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, see <http://www.gnu.org/licenses/>. *
20 ***************************************************************************/
22 #ifndef OPENOCD_TARGET_ARM_ADI_V5_H
23 #define OPENOCD_TARGET_ARM_ADI_V5_H
27 * This defines formats and data structures used to talk to ADIv5 entities.
28 * Those include a DAP, different types of Debug Port (DP), and memory mapped
29 * resources accessed through a MEM-AP.
32 #include <helper/list.h>
35 /* three-bit ACK values for SWD access (sent LSB first) */
36 #define SWD_ACK_OK 0x1
37 #define SWD_ACK_WAIT 0x2
38 #define SWD_ACK_FAULT 0x4
43 #define BANK_REG(bank, reg) (((bank) << 4) | (reg))
45 /* A[3:0] for DP registers; A[1:0] are always zero.
46 * - JTAG accesses all of these via JTAG_DP_DPACC, except for
47 * IDCODE (JTAG_DP_IDCODE) and ABORT (JTAG_DP_ABORT).
48 * - SWD accesses these directly, sometimes needing SELECT.DPBANKSEL
50 #define DP_DPIDR BANK_REG(0x0, 0x0) /* DPv1+: ro */
51 #define DP_ABORT BANK_REG(0x0, 0x0) /* DPv1+: SWD: wo */
52 #define DP_CTRL_STAT BANK_REG(0x0, 0x4) /* DPv0+: rw */
53 #define DP_DLCR BANK_REG(0x1, 0x4) /* DPv1+: SWD: rw */
54 #define DP_TARGETID BANK_REG(0x2, 0x4) /* DPv2: ro */
55 #define DP_DLPIDR BANK_REG(0x3, 0x4) /* DPv2: ro */
56 #define DP_EVENTSTAT BANK_REG(0x4, 0x4) /* DPv2: ro */
57 #define DP_RESEND BANK_REG(0x0, 0x8) /* DPv1+: SWD: ro */
58 #define DP_SELECT BANK_REG(0x0, 0x8) /* DPv0+: JTAG: rw; SWD: wo */
59 #define DP_RDBUFF BANK_REG(0x0, 0xC) /* DPv0+: ro */
60 #define DP_TARGETSEL BANK_REG(0x0, 0xC) /* DPv2: SWD: wo */
62 #define DLCR_TO_TRN(dlcr) ((uint32_t)(1 + ((3 & (dlcr)) >> 8))) /* 1..4 clocks */
64 /* Fields of the DP's AP ABORT register */
65 #define DAPABORT (1UL << 0)
66 #define STKCMPCLR (1UL << 1) /* SWD-only */
67 #define STKERRCLR (1UL << 2) /* SWD-only */
68 #define WDERRCLR (1UL << 3) /* SWD-only */
69 #define ORUNERRCLR (1UL << 4) /* SWD-only */
71 /* Fields of the DP's CTRL/STAT register */
72 #define CORUNDETECT (1UL << 0)
73 #define SSTICKYORUN (1UL << 1)
74 /* 3:2 - transaction mode (e.g. pushed compare) */
75 #define SSTICKYCMP (1UL << 4)
76 #define SSTICKYERR (1UL << 5)
77 #define READOK (1UL << 6) /* SWD-only */
78 #define WDATAERR (1UL << 7) /* SWD-only */
79 /* 11:8 - mask lanes for pushed compare or verify ops */
80 /* 21:12 - transaction counter */
81 #define CDBGRSTREQ (1UL << 26)
82 #define CDBGRSTACK (1UL << 27)
83 #define CDBGPWRUPREQ (1UL << 28)
84 #define CDBGPWRUPACK (1UL << 29)
85 #define CSYSPWRUPREQ (1UL << 30)
86 #define CSYSPWRUPACK (1UL << 31)
88 /* MEM-AP register addresses */
89 #define MEM_AP_REG_CSW 0x00
90 #define MEM_AP_REG_TAR 0x04
91 #define MEM_AP_REG_TAR64 0x08 /* RW: Large Physical Address Extension */
92 #define MEM_AP_REG_DRW 0x0C /* RW: Data Read/Write register */
93 #define MEM_AP_REG_BD0 0x10 /* RW: Banked Data register 0-3 */
94 #define MEM_AP_REG_BD1 0x14
95 #define MEM_AP_REG_BD2 0x18
96 #define MEM_AP_REG_BD3 0x1C
97 #define MEM_AP_REG_MBT 0x20 /* --: Memory Barrier Transfer register */
