* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
- * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
***************************************************************************/
+
#ifndef ARM_ADI_V5_H
#define ARM_ADI_V5_H
-#include "target.h"
-#include "register.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 "arm_jtag.h"
-#define DAP_IR_DPACC 0xA
-#define DAP_IR_APACC 0xB
+/* FIXME remove these JTAG-specific decls when mem_ap_read_buf_u32()
+ * is no longer JTAG-specific
+ */
+#define JTAG_DP_DPACC 0xA
+#define JTAG_DP_APACC 0xB
+
+/* three-bit ACK values for SWD access (sent LSB first) */
+#define SWD_ACK_OK 0x4
+#define SWD_ACK_WAIT 0x2
+#define SWD_ACK_FAULT 0x1
#define DPAP_WRITE 0
#define DPAP_READ 1
-#define DP_ZERO 0
-#define DP_CTRL_STAT 0x4
-#define DP_SELECT 0x8
-#define DP_RDBUFF 0xC
-
-#define CORUNDETECT (1<<0)
-#define SSTICKYORUN (1<<1)
-#define SSTICKYERR (1<<5)
-#define CDBGRSTREQ (1<<26)
-#define CDBGRSTACK (1<<27)
-#define CDBGPWRUPREQ (1<<28)
-#define CDBGPWRUPACK (1<<29)
-#define CSYSPWRUPREQ (1<<30)
-#define CSYSPWRUPACK (1<<31)
-
-#define AP_REG_CSW 0x00
+
+/* 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.CTRLSEL
+ */
+#define DP_IDCODE 0 /* SWD: read */
+#define DP_ABORT 0 /* SWD: write */
+#define DP_CTRL_STAT 0x4 /* r/w */
+#define DP_WCR 0x4 /* SWD: r/w (mux CTRLSEL) */
+#define DP_RESEND 0x8 /* SWD: read */
+#define DP_SELECT 0x8 /* JTAG: r/w; SWD: write */
+#define DP_RDBUFF 0xC /* read-only */
+
+#define WCR_TO_TRN(wcr) ((uint32_t)(1 + (3 & ((wcr)) >> 8))) /* 1..4 clocks */
+#define WCR_TO_PRESCALE(wcr) ((uint32_t)(7 & ((wcr)))) /* impl defined */
+
+/* Fields of the DP's AP ABORT register */
+#define DAPABORT (1 << 0)
+#define STKCMPCLR (1 << 1) /* SWD-only */
+#define STKERRCLR (1 << 2) /* SWD-only */
+#define WDERRCLR (1 << 3) /* SWD-only */
+#define ORUNERRCLR (1 << 4) /* SWD-only */
+
+/* Fields of the DP's CTRL/STAT register */
+#define CORUNDETECT (1 << 0)
+#define SSTICKYORUN (1 << 1)
+/* 3:2 - transaction mode (e.g. pushed compare) */
+#define SSTICKYCMP (1 << 4)
+#define SSTICKYERR (1 << 5)
+#define READOK (1 << 6) /* SWD-only */
+#define WDATAERR (1 << 7) /* SWD-only */
+/* 11:8 - mask lanes for pushed compare or verify ops */
+/* 21:12 - transaction counter */
+#define CDBGRSTREQ (1 << 26)
+#define CDBGRSTACK (1 << 27)
+#define CDBGPWRUPREQ (1 << 28)
+#define CDBGPWRUPACK (1 << 29)
+#define CSYSPWRUPREQ (1 << 30)
+#define CSYSPWRUPACK (1 << 31)
+
+/* MEM-AP register addresses */
+/* TODO: rename as MEM_AP_REG_* */
+#define AP_REG_CSW 0x00
#define AP_REG_TAR 0x04
#define AP_REG_DRW 0x0C
#define AP_REG_BD0 0x10
#define AP_REG_BD1 0x14
#define AP_REG_BD2 0x18
#define AP_REG_BD3 0x1C
-#define AP_REG_DBGROMA 0xF8
+#define AP_REG_CFG 0xF4 /* big endian? */
+#define AP_REG_BASE 0xF8
+
+/* Generic AP register address */
#define AP_REG_IDR 0xFC
+/* Fields of the MEM-AP's CSW register */
#define CSW_8BIT 0
#define CSW_16BIT 1
#define CSW_32BIT 2
-
-#define CSW_ADDRINC_MASK (3<<4)
+#define CSW_ADDRINC_MASK (3 << 4)
#define CSW_ADDRINC_OFF 0
-#define CSW_ADDRINC_SINGLE (1<<4)
-#define CSW_ADDRINC_PACKED (2<<4)
-#define CSW_HPROT (1<<25)
-#define CSW_MASTER_DEBUG (1<<29)
-#define CSW_DBGSWENABLE (1<<31)
-
-/* transaction mode */
-#define TRANS_MODE_NONE 0
-/* Transaction waits for previous to complete */
-#define TRANS_MODE_ATOMIC 1
-/* Freerunning transactions with delays and overrun checking */
-#define TRANS_MODE_COMPOSITE 2
-
