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 /* three-bit ACK values for SWD access (sent LSB first) */
38 #define SWD_ACK_OK 0x1
39 #define SWD_ACK_WAIT 0x2
40 #define SWD_ACK_FAULT 0x4
45 #define BANK_REG(bank, reg) (((bank) << 4) | (reg))
47 /* A[3:0] for DP registers; A[1:0] are always zero.
48 * - JTAG accesses all of these via JTAG_DP_DPACC, except for
49 * IDCODE (JTAG_DP_IDCODE) and ABORT (JTAG_DP_ABORT).
50 * - SWD accesses these directly, sometimes needing SELECT.CTRLSEL
52 #define DP_IDCODE BANK_REG(0x0, 0x0) /* SWD: read */
53 #define DP_ABORT BANK_REG(0x0, 0x0) /* SWD: write */
54 #define DP_CTRL_STAT BANK_REG(0x0, 0x4) /* r/w */
55 #define DP_RESEND BANK_REG(0x0, 0x8) /* SWD: read */
56 #define DP_SELECT BANK_REG(0x0, 0x8) /* JTAG: r/w; SWD: write */
57 #define DP_RDBUFF BANK_REG(0x0, 0xC) /* read-only */
58 #define DP_WCR BANK_REG(0x1, 0x4) /* SWD: r/w */
60 #define WCR_TO_TRN(wcr) ((uint32_t)(1 + (3 & ((wcr)) >> 8))) /* 1..4 clocks */
61 #define WCR_TO_PRESCALE(wcr) ((uint32_t)(7 & ((wcr)))) /* impl defined */
63 /* Fields of the DP's AP ABORT register */
64 #define DAPABORT (1UL << 0)
65 #define STKCMPCLR (1UL << 1) /* SWD-only */
66 #define STKERRCLR (1UL << 2) /* SWD-only */
67 #define WDERRCLR (1UL << 3) /* SWD-only */
68 #define ORUNERRCLR (1UL << 4) /* SWD-only */
70 /* Fields of the DP's CTRL/STAT register */
71 #define CORUNDETECT (1UL << 0)
72 #define SSTICKYORUN (1UL << 1)
73 /* 3:2 - transaction mode (e.g. pushed compare) */
74 #define SSTICKYCMP (1UL << 4)
75 #define SSTICKYERR (1UL << 5)
76 #define READOK (1UL << 6) /* SWD-only */
77 #define WDATAERR (1UL << 7) /* SWD-only */
78 /* 11:8 - mask lanes for pushed compare or verify ops */
79 /* 21:12 - transaction counter */
80 #define CDBGRSTREQ (1UL << 26)
81 #define CDBGRSTACK (1UL << 27)
82 #define CDBGPWRUPREQ (1UL << 28)
83 #define CDBGPWRUPACK (1UL << 29)
84 #define CSYSPWRUPREQ (1UL << 30)
85 #define CSYSPWRUPACK (1UL << 31)
87 /* MEM-AP register addresses */
88 #define MEM_AP_REG_CSW 0x00
89 #define MEM_AP_REG_TAR 0x04
90 #define MEM_AP_REG_TAR64 0x08 /* RW: Large Physical Address Extension */
91 #define MEM_AP_REG_DRW 0x0C /* RW: Data Read/Write register */
92 #define MEM_AP_REG_BD0 0x10 /* RW: Banked Data register 0-3 */
93 #define MEM_AP_REG_BD1 0x14
94 #define MEM_AP_REG_BD2 0x18
95 #define MEM_AP_REG_BD3 0x1C
96 #define MEM_AP_REG_MBT 0x20 /* --: Memory Barrier Transfer register */
97 #define MEM_AP_REG_BASE64 0xF0 /* RO: Debug Base Address (LA) register */
98 #define MEM_AP_REG_CFG 0xF4 /* RO: Configuration register */
99 #define MEM_AP_REG_BASE 0xF8 /* RO: Debug Base Address register */
100 /* Generic AP register address */
101 #define AP_REG_IDR 0xFC /* RO: Identification Register */
103 /* Fields of the MEM-AP's CSW register */
107 #define CSW_ADDRINC_MASK (3UL << 4)
108 #define CSW_ADDRINC_OFF 0UL
109 #define CSW_ADDRINC_SINGLE (1UL << 4)
110 #define CSW_ADDRINC_PACKED (2UL << 4)
111 #define CSW_DEVICE_EN (1UL << 6)
112 #define CSW_TRIN_PROG (1UL << 7)
113 #define CSW_SPIDEN (1UL << 23)
114 /* 30:24 - implementation-defined! */
