tcl/target/ti_k3: Introduce RTOS array variable to set various CPU RTOSes

[openocd.git] / tcl / target / ti_k3.cfg

# SPDX-License-Identifier: GPL-2.0-or-later
# Copyright (C) 2019-2021 Texas Instruments Incorporated - http://www.ti.com/
#
# Texas Instruments K3 devices:
# * AM654x: https://www.ti.com/lit/pdf/spruid7
#  Has 4 ARMV8 Cores and 2 R5 Cores and an M3
# * J721E: https://www.ti.com/lit/pdf/spruil1
#  Has 2 ARMV8 Cores and 6 R5 Cores and an M3
# * J7200: https://www.ti.com/lit/pdf/spruiu1
#  Has 2 ARMV8 Cores and 4 R5 Cores and an M3
# * J721S2: https://www.ti.com/lit/pdf/spruj28
#  Has 2 ARMV8 Cores and 6 R5 Cores and an M4F
# * J784S4/AM69: http://www.ti.com/lit/zip/spruj52
#  Has 8 ARMV8 Cores and 8 R5 Cores
# * AM642: https://www.ti.com/lit/pdf/spruim2
#  Has 2 ARMV8 Cores and 4 R5 Cores, M4F and an M3
# * AM625: https://www.ti.com/lit/pdf/spruiv7a
#  Has 4 ARMV8 Cores and 1 R5 Core and an M4F
# * AM62a7: https://www.ti.com/lit/pdf/spruj16a
#  Has 4 ARMV8 Cores and 2 R5 Cores
# * AM62P: https://www.ti.com/lit/pdf/spruj83
#  Has 4 ARMV8 Cores and 2 R5 Cores
#

source [find target/swj-dp.tcl]

if { [info exists SOC] } {
        set _soc $SOC
} else {
        set _soc am654
}

# set V8_SMP_DEBUG to non 0 value in board if you'd like to use SMP debug
if { [info exists V8_SMP_DEBUG] } {
        set _v8_smp_debug $V8_SMP_DEBUG
} else {
        set _v8_smp_debug 0
}

# Common Definitions

# System Controller is the very first processor - all current SoCs have it.
set CM3_CTIBASE         {0x3C016000}

# sysctrl power-ap unlock offsets
set _sysctrl_ap_unlock_offsets {0xf0 0x44}

# All the ARMV8s are the next processors.
#                  CL0,CORE0  CL0,CORE1  CL1,CORE0  CL1,CORE1
set ARMV8_DBGBASE {0x90410000 0x90510000 0x90810000 0x90910000}
set ARMV8_CTIBASE {0x90420000 0x90520000 0x90820000 0x90920000}

# And we add up the R5s
#               (0)MCU 0   (1)MCU 1   (2)MAIN_0_0 (3)MAIN_0_1 (4)MAIN_1_0 (5)MAIN_1_1
set R5_DBGBASE {0x9d010000 0x9d012000 0x9d410000 0x9d412000 0x9d510000 0x9d512000}
set R5_CTIBASE {0x9d018000 0x9d019000 0x9d418000 0x9d419000 0x9d518000 0x9d519000}
set R5_NAMES {mcu_r5.0 mcu_r5.1 main0_r5.0 main0_r5.1 main1_r5.0 main1_r5.1}

# Finally an General Purpose(GP) MCU
set CM4_CTIBASE         {0x20001000}

# General Purpose MCU (M4) may be present on some very few SoCs
set _gp_mcu_cores 0
# General Purpose MCU power-ap unlock offsets
set _gp_mcu_ap_unlock_offsets {0xf0 0x60}

# Set configuration overrides for each SOC
switch $_soc {
        am654 {
                set _K3_DAP_TAPID 0x0bb5a02f

                # AM654 has 2 clusters of 2 A53 cores each.
                set _armv8_cpu_name a53
                set _armv8_cores 4

                # AM654 has 1 cluster of 2 R5s cores.
                set _r5_cores 2
                set R5_NAMES {mcu_r5.0 mcu_r5.1}

                # Sysctrl power-ap unlock offsets
                set _sysctrl_ap_unlock_offsets {0xf0 0x50}
        }
        am642 {
                set _K3_DAP_TAPID 0x0bb3802f

                # AM642 has 1 clusters of 2 A53 cores each.
                set _armv8_cpu_name a53
                set _armv8_cores 2
                set ARMV8_DBGBASE {0x90010000 0x90110000}
                set ARMV8_CTIBASE {0x90020000 0x90120000}

