dap_queue_dp_read(dap
, reg
, value
);
418 if (retval
!= ERROR_OK
)
424 static inline int dap_dp_poll_register(struct adiv5_dap
*dap
, unsigned reg
,
425 uint32_t mask
, uint32_t value
, int timeout
)
428 assert((value
& mask
) == value
);
432 LOG_DEBUG("DAP: poll %x, mask 0x%08" PRIx32
", value 0x%08" PRIx32
,
435 ret
= dap_dp_read_atomic(dap
, reg
, ®val
);
439 if ((regval
& mask
) == value
)
446 LOG_DEBUG("DAP: poll %x timeout", reg
);
453 /* Queued MEM-AP memory mapped single word transfers. */
454 int mem_ap_read_u32(struct adiv5_ap
*ap
,
455 uint32_t address
, uint32_t *value
);
456 int mem_ap_write_u32(struct adiv5_ap
*ap
,
457 uint32_t address
, uint32_t value
);
459 /* Synchronous MEM-AP memory mapped single word transfers. */
460 int mem_ap_read_atomic_u32(struct adiv5_ap
*ap
,
461 uint32_t address
, uint32_t *value
);
462 int mem_ap_write_atomic_u32(struct adiv5_ap
*ap
,
463 uint32_t address
, uint32_t value
);
465 /* Synchronous MEM-AP memory mapped bus block transfers. */
466 int mem_ap_read_buf(struct adiv5_ap
*ap
,
467 uint8_t *buffer
, uint32_t size
, uint32_t count
, uint32_t address
);
468 int mem_ap_write_buf(struct adiv5_ap
*ap
,
469 const uint8_t *buffer
, uint32_t size
, uint32_t count
, uint32_t address
);
471 /* Synchronous, non-incrementing buffer functions for accessing fifos. */
472 int mem_ap_read_buf_noincr(struct adiv5_ap
*ap
,
473 uint8_t *buffer
, uint32_t size
, uint32_t count
, uint32_t address
);
474 int mem_ap_write_buf_noincr(struct adiv5_ap
*ap
,
475 const uint8_t *buffer
, uint32_t size
, uint32_t count
, uint32_t address
);
477 /* Create DAP struct */
478 struct adiv5_dap
*dap_init(void);
480 /* Initialisation of the debug system, power domains and registers */
481 int dap_dp_init(struct adiv5_dap
*dap
);
482 int mem_ap_init(struct adiv5_ap
*ap
);
484 /* Probe the AP for ROM Table location */
485 int dap_get_debugbase(struct adiv5_ap
*ap
,
486 uint32_t *dbgbase
, uint32_t *apid
);
488 /* Probe Access Ports to find a particular type */
489 int dap_find_ap(struct adiv5_dap
*dap
,
490 enum ap_type type_to_find
,
491 struct adiv5_ap
**ap_out
);
493 static inline struct adiv5_ap
*dap_ap(struct adiv5_dap
*dap
, uint8_t ap_num
)
495 return &dap
->ap
[ap_num
];
498 /* Lookup CoreSight component */
499 int dap_lookup_cs_component(struct adiv5_ap
*ap
,
500 uint32_t dbgbase
, uint8_t type
, uint32_t *addr
, int32_t *idx
);
504 /* Put debug link into SWD mode */
505 int dap_to_swd(struct target
*target
);
507 /* Put debug link into JTAG mode */
508 int dap_to_jtag(struct target
*target
);
510 extern const struct command_registration dap_command_handlers
[];
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