115 #define CSW_HPROT (1UL << 25) /* ? */
116 #define CSW_MASTER_DEBUG (1UL << 29) /* ? */
117 #define CSW_SPROT (1UL << 30)
118 #define CSW_DBGSWENABLE (1UL << 31)
120 /* Fields of the MEM-AP's IDR register */
121 #define IDR_REV (0xFUL << 28)
122 #define IDR_JEP106 (0x7FFUL << 17)
123 #define IDR_CLASS (0xFUL << 13)
124 #define IDR_VARIANT (0xFUL << 4)
125 #define IDR_TYPE (0xFUL << 0)
127 #define IDR_JEP106_ARM 0x04760000
129 #define DP_SELECT_APSEL 0xFF000000
130 #define DP_SELECT_APBANK 0x000000F0
131 #define DP_SELECT_DPBANK 0x0000000F
132 #define DP_SELECT_INVALID 0x00FFFF00 /* Reserved bits one */
135 * This represents an ARM Debug Interface (v5) Access Port (AP).
136 * Most common is a MEM-AP, for memory access.
140 * DAP this AP belongs to.
142 struct adiv5_dap *dap;
150 * Default value for (MEM-AP) AP_REG_CSW register.
152 uint32_t csw_default;
155 * Cache for (MEM-AP) AP_REG_CSW register value. This is written to
156 * configure an access mode, such as autoincrementing AP_REG_TAR during
157 * word access. "-1" indicates no cached value.
162 * Cache for (MEM-AP) AP_REG_TAR register value This is written to
163 * configure the address being read or written
164 * "-1" indicates no cached value.
169 * Configures how many extra tck clocks are added after starting a
170 * MEM-AP access before we try to read its status (and/or result).
172 uint32_t memaccess_tck;
174 /* Size of TAR autoincrement block, ARM ADI Specification requires at least 10 bits */
175 uint32_t tar_autoincr_block;
177 /* true if packed transfers are supported by the MEM-AP */
178 bool packed_transfers;
180 /* true if unaligned memory access is not supported by the MEM-AP */
181 bool unaligned_access_bad;
186 * This represents an ARM Debug Interface (v5) Debug Access Port (DAP).
187 * A DAP has two types of component: one Debug Port (DP), which is a
188 * transport agent; and at least one Access Port (AP), controlling
191 * There are two basic DP transports: JTAG, and ARM's low pin-count SWD.
192 * Accordingly, this interface is responsible for hiding the transport
193 * differences so upper layer code can largely ignore them.
195 * When the chip is implemented with JTAG-DP or SW-DP, the transport is
196 * fixed as JTAG or SWD, respectively. Chips incorporating SWJ-DP permit
197 * a choice made at board design time (by only using the SWD pins), or
198 * as part of setting up a debug session (if all the dual-role JTAG/SWD
199 * signals are available).
202 const struct dap_ops *ops;
204 /* dap transaction list for WAIT support */
205 struct list_head cmd_journal;
207 struct jtag_tap *tap;
209 uint32_t dp_ctrl_stat;
211 struct adiv5_ap ap[256];
213 /* The current manually selected AP by the "dap apsel" command */
217 * Cache for DP_SELECT register. A value of DP_SELECT_INVALID
218 * indicates no cached value and forces rewrite of the register.
222 /* information about current pending SWjDP-AHBAP transaction */
226 * Holds the pointer to the destination word for the last queued read,
227 * for use with posted AP read sequence optimization.