98 #define MEM_AP_REG_BASE64 0xF0 /* RO: Debug Base Address (LA) register */
99 #define MEM_AP_REG_CFG 0xF4 /* RO: Configuration register */
100 #define MEM_AP_REG_BASE 0xF8 /* RO: Debug Base Address register */
101 /* Generic AP register address */
102 #define AP_REG_IDR 0xFC /* RO: Identification Register */
104 /* Fields of the MEM-AP's CSW register */
105 #define CSW_SIZE_MASK 7
109 #define CSW_ADDRINC_MASK (3UL << 4)
110 #define CSW_ADDRINC_OFF 0UL
111 #define CSW_ADDRINC_SINGLE (1UL << 4)
112 #define CSW_ADDRINC_PACKED (2UL << 4)
113 #define CSW_DEVICE_EN (1UL << 6)
114 #define CSW_TRIN_PROG (1UL << 7)
116 /* All fields in bits 12 and above are implementation-defined
117 * Defaults for AHB/AXI in "Standard Memory Access Port Definitions" from ADI
118 * Some bits are shared between buses
120 #define CSW_SPIDEN (1UL << 23)
121 #define CSW_DBGSWENABLE (1UL << 31)
123 /* AHB: Privileged */
124 #define CSW_AHB_HPROT1 (1UL << 25)
125 /* AHB: set HMASTER signals to AHB-AP ID */
126 #define CSW_AHB_MASTER_DEBUG (1UL << 29)
127 /* AHB5: non-secure access via HNONSEC
128 * AHB3: SBO, UNPREDICTABLE if zero */
129 #define CSW_AHB_SPROT (1UL << 30)
130 /* AHB: initial value of csw_default */
131 #define CSW_AHB_DEFAULT (CSW_AHB_HPROT1 | CSW_AHB_MASTER_DEBUG | CSW_DBGSWENABLE)
133 /* AXI: Privileged */
134 #define CSW_AXI_ARPROT0_PRIV (1UL << 28)
135 /* AXI: Non-secure */
136 #define CSW_AXI_ARPROT1_NONSEC (1UL << 29)
137 /* AXI: initial value of csw_default */
138 #define CSW_AXI_DEFAULT (CSW_AXI_ARPROT0_PRIV | CSW_AXI_ARPROT1_NONSEC | CSW_DBGSWENABLE)
140 /* APB: initial value of csw_default */
141 #define CSW_APB_DEFAULT (CSW_DBGSWENABLE)
144 /* Fields of the MEM-AP's IDR register */
145 #define IDR_REV (0xFUL << 28)
146 #define IDR_JEP106 (0x7FFUL << 17)
147 #define IDR_CLASS (0xFUL << 13)
148 #define IDR_VARIANT (0xFUL << 4)
149 #define IDR_TYPE (0xFUL << 0)
151 #define IDR_JEP106_ARM 0x04760000
153 #define DP_SELECT_APSEL 0xFF000000
154 #define DP_SELECT_APBANK 0x000000F0
155 #define DP_SELECT_DPBANK 0x0000000F
156 #define DP_SELECT_INVALID 0x00FFFF00 /* Reserved bits one */
158 #define DP_APSEL_MAX (255)
159 #define DP_APSEL_INVALID (-1)
161 /* FIXME: not SWD specific; should be renamed, e.g. adiv5_special_seq */
162 enum swd_special_seq {
171 * This represents an ARM Debug Interface (v5) Access Port (AP).
172 * Most common is a MEM-AP, for memory access.
176 * DAP this AP belongs to.
178 struct adiv5_dap *dap;
186 * Default value for (MEM-AP) AP_REG_CSW register.
188 uint32_t csw_default;
191 * Cache for (MEM-AP) AP_REG_CSW register value. This is written to
192 * configure an access mode, such as autoincrementing AP_REG_TAR during
193 * word access. "-1" indicates no cached value.
198 * Cache for (MEM-AP) AP_REG_TAR register value This is written to
199 * configure the address being read or written
200 * "-1" indicates no cached value.
205 * Configures how many extra tck clocks are added after starting a
206 * MEM-AP access before we try to read its status (and/or result).
