[nrf fromlist] boards: nordic: remove custom JLink reset scheme

Upstream PR #: 82976

Secure domain firmware v9.0.0 and onward no longer supports the
non-essential domain reset procedure which was used in the custom
JLink reset scheme for
nrf54h20dk/nrf54h20/cpuapp, nrf54h20dk/nrf54h20/cpurad,
nrf9280pdk/nrf9280/cpuapp and nrf9280pdk/nrf9280/cpurad.
All resets done through the ADAC interface now do a global reset
instead, which as of now "kills" the JLink session.

Remove the custom reset behavior as it will not work anymore moving
forward. This means that "monitor reset" in GDB can no longer be used
to debug the application from the start of execution. Using current
tooling, it is possible to debug from the start of execution by first
resetting the cores into a halted state, starting cores other than the
one you are debugging and then attaching GDB. For example:

> nrfutil device reset --reset-kind RESET_VIA_SECDOM
> nrfutil device go --core Network
> west attach

Signed-off-by: Jonathan Nilsen <[email protected]>

Author: jonathannilsen

boards/nordic/nrf54h20dk/support/nrf54h20_cpuapp.JLinkScript

@@ -1,260 +1,12 @@
-// Constants specific to the application core
 __constant U32 _CPUCONF_ADDR = 0x52011000;
-__constant U32 _PROCESSOR_ID = 2;
-__constant U32 _DOMAIN_ID = 2;
-__constant U32 _NUM_OTHER_PROCESSORS = 1;
-const U32 _OTHER_PROCESSOR_IDS[1] = {3};
-
-// Debug Halting Control and Status Register
-__constant U32 _DHCSR_ADDR = 0xE000EDF0;
-__constant U32 _DHCSR_DBGKEY = (0xA05F << 16);
-__constant U32 _DHCSR_C_DEBUGEN = (1 << 0);
-__constant U32 _DHCSR_C_HALT = (1 << 1);
-
-// Debug Exception and Monitor Control Register
-__constant U32 _DEMCR_ADDR = 0xE000EDFC;
-__constant U32 _DEMCR_VC_CORERESET = (1 << 0);
-__constant U32 _DEMCR_TRCENA = (1 << 24);
-
-// CPU wait enable register
 __constant U32 _CPUCONF_CPUWAIT_OFFSET = 0x50C;
 