231 /* The TI TMS470 and TMS570 series processors use a BE-32 memory ordering
232 * despite lack of support in the ARMv7 architecture. Memory access through
233 * the AHB-AP has strange byte ordering these processors, and we need to
234 * swizzle appropriately. */
235 bool ti_be_32_quirks;
238 * Signals that an attempt to reestablish communication afresh
239 * should be performed before the next access.
245 * Transport-neutral representation of queued DAP transactions, supporting
246 * both JTAG and SWD transports. All submitted transactions are logically
247 * queued, until the queue is executed by run(). Some implementations might
248 * execute transactions as soon as they're submitted, but no status is made
249 * available until run().
252 /** DP register read. */
253 int (*queue_dp_read)(struct adiv5_dap *dap, unsigned reg,
255 /** DP register write. */
256 int (*queue_dp_write)(struct adiv5_dap *dap, unsigned reg,
259 /** AP register read. */
260 int (*queue_ap_read)(struct adiv5_ap *ap, unsigned reg,
262 /** AP register write. */
263 int (*queue_ap_write)(struct adiv5_ap *ap, unsigned reg,
266 /** AP operation abort. */
267 int (*queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack);
269 /** Executes all queued DAP operations. */
270 int (*run)(struct adiv5_dap *dap);
272 /** Executes all queued DAP operations but doesn't check
273 * sticky error conditions */
274 int (*sync)(struct adiv5_dap *dap);
278 * Access Port classes
281 AP_CLASS_NONE = 0x00000, /* No class defined */
282 AP_CLASS_MEM_AP = 0x10000, /* MEM-AP */
289 AP_TYPE_JTAG_AP = 0x0, /* JTAG-AP - JTAG master for controlling other JTAG devices */
290 AP_TYPE_AHB_AP = 0x1, /* AHB Memory-AP */
291 AP_TYPE_APB_AP = 0x2, /* APB Memory-AP */
292 AP_TYPE_AXI_AP = 0x4, /* AXI Memory-AP */
296 * Queue a DP register read.
297 * Note that not all DP registers are readable; also, that JTAG and SWD
298 * have slight differences in DP register support.
300 * @param dap The DAP used for reading.
301 * @param reg The two-bit number of the DP register being read.
302 * @param data Pointer saying where to store the register's value
303 * (in host endianness).
305 * @return ERROR_OK for success, else a fault code.
307 static inline int dap_queue_dp_read(struct adiv5_dap *dap,
308 unsigned reg, uint32_t *data)
310 assert(dap->ops != NULL);
311 return dap->ops->queue_dp_read(dap, reg, data);
315 * Queue a DP register write.
316 * Note that not all DP registers are writable; also, that JTAG and SWD
317 * have slight differences in DP register support.
319 * @param dap The DAP used for writing.
320 * @param reg The two-bit number of the DP register being written.
321 * @param data Value being written (host endianness)
323 * @return ERROR_OK for success, else a fault code.
325 static inline int dap_queue_dp_write(struct adiv5_dap *dap,
326 unsigned reg, uint32_t data)
328 assert(dap->ops != NULL);
329 return dap->ops->queue_dp_write(dap, reg, data);
333 * Queue an AP register read.
335 * @param ap The AP used for reading.
336 * @param reg The number of the AP register being read.
337 * @param data Pointer saying where to store the register's value
338 * (in host endianness).
340 * @return ERROR_OK for success, else a fault code.
342 static inline int dap_queue_ap_read(struct adiv5_ap *ap,
343 unsigned reg, uint32_t *data)
345 assert(ap->dap->ops != NULL);
346 return ap->dap->ops->queue_ap_read(ap, reg, data);
350 * Queue an AP register write.
352 * @param ap The AP used for writing.
353 * @param reg The number of the AP register being written.
354 * @param data Value being written (host endianness)
356 * @return ERROR_OK for success, else a fault code.
358 static inline int dap_queue_ap_write(struct adiv5_ap *ap,
359 unsigned reg, uint32_t data)
361 assert(ap->dap->ops != NULL);
362 return ap->dap->ops->queue_ap_write(ap, reg, data);
366 * Queue an AP abort operation. The current AP transaction is aborted,
367 * including any update of the transaction counter. The AP is left in
368 * an unknown state (so it must be re-initialized). For use only after
369 * the AP has reported WAIT status for an extended period.