-typedef struct swjdp_reg_s
-{
- int addr;
- arm_jtag_t *jtag_info;
-} swjdp_reg_t;
+#define CSW_ADDRINC_SINGLE (1 << 4)
+#define CSW_ADDRINC_PACKED (2 << 4)
+#define CSW_DEVICE_EN (1 << 6)
+#define CSW_TRIN_PROG (1 << 7)
+#define CSW_SPIDEN (1 << 23)
+/* 30:24 - implementation-defined! */
+#define CSW_HPROT (1 << 25) /* ? */
+#define CSW_MASTER_DEBUG (1 << 29) /* ? */
+#define CSW_SPROT (1 << 30)
+#define CSW_DBGSWENABLE (1 << 31)
-typedef struct swjdp_common_s
-{
- arm_jtag_t *jtag_info;
+/**
+ * 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. Most common is a MEM-AP, for memory 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;
+
+ struct arm_jtag *jtag_info;
/* Control config */
- u32 dp_ctrl_stat;
- /* Support for several AP's in one DAP */
- u32 apsel;
- /* Register select cache */
- u32 dp_select_value;
- u32 ap_csw_value;
- u32 ap_tar_value;
+ uint32_t dp_ctrl_stat;
+
+ uint32_t apcsw[256];
+ uint32_t apsel;
+
+ /**
+ * Cache for DP_SELECT bits identifying the current AP. A DAP may
+ * connect to multiple APs, such as one MEM-AP for general access,
+ * another reserved for accessing debug modules, and a JTAG-DP.
+ * "-1" indicates no cached value.
+ */
+ uint32_t ap_current;
+
+ /**
+ * Cache for DP_SELECT bits identifying the current four-word AP
+ * register bank. This caches AP register addresss bits 7:4; JTAG
+ * and SWD access primitves pass address bits 3:2; bits 1:0 are zero.
+ * "-1" indicates no cached value.
+ */
+ uint32_t ap_bank_value;
+
+ /**
+ * 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 ap_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 ap_tar_value;
+
/* information about current pending SWjDP-AHBAP transaction */
- u8 trans_mode;
- u8 trans_rw;
- u8 ack;
- /* extra tck clocks for memory bus access */
- u32 memaccess_tck;
+ uint8_t ack;
+
+ /**
+ * 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 */
- u32 tar_autoincr_block;
+ uint32_t tar_autoincr_block;
+
+ /* true if packed transfers are supported by the MEM-AP */
+ bool packed_transfers;
+};
+
+/**
+ * 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
+ * availablue until run().
+ */
+struct dap_ops {
+ /** If the DAP transport isn't SWD, it must be JTAG. Upper level
+ * code may need to care about the difference in some cases.
+ */
+ bool is_swd;
+
+ /** Reads the DAP's IDCODe register. */
+ int (*queue_idcode_read)(struct adiv5_dap *dap,
+ uint8_t *ack, uint32_t *data);
+
+ /** 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_dap *dap, unsigned reg,
+ uint32_t *data);
+ /** AP register write. */
+ int (*queue_ap_write)(struct adiv5_dap *dap, unsigned reg,
+ uint32_t data);
+ /** AP read block. */
+ int (*queue_ap_read_block)(struct adiv5_dap *dap, unsigned reg,
+ uint32_t blocksize, uint8_t *buffer);
-} swjdp_common_t;
+ /** AP operation abort. */
+ int (*queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack);
-/* Accessor function for currently selected DAP-AP number */
-static inline u8 dap_ap_get_select(swjdp_common_t *swjdp)
+ /** Executes all queued DAP operations. */
+ int (*run)(struct adiv5_dap *dap);
+};
+
+/*
+ * Access Port types
+ */
+enum ap_type {
+ AP_TYPE_AHB_AP = 0x01, /* AHB Memory-AP */
+ AP_TYPE_APB_AP = 0x02, /* APB Memory-AP */
+ AP_TYPE_JTAG_AP = 0x10 /* JTAG-AP - JTAG master for controlling other JTAG devices */
+};
+
+/**
+ * Queue an IDCODE register read. This is primarily useful for SWD
+ * transports, where it is required as part of link initialization.