                # AM642 has 2 cluster of 2 R5s cores.
                set _r5_cores 4
                set R5_NAMES {main0_r5.0 main0_r5.1 main1_r5.0 main1_r5.1}
                set R5_DBGBASE {0x9d410000 0x9d412000 0x9d510000 0x9d512000}
                set R5_CTIBASE {0x9d418000 0x9d419000 0x9d518000 0x9d519000}

                # M4 processor
                set _gp_mcu_cores 1
        }
        am625 {
                set _K3_DAP_TAPID 0x0bb7e02f

                # AM625 has 1 clusters of 4 A53 cores.
                set _armv8_cpu_name a53
                set _armv8_cores 4
                set ARMV8_DBGBASE {0x90010000 0x90110000 0x90210000 0x90310000}
                set ARMV8_CTIBASE {0x90020000 0x90120000 0x90220000 0x90320000}

                # AM625 has 1 cluster of 1 R5s core.
                set _r5_cores 1
                set R5_NAMES {main0_r5.0}
                set R5_DBGBASE {0x9d410000}
                set R5_CTIBASE {0x9d418000}

                # sysctrl CTI base
                set CM3_CTIBASE {0x20001000}
                # Sysctrl power-ap unlock offsets
                set _sysctrl_ap_unlock_offsets {0xf0 0x78}

                # M4 processor
                set _gp_mcu_cores 1
                set _gp_mcu_ap_unlock_offsets {0xf0 0x7c}

                # Setup DMEM access descriptions
                # DAPBUS (Debugger) description
                set _dmem_base_address 0x740002000
                set _dmem_ap_address_offset 0x100
                set _dmem_max_aps 10
                # Emulated AP description
                set _dmem_emu_base_address 0x760000000
                set _dmem_emu_base_address_map_to 0x1d500000
                set _dmem_emu_ap_list 1
        }
        am62p -
        am62a7 {
                set _K3_DAP_TAPID 0x0bb8d02f

                # AM62a7/AM62P has 1 cluster of 4 A53 cores.
                set _armv8_cpu_name a53
                set _armv8_cores 4
                set ARMV8_DBGBASE {0x90010000 0x90110000 0x90210000 0x90310000}
                set ARMV8_CTIBASE {0x90020000 0x90120000 0x90220000 0x90320000}

                # AM62a7/AM62P has 2 cluster of 1 R5 core.
                set _r5_cores 2
                set R5_NAMES {main0_r5.0 mcu0_r5.0}
                set R5_DBGBASE {0x9d410000 0x9d810000}
                set R5_CTIBASE {0x9d418000 0x9d818000}

                # sysctrl CTI base
                set CM3_CTIBASE {0x20001000}
                # Sysctrl power-ap unlock offsets
                set _sysctrl_ap_unlock_offsets {0xf0 0x78}

                # Overrides for am62p
                if { "$_soc" == "am62p" } {
                        set _K3_DAP_TAPID 0x0bb9d02f
                        set R5_NAMES {wkup0_r5.0 mcu0_r5.0}
                }
        }
        j721e {
                set _K3_DAP_TAPID 0x0bb6402f
                # J721E has 1 cluster of 2 A72 cores.
                set _armv8_cpu_name a72
                set _armv8_cores 2

                # J721E has 3 clusters of 2 R5 cores each.
                set _r5_cores 6

                # Setup DMEM access descriptions
                # DAPBUS (Debugger) description
                set _dmem_base_address 0x4c40002000
                set _dmem_ap_address_offset 0x100
                set _dmem_max_aps 8
                # Emulated AP description
                set _dmem_emu_base_address 0x4c60000000
                set _dmem_emu_base_address_map_to 0x1d600000
                set _dmem_emu_ap_list 1
        }
        j7200 {
                set _K3_DAP_TAPID 0x0bb6d02f

                # J7200 has 1 cluster of 2 A72 cores.
                set _armv8_cpu_name a72
                set _armv8_cores 2

                # J7200 has 2 clusters of 2 R5 cores each.
                set _r5_cores 4
                set R5_DBGBASE {0x9d010000 0x9d012000 0x9d110000 0x9d112000}
                set R5_CTIBASE {0x9d018000 0x9d019000 0x9d118000 0x9d119000}

                # M3 CTI base
                set CM3_CTIBASE {0x20001000}
        }
        j721s2 {
                set _K3_DAP_TAPID 0x0bb7502f