-// CTRL-AP
-__constant U32 _CTRLAP_ID = 4;
-__constant U32 _CTRLAP_READY_BANK = 0;
-__constant U32 _CTRLAP_READY_OFFSET = 1;
-__constant U32 _CTRLAP_READY = 0;
-__constant U32 _CTRLAP_MAILBOX_BANK = 1;
-__constant U32 _CTRLAP_MAILBOX_TXDATA_OFFSET = 0;
-__constant U32 _CTRLAP_MAILBOX_TXSTATUS_OFFSET = 1;
-__constant U32 _CTRLAP_MAILBOX_RXDATA_OFFSET = 2;
-__constant U32 _CTRLAP_MAILBOX_RXSTATUS_OFFSET = 3;
-__constant U32 _CTRLAP_MAILBOX_NO_DATA_PENDING = 0;
-__constant U32 _CTRLAP_MAILBOX_DATA_PENDING = 1;
-__constant int _CTRLAP_TIMEOUT_MS = 500;
-
-// ADAC transaction buffers
-static U32 _adacTx[20];
-static U32 _adacRx[20];
-
-// Failed to send to the CTRL-AP MAILBOX
-__constant int _ERR_TX = -1;
-// Failed to receive from the CTRL-AP MAILBOX
-__constant int _ERR_RX = -2;
-// ADAC command returned an error
-__constant int _ERR_REPLY = -3;
-
-// Wait for an AP register read to return the expected value.
-int _WaitForDataStatus(U32 regOffset, int expectedStatus)
-{
-	int status;
-	int ret;
-	int start;
-	int elapsed;
-
-	status = 0;
-	start = JLINK_GetTime();
-	elapsed = 0;
-
-	do {
-		ret = JLINK_CORESIGHT_ReadDAP(regOffset, 1, &status);
-		elapsed = JLINK_GetTime() - start;
-	} while ((ret < 0 || status != expectedStatus) && (elapsed < _CTRLAP_TIMEOUT_MS));
-
-	if (ret < 0) {
-		return ret;
-	}
-
-	return status;
-}
-
-// Continuously read from the CTRL-AP MAILBOX until there is no more pending data.
-void _DrainMailbox(void)
-{
-	int ret;
-	int status;
-	int data;
-
-	ret = JLINK_CORESIGHT_ReadDAP(_CTRLAP_MAILBOX_RXSTATUS_OFFSET, 1, &status);
-	while (ret >= 0 && status == _CTRLAP_MAILBOX_DATA_PENDING) {
-		JLINK_CORESIGHT_ReadDAP(_CTRLAP_MAILBOX_RXDATA_OFFSET, 1, &data);
-		ret = JLINK_CORESIGHT_ReadDAP(_CTRLAP_MAILBOX_RXSTATUS_OFFSET, 1, &status);
-	}
-}
-
-// Perform an ADAC transaction by:
-// * writing the given sequence of words to MAILBOX.TXDATATA, waiting for MAILBOX.TXSTATUS
-//   readiness before each write.
-// * reading a sequence of words from MAILBOX.RXDATA, waiting for MAILBOX.RXSTATUS readiness before
-//   each read.
-//
-// The message to send is read from _adacTx and the reply is written to _adacRx.
-// Optionally checks if a single data word is returned and returns an error if it is non-zero.
-//
-// Assumes that the correct AP and AP bank for CTRL-AP MAILBOX has been selected in the DP.
-int _DoAdacTransaction(int checkReplyStatus)
-{
-	int numWords;
-	int ret;
-	int data;
-	int i;
-
-	i = 0;
-	numWords = 2 + (_adacTx[1] >> 2); // Length based on the length field of the message
-
-	while (i < numWords) {
-		ret = _WaitForDataStatus(_CTRLAP_MAILBOX_TXSTATUS_OFFSET,
-					 _CTRLAP_MAILBOX_NO_DATA_PENDING);
-		if (ret != _CTRLAP_MAILBOX_NO_DATA_PENDING) {
-			JLINK_SYS_Report1("Timed out waiting for CTRL-AP TX readiness - result: ",
-					  ret);
-			return _ERR_TX;
-		}
-
-		ret = JLINK_CORESIGHT_WriteDAP(_CTRLAP_MAILBOX_TXDATA_OFFSET, 1, _adacTx[i]);
-		if (ret < 0) {
-			JLINK_SYS_Report1("Failed to write CTRL-AP TX data - result: ", ret);
-			return _ERR_TX;
-		}
-
-		i += 1;
-	}
-
-	i = 0;
-	numWords = 2; // Minimum message length
-
-	while (i < numWords) {
-		ret = _WaitForDataStatus(_CTRLAP_MAILBOX_RXSTATUS_OFFSET,
-					 _CTRLAP_MAILBOX_DATA_PENDING);
-		if (ret != _CTRLAP_MAILBOX_DATA_PENDING) {
-			JLINK_SYS_Report1("Timed out waiting for CTRL-AP RX data - result: ", ret);
-			return _ERR_RX;
-		}
-
-		ret = JLINK_CORESIGHT_ReadDAP(_CTRLAP_MAILBOX_RXDATA_OFFSET, 1, &data);
-		if (ret < 0) {
-			JLINK_SYS_Report1("Failed to read CTRL-AP RX data - result: ", ret);
-			return _ERR_RX;
-		}
-
-		if (i == 1) {
-			// Update total length based on the message length field