+ * (For JTAG, this register is read as part of scan chain setup.)
+ *
+ * @param dap The DAP used for reading.
+ * @param ack Pointer to where transaction status will be stored.
+ * @param data Pointer saying where to store the IDCODE value.
+ *
+ * @return ERROR_OK for success, else a fault code.
+ */
+static inline int dap_queue_idcode_read(struct adiv5_dap *dap,
+ uint8_t *ack, uint32_t *data)
+{
+ assert(dap->ops != NULL);
+ return dap->ops->queue_idcode_read(dap, ack, data);
+}
+
+/**
+ * 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)
{
- return (u8)( swjdp ->apsel >> 24);
+ assert(dap->ops != NULL);
+ return dap->ops->queue_dp_read(dap, reg, data);
}
-/* Internal functions used in the module, partial transactions, use with caution */
-extern int dap_dp_write_reg(swjdp_common_t *swjdp, u32 value, u8 reg_addr);
-/* extern int swjdp_write_apacc(swjdp_common_t *swjdp, u32 value, u8 reg_addr); */
-extern int dap_dp_read_reg(swjdp_common_t *swjdp, u32 *value, u8 reg_addr);
-/* extern int swjdp_read_apacc(swjdp_common_t *swjdp, u32 *value, u8 reg_addr); */
-extern int dap_setup_accessport(swjdp_common_t *swjdp, u32 csw, u32 tar);
-extern int dap_ap_select(swjdp_common_t *swjdp,u8 apsel);
-
-extern int dap_ap_write_reg(swjdp_common_t *swjdp, u32 reg_addr, u8* out_value_buf);
-extern int dap_ap_write_reg_u32(swjdp_common_t *swjdp, u32 reg_addr, u32 value);
-extern int dap_ap_read_reg(swjdp_common_t *swjdp, u32 reg_addr, u8 *in_value_buf);
-extern int dap_ap_read_reg_u32(swjdp_common_t *swjdp, u32 reg_addr, u32 *value);
-
-/* External interface, partial operations must be completed with swjdp_transaction_endcheck() */
-extern int swjdp_transaction_endcheck(swjdp_common_t *swjdp);
-
-/* MEM-AP memory mapped bus single u32 register transfers, without endcheck */
-extern int mem_ap_read_u32(swjdp_common_t *swjdp, u32 address, u32 *value);
-extern int mem_ap_write_u32(swjdp_common_t *swjdp, u32 address, u32 value);
-
-/* MEM-AP memory mapped bus transfers, single registers, complete transactions */
-extern int mem_ap_read_atomic_u32(swjdp_common_t *swjdp, u32 address, u32 *value);
-extern int mem_ap_write_atomic_u32(swjdp_common_t *swjdp, u32 address, u32 value);
-
-/* MEM-AP memory mapped bus block transfers */
-extern int mem_ap_read_buf_u8(swjdp_common_t *swjdp, u8 *buffer, int count, u32 address);
-extern int mem_ap_read_buf_u16(swjdp_common_t *swjdp, u8 *buffer, int count, u32 address);
-extern int mem_ap_read_buf_u32(swjdp_common_t *swjdp, u8 *buffer, int count, u32 address);
-extern int mem_ap_write_buf_u8(swjdp_common_t *swjdp, u8 *buffer, int count, u32 address);
-extern int mem_ap_write_buf_u16(swjdp_common_t *swjdp, u8 *buffer, int count, u32 address);
-extern int mem_ap_write_buf_u32(swjdp_common_t *swjdp, u8 *buffer, int count, u32 address);
+/**
+ * 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 dap The DAP 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_dap *dap,
+ unsigned reg, uint32_t *data)
+{
+ assert(dap->ops != NULL);
+ return dap->ops->queue_ap_read(dap, reg, data);
+}
+
+/**
+ * Queue an AP register write.
+ *
+ * @param dap The DAP 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_dap *dap,
+ unsigned reg, uint32_t data)
+{
+ assert(dap->ops != NULL);
+ return dap->ops->queue_ap_write(dap, reg, data);
+}
+
+/**
+ * Queue an AP block read.
+ *
+ * @param dap The DAP used for reading.
+ * @param reg The number of the AP register being read.
+ * @param blocksize The number of the AP register being read.
+ * @param buffer Pointer saying where to store the data
+ * (in host endianness).
+ *
+ * @return ERROR_OK for success, else a fault code.