371 * @param dap The DAP used for writing.
372 * @param ack Pointer to where transaction status will be stored.
374 * @return ERROR_OK for success, else a fault code.
376 static inline int dap_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
378 assert(dap->ops != NULL);
379 return dap->ops->queue_ap_abort(dap, ack);
383 * Perform all queued DAP operations, and clear any errors posted in the
384 * CTRL_STAT register when they are done. Note that if more than one AP
385 * operation will be queued, one of the first operations in the queue
386 * should probably enable CORUNDETECT in the CTRL/STAT register.
388 * @param dap The DAP used.
390 * @return ERROR_OK for success, else a fault code.
392 static inline int dap_run(struct adiv5_dap *dap)
394 assert(dap->ops != NULL);
395 return dap->ops->run(dap);
398 static inline int dap_sync(struct adiv5_dap *dap)
400 assert(dap->ops != NULL);
402 return dap->ops->sync(dap);
406 static inline int dap_dp_read_atomic(struct adiv5_dap *dap, unsigned reg,
411 retval = dap_queue_dp_read(dap, reg, value);
412 if (retval != ERROR_OK)
418 static inline int dap_dp_poll_register(struct adiv5_dap *dap, unsigned reg,
419 uint32_t mask, uint32_t value, int timeout)
422 assert((value & mask) == value);
426 LOG_DEBUG("DAP: poll %x, mask 0x%08" PRIx32 ", value 0x%08" PRIx32,
429 ret = dap_dp_read_atomic(dap, reg, ®val);
433 if ((regval & mask) == value)
440 LOG_DEBUG("DAP: poll %x timeout", reg);
447 /* Queued MEM-AP memory mapped single word transfers. */
448 int mem_ap_read_u32(struct adiv5_ap *ap,
449 uint32_t address, uint32_t *value);
450 int mem_ap_write_u32(struct adiv5_ap *ap,
451 uint32_t address, uint32_t value);
453 /* Synchronous MEM-AP memory mapped single word transfers. */
454 int mem_ap_read_atomic_u32(struct adiv5_ap *ap,
455 uint32_t address, uint32_t *value);
456 int mem_ap_write_atomic_u32(struct adiv5_ap *ap,
457 uint32_t address, uint32_t value);
459 /* Synchronous MEM-AP memory mapped bus block transfers. */
460 int mem_ap_read_buf(struct adiv5_ap *ap,
461 uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
462 int mem_ap_write_buf(struct adiv5_ap *ap,
463 const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
465 /* Synchronous, non-incrementing buffer functions for accessing fifos. */
466 int mem_ap_read_buf_noincr(struct adiv5_ap *ap,
467 uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
468 int mem_ap_write_buf_noincr(struct adiv5_ap *ap,
469 const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
471 /* Create DAP struct */
472 struct adiv5_dap *dap_init(void);
474 /* Initialisation of the debug system, power domains and registers */
475 int dap_dp_init(struct adiv5_dap *dap);
476 int mem_ap_init(struct adiv5_ap *ap);
478 /* Probe the AP for ROM Table location */
479 int dap_get_debugbase(struct adiv5_ap *ap,
480 uint32_t *dbgbase, uint32_t *apid);
482 /* Probe Access Ports to find a particular type */
483 int dap_find_ap(struct adiv5_dap *dap,
484 enum ap_type type_to_find,
485 struct adiv5_ap **ap_out);
487 static inline struct adiv5_ap *dap_ap(struct adiv5_dap *dap, uint8_t ap_num)
489 return &dap->ap[ap_num];
492 /* Lookup CoreSight component */
493 int dap_lookup_cs_component(struct adiv5_ap *ap,
494 uint32_t dbgbase, uint8_t type, uint32_t *addr, int32_t *idx);
498 /* Put debug link into SWD mode */
499 int dap_to_swd(struct target *target);
501 /* Put debug link into JTAG mode */
502 int dap_to_jtag(struct target *target);
504 extern const struct command_registration dap_command_handlers[];