boards/arm/s32z270dc2_r52/support/startup.cmm

;*******************************************************************************
;   Copyright 2022 NXP                                                         *
;   SPDX-License-Identifier: Apache-2.0                                        *
;                                                                              *
;   Lauterbach Trace32 start-up script for S32Z27x / Cortex-R52                *
;                                                                              *
;   Parameters:                                                                *
;   - command     operation to execute                                         *
;                 valid values: flash, debug                                   *
;                 default: debug                                               *
;   - elfFile     filepath of ELF to load                                      *
;   - rtu         Real-Time Unit (RTU) index                                   *
;                 valid values: 0, 1                                           *
;                 default: 0                                                   *
;   - core        core index, relative to the RTU                              *
;                 valid values: 0 to 3                                         *
;                 default: 0                                                   *
;   - lockstep    set to "yes" to start the core in lock-step mode             *
;                 in Lockstep mode:                                            *
;                  - Core0 and Core2 (redundancy) operate as a lockstep pair   *
;                  - Core1 and Core3 (redundancy) operate as a lockstep pair   *
;                 default: yes                                                 *
;   - thumb       set to "yes" to select the T32 instruction set at reset      *
;                 default: no                                                 *
;                                                                              *
;*******************************************************************************

ENTRY %LINE &args
LOCAL &rtuStartAddr &cfgCoreAddr &coreId &rtuId &thumbBit &spltLckBit

&command=STRing.SCANAndExtract("&args","command=","debug")
&elfFile=STRing.SCANAndExtract("&args","elfFile=","")
&rtu=STRing.SCANAndExtract("&args","rtu=","0")
&core=STRing.SCANAndExtract("&args","core=","0")
&lockstep=STRing.SCANAndExtract("&args","lockstep=","yes")
&thumb=STRing.SCANAndExtract("&args","thumb=","no")

IF ("&elfFile"=="")
(
  PRINT %ERROR "Missing ELF file path"
  PLIST
  STOP
  ENDDO
)

IF (&rtu<0||&rtu>1)
(
  PRINT %ERROR "Invalid rtu number: &rtu"
  PLIST
  STOP
  ENDDO
)

IF (&core<0||&core>3)
(
  PRINT %ERROR "Invalid core number: &core"
  PLIST
  STOP
  ENDDO
)

; select ARMv8 instruction set at reset for all Cortex-R52 cores (CFG_CORE.THUMB bit)
IF ("&thumb"=="yes")
  &thumbBit="1"
ELSE
  &thumbBit="0"

; select lock-step or split-lock mode (CFG_CORE.SPLT_LCK bit)
IF ("&lockstep"=="yes")
  &spltLckBit="0"
ELSE
  &spltLckBit="1"

IF ("&rtu"=="0")
(
  &rtuStartAddr = 0x79900000
  &cfgCoreAddr = 0x76120000
)
ELSE
(
  &rtuStartAddr = 0x7D900000
  &cfgCoreAddr = 0x76920000
)

; Trace32 indexes are offset by 1
&coreId=&core+1
&rtuId=&rtu+1

; Reset
ON.ERROR.CONTinue
JTAG.PIN NRESET 0
JTAG.PIN NTRST 0
WAIT 10ms
JTAG.PIN NRESET 1
JTAG.PIN NTRST 1
WAIT 10ms
ON.ERROR.DEFault

; Initialize debugger
SYStem.Down
SYStem.CPU S32Z270-M33-SMU
SYStem.CONFIG.DEBUGPORTTYPE JTAG
SYStem.Option.DUALPORT ON
SYStem.MemAccess DAP
SYStem.JtagClock 40MHz
Trace.DISable
ETM.OFF
ITM.OFF

SYStem.Mode Prepare
WAIT 1.s

; Disable Functional Reset Escalation Threshold
Data.Set EAXI:0x41850014 %LE %Long 0x0
Data.Set EAXI:0x41850018 %LE %Long 0x0
Data.Set EAXI:0x4185001C %LE %Long 0x0

; Configure Miscellaneous Debug Module AP (MDM-AP) for RTU's
Data.Set DP:0x1C100c0 %LE %Long 0x3cf3cf00
Data.Set DP:0x1C100c8 %LE %Long 0x3cf3cf00

; RTU subsystems out of reset logic
GOSUB EnableRTU0
GOSUB EnableRTU1

; Init RTU SRAM
DO ~~/demo/arm/hardware/s32z27/misc/s32z27_init_rtu&(rtu)_sram.cmm

; Set reset value for TE bit and split-lock mode
Data.Set EZAXI:&cfgCoreAddr %Long 0yXXXXxxxxXXXXxxxxXXXXxxxxXXXXx&(thumbBit)x&(spltLckBit)  ; CFG_CORE

; Write loop to self instruction
Data.Set EAXI:&rtuStartAddr %Long 0xFFFEF7FF

; Wake up core
GOSUB EnableR52_&(rtu)_&(core)

; Reconfigure debugger
SYStem.CPU S32Z270-R52-RTU&(rtu)
CORE.ASSIGN &coreId
SYStem.CONFIG.CORE &coreId &rtuId
SYStem.Option.DUALPORT ON
SYStem.Option.ResBreak OFF
SYStem.Option.EnReset  OFF
Trace.DISable
ETM.OFF
STM.OFF

WAIT 200ms
SYStem.Attach

IF STATE.RUN()
  Break

; Load application to SRAM, running from flash is not yet supported
Data.LOAD.Elf &elfFile EAXI:

SYStem.MemAccess.AXI

SYStem.CONFIG.AHBAP1.Base DP:0x1C80000
SYStem.CONFIG.APBAP1.Base DP:0x1C30000
SYStem.CONFIG.AXIAP1.Base DP:0x1C21000