+ */
+static inline int dap_queue_ap_read_block(struct adiv5_dap *dap,
+ unsigned reg, unsigned blocksize, uint8_t *buffer)
+{
+ assert(dap->ops != NULL);
+ return dap->ops->queue_ap_read_block(dap, reg, blocksize, buffer);
+}
+
+/**
+ * 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);
+}
+
+/** Accessor for currently selected DAP-AP number (0..255) */
+static inline uint8_t dap_ap_get_select(struct adiv5_dap *swjdp)
+{
+ return (uint8_t)(swjdp->ap_current >> 24);
+}
+
+/* AP selection applies to future AP transactions */
+void dap_ap_select(struct adiv5_dap *dap, uint8_t ap);
+
+/* Queued AP transactions */
+int dap_setup_accessport(struct adiv5_dap *swjdp,
+ uint32_t csw, uint32_t tar);
+
+/* Queued MEM-AP memory mapped single word transfers */
+int mem_ap_read_u32(struct adiv5_dap *swjdp, uint32_t address, uint32_t *value);
+int mem_ap_write_u32(struct adiv5_dap *swjdp, uint32_t address, uint32_t value);
+
+/* Synchronous MEM-AP memory mapped single word transfers */
+int mem_ap_read_atomic_u32(struct adiv5_dap *swjdp,
+ uint32_t address, uint32_t *value);
+int mem_ap_write_atomic_u32(struct adiv5_dap *swjdp,
+ uint32_t address, uint32_t value);
+
+/* Queued MEM-AP memory mapped single word transfers with selection of ap */
+int mem_ap_sel_read_u32(struct adiv5_dap *swjdp, uint8_t ap,
+ uint32_t address, uint32_t *value);
+int mem_ap_sel_write_u32(struct adiv5_dap *swjdp, uint8_t ap,
+ uint32_t address, uint32_t value);
+
+/* Synchronous MEM-AP memory mapped single word transfers with selection of ap */
+int mem_ap_sel_read_atomic_u32(struct adiv5_dap *swjdp, uint8_t ap,
+ uint32_t address, uint32_t *value);
+int mem_ap_sel_write_atomic_u32(struct adiv5_dap *swjdp, uint8_t ap,
+ uint32_t address, uint32_t value);
+
+/* Synchronous MEM-AP memory mapped bus block transfers */
+int mem_ap_read(struct adiv5_dap *dap, uint8_t *buffer, uint32_t size,
+ uint32_t count, uint32_t address, bool addrinc);
+int mem_ap_write(struct adiv5_dap *dap, const uint8_t *buffer, uint32_t size,
+ uint32_t count, uint32_t address, bool addrinc);
+
+/* Synchronous MEM-AP memory mapped bus block transfers with selection of ap */
+int mem_ap_sel_read_buf(struct adiv5_dap *swjdp, uint8_t ap,
+ uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
+int mem_ap_sel_write_buf(struct adiv5_dap *swjdp, uint8_t ap,
+ const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
+
+/* Synchronous, non-incrementing buffer functions for accessing fifos, with
+ * selection of ap */
+int mem_ap_sel_read_buf_noincr(struct adiv5_dap *swjdp, uint8_t ap,
+ uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
+int mem_ap_sel_write_buf_noincr(struct adiv5_dap *swjdp, uint8_t ap,
+ const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
/* Initialisation of the debug system, power domains and registers */
-extern int ahbap_debugport_init(swjdp_common_t *swjdp);
-
-extern int dap_info_command(struct command_context_s *cmd_ctx, swjdp_common_t *swjdp, int apsel);
-/* Commands for user dap access */
-/* Currently implemented in armv7m, needs armv7m target structure to find jtag and swjdp structures */
-extern int handle_dap_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
-extern int handle_dap_apsel_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
-extern int handle_dap_apid_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
-extern int handle_dap_baseaddr_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
-extern int handle_dap_memaccess_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
+int ahbap_debugport_init(struct adiv5_dap *swjdp);
+
+/* Probe the AP for ROM Table location */
+int dap_get_debugbase(struct adiv5_dap *dap, int 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,
+ uint8_t *ap_num_out);
+
+/* Lookup CoreSight component */
+int dap_lookup_cs_component(struct adiv5_dap *dap, int ap,
+ uint32_t dbgbase, uint8_t type, uint32_t *addr);
+
+struct target;
+
+/* Put debug link into SWD mode */
+int dap_to_swd(struct target *target);
+
+/* Put debug link into JTAG mode */
+int dap_to_jtag(struct target *target);
+
+extern const struct command_registration dap_command_handlers[];
#endif
projects / fw / openocd / blobdiff