adi_v5_swd: Improve SWD support

[openocd.git] / src / target / arm_adi_v5.h

/***************************************************************************
 *   Copyright (C) 2006 by Magnus Lundin                                   *
 *   lundin@mlu.mine.nu                                                    *
 *                                                                         *
 *   Copyright (C) 2008 by Spencer Oliver                                  *
 *   spen@spen-soft.co.uk                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   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.,                                       *
 *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
 ***************************************************************************/

#ifndef ARM_ADI_V5_H
#define ARM_ADI_V5_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"

/* 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 BANK_REG(bank, reg)     (((bank) << 4) | (reg))

/* 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               BANK_REG(0x0, 0x0)      /* SWD: read */
#define DP_ABORT                BANK_REG(0x0, 0x0)      /* SWD: write */
#define DP_CTRL_STAT            BANK_REG(0x0, 0x4)      /* r/w */
#define DP_RESEND               BANK_REG(0x0, 0x8)      /* SWD: read */
#define DP_SELECT               BANK_REG(0x0, 0x8)      /* JTAG: r/w; SWD: write */
#define DP_RDBUFF               BANK_REG(0x0, 0xC)      /* read-only */
#define DP_WCR                  BANK_REG(0x1, 0x4)      /* SWD: r/w */

#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_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_OFF         0
#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)

/**
 * 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 */
        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 DP_SELECT bits identifying the current four-word DP
         * register bank.  This caches DP register addresss bits 7:4; JTAG
         * and SWD access primitves pass address bits 3:2; bits 1:0 are zero.
         */
        uint32_t dp_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 */
        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 */
        uint32_t tar_autoincr_block;

        /* true if packed transfers are supported by the MEM-AP */
        bool packed_transfers;

        /* true if unaligned memory access is not supported by the MEM-AP */
        bool unaligned_access_bad;

        /* The TI TMS470 and TMS570 series processors use a BE-32 memory ordering
         * despite lack of support in the ARMv7 architecture. Memory access through
         * the AHB-AP has strange byte ordering these processors, and we need to
         * swizzle appropriately. */
        bool ti_be_32_quirks;
};

/**
 * 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);

        /** AP operation abort. */
        int (*queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack);

        /** 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)
{
        assert(dap->ops != NULL);
        return dap->ops->queue_dp_read(dap, reg, data);
}

/**
 * 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);
}

static inline int dap_dp_read_atomic(struct adiv5_dap *dap, unsigned reg,
                                     uint32_t *value)
{
        int retval;

        retval = dap_queue_dp_read(dap, reg, value);
        if (retval != ERROR_OK)
                return retval;

        return dap_run(dap);
}

static inline int dap_dp_poll_register(struct adiv5_dap *dap, unsigned reg,
                                       uint32_t mask, uint32_t value, int timeout)
{
        assert(timeout > 0);
        assert((value & mask) == value);

        int ret;
        uint32_t regval;
        LOG_DEBUG("DAP: poll %x, mask 0x08%" PRIx32 ", value 0x%08" PRIx32,
                  reg, mask, value);
        do {
                ret = dap_dp_read_atomic(dap, reg, &regval);
                if (ret != ERROR_OK)
                        return ret;

                if ((regval & mask) == value)
                        break;

                alive_sleep(10);
        } while (--timeout);

        if (!timeout) {
                LOG_DEBUG("DAP: poll %x timeout", reg);
                return ERROR_FAIL;
        } else {
                return ERROR_OK;
        }
}

/** 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 */
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