-			numWords = 2 + (data >> 2);
-		}
-
-		_adacRx[i] = data;
-		i += 1;
-	}
-
-	if (checkReplyStatus && _adacRx[1] == 4 && _adacRx[2] != 0) {
-		JLINK_SYS_Report1("ADAC command failed with status: ", _adacRx[2]);
-		return _ERR_REPLY;
-	}
-
-	return 0;
-}
-
-int ResetTarget(void)
+int SetupTarget(void)
 {
-	int err;
-	U32 adacMajorVersion;
-	U32 i;
-
-	// Select CTRL-AP bank 0, used for the READY register
-	JLINK_CORESIGHT_WriteDAP(JLINK_CORESIGHT_DP_REG_SELECT, 0,
-				 (_CTRLAP_ID << 24) | (_CTRLAP_READY_BANK << 4));
-
-	// Wait for the READY register to indicate that the AP can be used.
-	err = _WaitForDataStatus(_CTRLAP_READY_OFFSET, _CTRLAP_READY);
-	if (err < 0) {
-		JLINK_SYS_Report1("Timed out waiting for CTRL-AP readiness - result: ", err);
-		return -1;
-	}
-
-	// Select CTRL-AP bank 1, used for the MAILBOX registers for ADAC communication
-	JLINK_CORESIGHT_WriteDAP(JLINK_CORESIGHT_DP_REG_SELECT, 0,
-				 (_CTRLAP_ID << 24) | (_CTRLAP_MAILBOX_BANK << 4));
-
-	// Extract any pre-existing data from the mailbox in case there was previously
-	// an aborted transaction.
-	_DrainMailbox();
-
-	// Read the ADAC version
-	_adacTx[0] = 0xA3000000; // Command VERSION
-	_adacTx[1] = 0x00000004; // Data length 4 bytes
-	_adacTx[2] = 0x00000000; // Type 0 (ADAC version)
-	err = _DoAdacTransaction(0);
-	if (err < 0) {
-		return -1;
-	}
-
-	adacMajorVersion = (_adacRx[2] >> 24) & 0xff;
-	JLINK_SYS_Report1("ADAC major version: ", adacMajorVersion);
-
-	if (adacMajorVersion >= 2) {
-		// There is a very small chance that this command fails if the domain reset itself
-		// at the exact same time the command was issued. Therefore we retry a few times.
-		i = 0;
-		while (i < 3) {
-			// Reset non-essential domains
-			_adacTx[0] = 0xA30A0000; // Command RESET
-			_adacTx[1] = 0x00000004; // Data length 4 bytes
-			_adacTx[2] = 0x00000000; // (reserved)
-			err = _DoAdacTransaction(1);
-			if (err >= 0) {
-				break;
-			} else if (err != _ERR_REPLY) {
-				return -1;
-			}
-
-			i = i + 1;
-		}
-
-		// Start the core in halted mode
-		_adacTx[0] = 0xA3090000;                         // Command START
-		_adacTx[1] = 0x00000004;                         // Data length 4 bytes
-		_adacTx[2] = 0x01000000 | (_PROCESSOR_ID << 16); // Own processor, Flags HALT
-		err = _DoAdacTransaction(1);
-		if (err < 0) {
-			return -1;
-		}
-
-		// Start other cores normally (will fail silently if no firmware is present)
-		i = 0;
-		while (i < _NUM_OTHER_PROCESSORS) {
-			_adacTx[0] = 0xA3090000; // Command START
-			_adacTx[1] = 0x00000004; // Data length 4 bytes
-			_adacTx[2] = 0x00000000 |
-				     (_OTHER_PROCESSOR_IDS[i] << 16); // Other processor, No flags
-			err = _DoAdacTransaction(0);
-			if (err < 0 && err != _ERR_REPLY) {
-				return -1;
-			}
-
-			i = i + 1;
-		}
-	} else {
-		// Reset single domain via legacy implementation
-		_adacTx[0] = 0xA3030000;                      // Command RESET
-		_adacTx[1] = 0x00000004;                      // Data length 4 bytes
-		_adacTx[2] = 0x01000000 | (_DOMAIN_ID << 16); // Own domain, Mode HALT
-		err = _DoAdacTransaction(1);
-		if (err < 0) {
-			return -1;
-		}
-	}
-
-	// Halt the CPU
-	JLINK_MEM_WriteU32(_DHCSR_ADDR, (_DHCSR_DBGKEY | _DHCSR_C_HALT | _DHCSR_C_DEBUGEN));
-
-	// Set vector catch on reset (to halt the CPU immediately after reset)
-	JLINK_MEM_WriteU32(_DEMCR_ADDR, (_DEMCR_VC_CORERESET | _DEMCR_TRCENA));
+	JLINK_TARGET_Halt();
 
 	// Disable CPU wait
 	JLINK_MEM_WriteU32(_CPUCONF_ADDR + _CPUCONF_CPUWAIT_OFFSET, 0);
 
-	// Clear vector catch stuff
-	JLINK_MEM_WriteU32(_DEMCR_ADDR, _DEMCR_TRCENA);
-
 	return 0;
 }