Register.Set PC __start

IF ("&command"=="flash")
(
  ; Execute the application and quit
  Go
  QUIT
)
ELSE
(
  ; Setup minimal debug environment
  WinCLEAR
  SETUP.Var.%SpotLight
  WinPOS 0. 0. 120. 30.
  List.auto
  WinPOS 125. 0. 80. 10.
  Frame.view
  WinPOS 125. 18.
  Register.view /SpotLight
)

ENDDO

EnableRTU0:
(
  ; RTU0 subsystem out of reset logic (MC_ME)
  Data.Set EAXI:0x41900300 %LE %Long 0x5
  Data.Set EAXI:0x41900304 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  WAIT 100ms

  ; Deactivate RTU fencing logic (GPR3)
  Data.Set EAXI:0x4186005c %LE %Long 0x0

  ; Enable the interconnect interface of reset domain
  Data.Set EAXI:0x41890004 %LE %Long 0x80000000
  Data.Set EAXI:0x41890004 %LE %Long 0x80000007

  ; Assert reset (RGM)
  Data.Set EAXI:0x41850048 %LE %Long 0x1E

  ; Clear OSSE bit and set clock update (MC_ME)
  Data.Set EAXI:0x41900300 %LE %Long 0x1
  Data.Set EAXI:0x41900304 %LE %Long 0x4
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  WAIT 200ms

  RETURN
)

EnableRTU1:
(
  ; RTU1 subsystem out of reset logic (MC_ME)
  Data.Set EAXI:0x41900500 %LE %Long 0x5
  Data.Set EAXI:0x41900504 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  WAIT 100ms

  ; Deactivate RTU fencing logic (GPR3)
  Data.Set EAXI:0x41860064 %LE %Long 0x0

  ; Enable the interconnect interface of reset domain
  Data.Set EAXI:0x418A0004 %LE %Long 0x80000000
  Data.Set EAXI:0x418A0004 %LE %Long 0x80000007

  ; Assert reset (RGM)
  Data.Set EAXI:0x41850050 %LE %Long 0x1E

  ; Clear OSSE bit and set clock update (MC_ME)
  Data.Set EAXI:0x41900500 %LE %Long 0x1
  Data.Set EAXI:0x41900504 %LE %Long 0x4
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  WAIT 200ms

  ; Enable RTU1 NIC
  Data.Set EAXI:0x75400000 %LE %Long 0x2    ; RTUM_NIC
  Data.Set EAXI:0x75500000 %LE %Long 0x2    ; RTUF_NIC
  Data.Set EAXI:0x75600000 %LE %Long 0x2    ; RTUP_NIC
  Data.Set EAXI:0x75700000 %LE %Long 0x2    ; RTUE_NIC

  RETURN
)

; EnableR52_<core>_<rtu> - routines for waking up the RTU cores:
; - set boot address (MC_ME_PRTNy_COREx_ADDR)
; - enable core clock
; - trigger the clock update
; - store key for starting the hw process
; - force core reset

EnableR52_0_0:
(
  Data.Set EAXI:0x4190034C %LE %Long &rtuStartAddr
  Data.Set EAXI:0x41900340 %LE %Long 0x1
  Data.Set EAXI:0x41900344 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x41850048 %LE %Long 0x1C
  RETURN
)

EnableR52_0_1:
(
  Data.Set EAXI:0x4190036C %LE %Long &rtuStartAddr
  Data.Set EAXI:0x41900360 %LE %Long 0x1
  Data.Set EAXI:0x41900364 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x41850048 %LE %Long 0x18
  RETURN
)

EnableR52_0_2:
(
  Data.Set EAXI:0x4190038C %LE %Long &rtuStartAddr
  Data.Set EAXI:0x41900380 %LE %Long 0x1
  Data.Set EAXI:0x41900384 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x41850048 %LE %Long 0x10
  RETURN
)

EnableR52_0_3:
(
  Data.Set EAXI:0x419003AC %LE %Long &rtuStartAddr
  Data.Set EAXI:0x419003A0 %LE %Long 0x1
  Data.Set EAXI:0x419003A4 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x41850048 %LE %Long 0x0
  RETURN
)

EnableR52_1_0:
(
  Data.Set EAXI:0x4190054C %LE %Long &rtuStartAddr
  Data.Set EAXI:0x41900540 %LE %Long 0x1
  Data.Set EAXI:0x41900544 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x41850050 %LE %Long 0x1C
  RETURN
)

EnableR52_1_1:
(
  Data.Set EAXI:0x4190056C %LE %Long &rtuStartAddr
  Data.Set EAXI:0x41900560 %LE %Long 0x1
  Data.Set EAXI:0x41900564 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x41850050 %LE %Long 0x18
  RETURN
)

EnableR52_1_2:
(
  Data.Set EAXI:0x4190058C %LE %Long &rtuStartAddr
  Data.Set EAXI:0x41900580 %LE %Long 0x1
  Data.Set EAXI:0x41900584 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x41850050 %LE %Long 0x10
  RETURN
)

EnableR52_1_3:
(
  Data.Set EAXI:0x419005A0 %LE %Long 0x1
  Data.Set EAXI:0x419005A4 %LE %Long 0x1
  Data.Set EAXI:0x41900000 %LE %Long 0x5AF0
  Data.Set EAXI:0x41900000 %LE %Long 0xA50F
  Data.Set EAXI:0x419005AC %LE %Long &rtuStartAddr
  Data.Set EAXI:0x41850050 %LE %Long 0x0
  RETURN
)