208 uint32_t memaccess_tck;
210 /* Size of TAR autoincrement block, ARM ADI Specification requires at least 10 bits */
211 uint32_t tar_autoincr_block;
213 /* true if packed transfers are supported by the MEM-AP */
214 bool packed_transfers;
216 /* true if unaligned memory access is not supported by the MEM-AP */
217 bool unaligned_access_bad;
219 /* true if tar_value is in sync with TAR register */
225 * This represents an ARM Debug Interface (v5) Debug Access Port (DAP).
226 * A DAP has two types of component: one Debug Port (DP), which is a
227 * transport agent; and at least one Access Port (AP), controlling
230 * There are two basic DP transports: JTAG, and ARM's low pin-count SWD.
231 * Accordingly, this interface is responsible for hiding the transport
232 * differences so upper layer code can largely ignore them.
234 * When the chip is implemented with JTAG-DP or SW-DP, the transport is
235 * fixed as JTAG or SWD, respectively. Chips incorporating SWJ-DP permit
236 * a choice made at board design time (by only using the SWD pins), or
237 * as part of setting up a debug session (if all the dual-role JTAG/SWD
238 * signals are available).
241 const struct dap_ops *ops;
243 /* dap transaction list for WAIT support */
244 struct list_head cmd_journal;
246 /* pool for dap_cmd objects */
247 struct list_head cmd_pool;
249 /* number of dap_cmd objects in the pool */
250 size_t cmd_pool_size;
252 struct jtag_tap *tap;
254 uint32_t dp_ctrl_stat;
256 struct adiv5_ap ap[DP_APSEL_MAX + 1];
258 /* The current manually selected AP by the "dap apsel" command */
262 * Cache for DP_SELECT register. A value of DP_SELECT_INVALID
263 * indicates no cached value and forces rewrite of the register.
267 /* information about current pending SWjDP-AHBAP transaction */
271 * Holds the pointer to the destination word for the last queued read,
272 * for use with posted AP read sequence optimization.
276 /* The TI TMS470 and TMS570 series processors use a BE-32 memory ordering
277 * despite lack of support in the ARMv7 architecture. Memory access through
278 * the AHB-AP has strange byte ordering these processors, and we need to
279 * swizzle appropriately. */
280 bool ti_be_32_quirks;
283 * STLINK adapter need to know if last AP operation was read or write, and
284 * in case of write has to flush it with a dummy read from DP_RDBUFF
286 bool stlink_flush_ap_write;
289 * Signals that an attempt to reestablish communication afresh
290 * should be performed before the next access.
294 /** Flag saying whether to ignore the syspwrupack flag in DAP. Some devices
295 * do not set this bit until later in the bringup sequence */
296 bool ignore_syspwrupack;
300 * Transport-neutral representation of queued DAP transactions, supporting
301 * both JTAG and SWD transports. All submitted transactions are logically
302 * queued, until the queue is executed by run(). Some implementations might
303 * execute transactions as soon as they're submitted, but no status is made
304 * available until run().
307 /** connect operation for SWD */
308 int (*connect)(struct adiv5_dap *dap);
310 /** send a sequence to the DAP */
311 int (*send_sequence)(struct adiv5_dap *dap, enum swd_special_seq seq);
313 /** DP register read. */
314 int (*queue_dp_read)(struct adiv5_dap *dap, unsigned reg,
316 /** DP register write. */
317 int (*queue_dp_write)(struct adiv5_dap *dap, unsigned reg,
320 /** AP register read. */
321 int (*queue_ap_read)(struct adiv5_ap *ap, unsigned reg,
323 /** AP register write. */
324 int (*queue_ap_write)(struct adiv5_ap *ap, unsigned reg,
327 /** AP operation abort. */
328 int (*queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack);
330 /** Executes all queued DAP operations. */
331 int (*run)(struct adiv5_dap *dap);
333 /** Executes all queued DAP operations but doesn't check
334 * sticky error conditions */
335 int (*sync)(struct adiv5_dap *dap);
337 /** Optional; called at OpenOCD exit */
338 void (*quit)(struct adiv5_dap *dap);
342 * Access Port classes
345 AP_CLASS_NONE = 0x00000, /* No class defined */
346 AP_CLASS_MEM_AP = 0x10000, /* MEM-AP */
353 AP_TYPE_JTAG_AP = 0x0, /* JTAG-AP - JTAG master for controlling other JTAG devices */
354 AP_TYPE_AHB3_AP = 0x1, /* AHB3 Memory-AP */
355 AP_TYPE_APB_AP = 0x2, /* APB Memory-AP */
356 AP_TYPE_AXI_AP = 0x4, /* AXI Memory-AP */
357 AP_TYPE_AHB5_AP = 0x5, /* AHB5 Memory-AP. */
361 * Send an adi-v5 sequence to the DAP.