                # J721s2 has 1 cluster of 2 A72 cores.
                set _armv8_cpu_name a72
                set _armv8_cores 2

                # J721s2 has 3 clusters of 2 R5 cores each.
                set _r5_cores 6

                # sysctrl CTI base
                set CM3_CTIBASE {0x20001000}
                # Sysctrl power-ap unlock offsets
                set _sysctrl_ap_unlock_offsets {0xf0 0x78}

                # M4 processor
                set _gp_mcu_cores 1
                set _gp_mcu_ap_unlock_offsets {0xf0 0x7c}
        }
        j784s4 {
                set _K3_DAP_TAPID 0x0bb8002f

                # j784s4 has 2 cluster of 4 A72 cores each.
                set _armv8_cpu_name a72
                set _armv8_cores 8
                set ARMV8_DBGBASE {0x90410000 0x90510000 0x90610000 0x90710000
                           0x90810000 0x90910000 0x90a10000 0x90b10000}
                set ARMV8_CTIBASE {0x90420000 0x90520000 0x90620000 0x90720000
                           0x90820000 0x90920000 0x90a20000 0x90b20000}

                # J721s2 has 4 clusters of 2 R5 cores each.
                set _r5_cores 8
                set R5_DBGBASE {0x9d010000 0x9d012000
                        0x9d410000 0x9d412000
                        0x9d510000 0x9d512000
                        0x9d610000 0x9d612000}
                set R5_CTIBASE {0x9d018000 0x9d019000
                        0x9d418000 0x9d419000
                        0x9d518000 0x9d519000
                        0x9d618000 0x9d619000}
                set R5_NAMES {mcu_r5.0 mcu_r5.1
                      main0_r5.0 main0_r5.1
                      main1_r5.0 main1_r5.1
                      main2_r5.0 main2_r5.1}

                # sysctrl CTI base
                set CM3_CTIBASE {0x20001000}
                # Sysctrl power-ap unlock offsets
                set _sysctrl_ap_unlock_offsets {0xf0 0x78}
        }
        default {
                echo "'$_soc' is invalid!"
        }
}

proc _get_rtos_type_for_cpu { target_name } {
        if { [info exists ::RTOS($target_name)] } {
                return $::RTOS($target_name)
        }
        return none
}

set _CHIPNAME $_soc

swj_newdap $_CHIPNAME cpu -irlen 4 -expected-id $_K3_DAP_TAPID -ignore-version

dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu

set _TARGETNAME $_CHIPNAME.cpu

set _CTINAME $_CHIPNAME.cti

# sysctrl is always present
cti create $_CTINAME.sysctrl -dap $_CHIPNAME.dap -ap-num 7 -baseaddr [lindex $CM3_CTIBASE 0]

target create $_TARGETNAME.sysctrl cortex_m -dap $_CHIPNAME.dap -ap-num 7 -defer-examine \
        -rtos [_get_rtos_type_for_cpu $_TARGETNAME.sysctrl]

$_TARGETNAME.sysctrl configure -event reset-assert { }

proc sysctrl_up {} {
        # To access sysctrl, we need to enable the JTAG access for the same.
        # Ensure Power-AP unlocked
        $::_CHIPNAME.dap apreg 3 [lindex $::_sysctrl_ap_unlock_offsets 0] 0x00190000
        $::_CHIPNAME.dap apreg 3 [lindex $::_sysctrl_ap_unlock_offsets 1] 0x00102098

        $::_TARGETNAME.sysctrl arp_examine
}

$_TARGETNAME.sysctrl configure -event gdb-attach {
        sysctrl_up
        # gdb-attach default rule
        halt 1000
}

proc _cpu_no_smp_up {} {
        set _current_target [target current]
        set _current_type [$_current_target cget -type]

        $_current_target arp_examine
        $_current_target $_current_type dbginit
}

proc _armv8_smp_up {} {
        for { set _core 0 } { $_core < $::_armv8_cores } { incr _core } {
                $::_TARGETNAME.$::_armv8_cpu_name.$_core arp_examine
                $::_TARGETNAME.$::_armv8_cpu_name.$_core aarch64 dbginit
                $::_TARGETNAME.$::_armv8_cpu_name.$_core aarch64 smp on
        }
        # Set Default target as core 0
        targets $::_TARGETNAME.$::_armv8_cpu_name.0
}

set _v8_smp_targets ""

for { set _core 0 } { $_core < $_armv8_cores } { incr _core } {

        cti create $_CTINAME.$_armv8_cpu_name.$_core -dap $_CHIPNAME.dap -ap-num 1 \
                -baseaddr [lindex $ARMV8_CTIBASE $_core]