363 * @param dap The DAP used for reading.
364 * @param seq The sequence to send.
366 * @return ERROR_OK for success, else a fault code.
368 static inline int dap_send_sequence(struct adiv5_dap *dap,
369 enum swd_special_seq seq)
371 assert(dap->ops != NULL);
372 return dap->ops->send_sequence(dap, seq);
376 * Queue a DP register read.
377 * Note that not all DP registers are readable; also, that JTAG and SWD
378 * have slight differences in DP register support.
380 * @param dap The DAP used for reading.
381 * @param reg The two-bit number of the DP register being read.
382 * @param data Pointer saying where to store the register's value
383 * (in host endianness).
385 * @return ERROR_OK for success, else a fault code.
387 static inline int dap_queue_dp_read(struct adiv5_dap *dap,
388 unsigned reg, uint32_t *data)
390 assert(dap->ops != NULL);
391 return dap->ops->queue_dp_read(dap, reg, data);
395 * Queue a DP register write.
396 * Note that not all DP registers are writable; also, that JTAG and SWD
397 * have slight differences in DP register support.
399 * @param dap The DAP used for writing.
400 * @param reg The two-bit number of the DP register being written.
401 * @param data Value being written (host endianness)
403 * @return ERROR_OK for success, else a fault code.
405 static inline int dap_queue_dp_write(struct adiv5_dap *dap,
406 unsigned reg, uint32_t data)
408 assert(dap->ops != NULL);
409 return dap->ops->queue_dp_write(dap, reg, data);
413 * Queue an AP register read.
415 * @param ap The AP used for reading.
416 * @param reg The number of the AP register being read.
417 * @param data Pointer saying where to store the register's value
418 * (in host endianness).
420 * @return ERROR_OK for success, else a fault code.
422 static inline int dap_queue_ap_read(struct adiv5_ap *ap,
423 unsigned reg, uint32_t *data)
425 assert(ap->dap->ops != NULL);
426 return ap->dap->ops->queue_ap_read(ap, reg, data);
430 * Queue an AP register write.
432 * @param ap The AP used for writing.
433 * @param reg The number of the AP register being written.
434 * @param data Value being written (host endianness)
436 * @return ERROR_OK for success, else a fault code.
438 static inline int dap_queue_ap_write(struct adiv5_ap *ap,
439 unsigned reg, uint32_t data)
441 assert(ap->dap->ops != NULL);
442 return ap->dap->ops->queue_ap_write(ap, reg, data);
446 * Queue an AP abort operation. The current AP transaction is aborted,
447 * including any update of the transaction counter. The AP is left in
448 * an unknown state (so it must be re-initialized). For use only after
449 * the AP has reported WAIT status for an extended period.
451 * @param dap The DAP used for writing.
452 * @param ack Pointer to where transaction status will be stored.
454 * @return ERROR_OK for success, else a fault code.
456 static inline int dap_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
458 assert(dap->ops != NULL);
459 return dap->ops->queue_ap_abort(dap, ack);
463 * Perform all queued DAP operations, and clear any errors posted in the
464 * CTRL_STAT register when they are done. Note that if more than one AP
465 * operation will be queued, one of the first operations in the queue
466 * should probably enable CORUNDETECT in the CTRL/STAT register.
468 * @param dap The DAP used.
470 * @return ERROR_OK for success, else a fault code.