        target create $_TARGETNAME.$_armv8_cpu_name.$_core aarch64 -dap $_CHIPNAME.dap -coreid $_core \
                -dbgbase [lindex $ARMV8_DBGBASE $_core] -cti $_CTINAME.$_armv8_cpu_name.$_core -defer-examine \
                -rtos [_get_rtos_type_for_cpu $_TARGETNAME.$_armv8_cpu_name.$_core]

        set _v8_smp_targets "$_v8_smp_targets $_TARGETNAME.$_armv8_cpu_name.$_core"

        if { $_v8_smp_debug == 0 } {
                $_TARGETNAME.$_armv8_cpu_name.$_core configure -event gdb-attach {
                        _cpu_no_smp_up
                        # gdb-attach default rule
                        halt 1000
                }
        } else {
                $_TARGETNAME.$_armv8_cpu_name.$_core configure -event gdb-attach {
                        _armv8_smp_up
                        # gdb-attach default rule
                        halt 1000
                }
        }
}

# Setup ARMV8 proc commands based on CPU to prevent people confusing SoCs
set _armv8_up_cmd "$_armv8_cpu_name"_up
# Available if V8_SMP_DEBUG is set to non-zero value
set _armv8_smp_cmd "$_armv8_cpu_name"_smp

if { $_v8_smp_debug == 0 } {
        proc $_armv8_up_cmd { args } {
                foreach _core $args {
                        targets $_core
                        _cpu_no_smp_up
                }
        }
} else {
        proc $_armv8_smp_cmd { args } {
                _armv8_smp_up
        }
        # Declare SMP
        target smp {*}$_v8_smp_targets
}

for { set _core 0 } { $_core < $_r5_cores } { incr _core } {
        set _r5_name [lindex $R5_NAMES $_core]
        cti create $_CTINAME.$_r5_name -dap $_CHIPNAME.dap -ap-num 1 \
                -baseaddr [lindex $R5_CTIBASE $_core]

        # inactive core examination will fail - wait till startup of additional core
        target create $_TARGETNAME.$_r5_name cortex_r4 -dap $_CHIPNAME.dap \
                -dbgbase [lindex $R5_DBGBASE $_core] -ap-num 1 -defer-examine \
                -rtos [_get_rtos_type_for_cpu $_TARGETNAME.$_r5_name]

        $_TARGETNAME.$_r5_name configure -event gdb-attach {
                _cpu_no_smp_up
                # gdb-attach default rule
                halt 1000
        }
}

proc r5_up { args } {
        foreach  _core $args {
                targets $_core
                _cpu_no_smp_up
        }
}

if { $_gp_mcu_cores != 0 } {
        cti create $_CTINAME.gp_mcu -dap $_CHIPNAME.dap -ap-num 8 -baseaddr [lindex $CM4_CTIBASE 0]
        target create $_TARGETNAME.gp_mcu cortex_m -dap $_CHIPNAME.dap -ap-num 8 -defer-examine \
                -rtos [_get_rtos_type_for_cpu $_TARGETNAME.gp_mcu]
        $_TARGETNAME.gp_mcu configure -event reset-assert { }

        proc gp_mcu_up {} {
                # To access GP MCU, we need to enable the JTAG access for the same.
                # Ensure Power-AP unlocked
                $::_CHIPNAME.dap apreg 3 [lindex $::_gp_mcu_ap_unlock_offsets 0] 0x00190000
                $::_CHIPNAME.dap apreg 3 [lindex $::_gp_mcu_ap_unlock_offsets 1] 0x00102098

                $::_TARGETNAME.gp_mcu arp_examine
        }

        $_TARGETNAME.gp_mcu configure -event gdb-attach {
                gp_mcu_up
                # gdb-attach default rule
                halt 1000
        }
}

# In case of DMEM access, configure the dmem adapter with offsets from above.
if { 0 == [string compare [adapter name] dmem ] } {
        if { [info exists _dmem_base_address] } {
                # DAPBUS (Debugger) description
                dmem base_address $_dmem_base_address
                dmem ap_address_offset $_dmem_ap_address_offset
                dmem max_aps $_dmem_max_aps

                # The following are the details of APs to be emulated for direct address access.
                # Debug Config (Debugger) description
                dmem emu_base_address_range $_dmem_emu_base_address $_dmem_emu_base_address_map_to
                dmem emu_ap_list $_dmem_emu_ap_list
                # We are going local bus, so speed is really dummy here.
                adapter speed 2500
        } else {
                puts "ERROR: ${SOC} data is missing to support dmem access!"
        }
}