472 static inline int dap_run(struct adiv5_dap *dap)
474 assert(dap->ops != NULL);
475 return dap->ops->run(dap);
478 static inline int dap_sync(struct adiv5_dap *dap)
480 assert(dap->ops != NULL);
482 return dap->ops->sync(dap);
486 static inline int dap_dp_read_atomic(struct adiv5_dap *dap, unsigned reg,
491 retval = dap_queue_dp_read(dap, reg, value);
492 if (retval != ERROR_OK)
498 static inline int dap_dp_poll_register(struct adiv5_dap *dap, unsigned reg,
499 uint32_t mask, uint32_t value, int timeout)
502 assert((value & mask) == value);
506 LOG_DEBUG("DAP: poll %x, mask 0x%08" PRIx32 ", value 0x%08" PRIx32,
509 ret = dap_dp_read_atomic(dap, reg, ®val);
513 if ((regval & mask) == value)
520 LOG_DEBUG("DAP: poll %x timeout", reg);
527 /* Queued MEM-AP memory mapped single word transfers. */
528 int mem_ap_read_u32(struct adiv5_ap *ap,
529 uint32_t address, uint32_t *value);
530 int mem_ap_write_u32(struct adiv5_ap *ap,
531 uint32_t address, uint32_t value);
533 /* Synchronous MEM-AP memory mapped single word transfers. */
534 int mem_ap_read_atomic_u32(struct adiv5_ap *ap,
535 uint32_t address, uint32_t *value);
536 int mem_ap_write_atomic_u32(struct adiv5_ap *ap,
537 uint32_t address, uint32_t value);
539 /* Synchronous MEM-AP memory mapped bus block transfers. */
540 int mem_ap_read_buf(struct adiv5_ap *ap,
541 uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
542 int mem_ap_write_buf(struct adiv5_ap *ap,
543 const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
545 /* Synchronous, non-incrementing buffer functions for accessing fifos. */
546 int mem_ap_read_buf_noincr(struct adiv5_ap *ap,
547 uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
548 int mem_ap_write_buf_noincr(struct adiv5_ap *ap,
549 const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
551 /* Initialisation of the debug system, power domains and registers */
552 int dap_dp_init(struct adiv5_dap *dap);
553 int dap_dp_init_or_reconnect(struct adiv5_dap *dap);
554 int mem_ap_init(struct adiv5_ap *ap);
556 /* Invalidate cached DP select and cached TAR and CSW of all APs */
557 void dap_invalidate_cache(struct adiv5_dap *dap);
559 /* Probe the AP for ROM Table location */
560 int dap_get_debugbase(struct adiv5_ap *ap,
561 uint32_t *dbgbase, uint32_t *apid);
563 /* Probe Access Ports to find a particular type */
564 int dap_find_ap(struct adiv5_dap *dap,
565 enum ap_type type_to_find,
566 struct adiv5_ap **ap_out);
568 static inline struct adiv5_ap *dap_ap(struct adiv5_dap *dap, uint8_t ap_num)
570 return &dap->ap[ap_num];
573 /* Lookup CoreSight component */
574 int dap_lookup_cs_component(struct adiv5_ap *ap,
575 uint32_t dbgbase, uint8_t type, uint32_t *addr, int32_t *idx);
579 /* Put debug link into SWD mode */
580 int dap_to_swd(struct adiv5_dap *dap);
582 /* Put debug link into JTAG mode */
583 int dap_to_jtag(struct adiv5_dap *dap);
585 extern const struct command_registration dap_instance_commands[];
587 struct arm_dap_object;
588 extern struct adiv5_dap *dap_instance_by_jim_obj(Jim_Interp *interp, Jim_Obj *o);
589 extern struct adiv5_dap *adiv5_get_dap(struct arm_dap_object *obj);
590 extern int dap_info_command(struct command_invocation *cmd,
591 struct adiv5_ap *ap);
592 extern int dap_register_commands(struct command_context *cmd_ctx);
593 extern const char *adiv5_dap_name(struct adiv5_dap *self);
594 extern const struct swd_driver *adiv5_dap_swd_driver(struct adiv5_dap *self);
595 extern int dap_cleanup_all(void);
597 struct adiv5_private_config {
599 struct adiv5_dap *dap;
602 extern int adiv5_verify_config(struct adiv5_private_config *pc);
603 extern int adiv5_jim_configure(struct target *target, Jim_GetOptInfo *goi);
605 struct adiv5_mem_ap_spot {
606 struct adiv5_dap *dap;
611 extern int adiv5_mem_ap_spot_init(struct adiv5_mem_ap_spot *p);
612 extern int adiv5_jim_mem_ap_spot_configure(struct adiv5_mem_ap_spot *cfg,
613 Jim_GetOptInfo *goi);
615 #endif /* OPENOCD_TARGET_ARM_ADI_V5_H */