drivers: firmware: nrf_ironside: Add TDD

boards/nordic/nrf54h20dk/support/nrf54h20_cpuapp.JLinkScript

@@ -1,6 +1,175 @@
 __constant U32 _CPUCONF_ADDR = 0x52011000;
 __constant U32 _CPUCONF_CPUWAIT_OFFSET = 0x50C;
 
+// ATBFUNNEL
+__constant U32 _ATBFUNNEL211_ADDR = 0xBF04D000;
+__constant U32 _ATBFUNNEL212_ADDR = 0xBF04E000;
+__constant U32 _ATBFUNNEL_CTRLREG_OFFSET = 0x0;
+__constant U32 _HOLDTIME_4 = 0x300;
+__constant U32 _ENS0 = 0x1;
+__constant U32 _ENS1 = 0x2;
+__constant U32 _ENS2 = 0x4;
+
+// ATBREPLICATOR
+__constant U32 _ATBREPLICATOR212_ADDR = 0xBF04A000;
+__constant U32 _ATBREPLICATOR213_ADDR = 0xBF04B000;
+__constant U32 _ATBREPLICATOR_IDFILTER0_OFFSET = 0x0;
+__constant U32 _ATBREPLICATOR_IDFILTER1_OFFSET = 0x4;
+__constant U32 _ID_NONE = 0xFFFFFFFF;
+__constant U32 _ID1x = 0xFFFFFFFD;
+
+// TSGEN
+__constant U32 _TSGEN_ADDR = 0xBF041000;
+__constant U32 _TSGEN_CNTCR_OFFSET = 0x0;
+__constant U32 _TSGEN_CNTFID0_OFFSET = 0x20;
+// Clock rate = TDD Freq. / 8
+__constant U32 _TS_CLOCKRATE = 40000000;
+
+// CTI
+__constant U32 _CTI210_ADDR = 0xBF046000;
+__constant U32 _CTICONTROL_OFFSET = 0x0;
+__constant U32 _CTIOUTEN_OFFSET = 0xA0;
+__constant U32 _CTIGATE_OFFSET = 0x140;
+__constant U32 _TPIU_FLUSH_TRIG = 0x2;
+
+// TPIU
+__constant U32 _TPIU_ADDR = 0xBF043000;
+__constant U32 _CURRENTPORTSIZE_OFFSET = 0x4;
+__constant U32 _FFCR_OFFSET = 0x304;
+__constant U32 _FSCR_OFFSET = 0x308;
+__constant U32 _ENFCONT = 0x02;
+__constant U32 _FONFLIN = 0x10;
+__constant U32 _ENFTC = 0x1;
+__constant U32 _TPIU_SYNC_FRAME_COUNT = 0x8;
+__constant U32 _CURRENTPORTSIZE_4 = 0x8;
+
+// TDDCONF
+__constant U32 _TDDCONF_ADDR = 0xBF001000;
+__constant U32 _TRACEPORTSPEED_OFFSET = 0x408;
+__constant U32 _SPEED80MHZ = 0x0;
+
+// CoreSight general
+__constant U32 _CORESIGHT_CLAIMSET_OFFSET = 0xFA0;
+__constant U32 _CORESIGHT_CLAIMCLR_OFFSET = 0xFA4;
+__constant U32 _CORESIGHT_LAR_OFFSET = 0xFB0;
+__constant U32 _CORESIGHT_UNLOCK_KEY = 0xC5ACCE55;
+
+// GPIO P7
+__constant U32 _P7_ADDR = 0x5F938E00;
+__constant U32 _PIN_CNF3_OFFSET = 0x8C;
+__constant U32 _PIN_CNF4_OFFSET = 0x90;
+__constant U32 _PIN_CNF5_OFFSET = 0x94;
+__constant U32 _PIN_CNF6_OFFSET = 0x98;
+__constant U32 _PIN_CNF7_OFFSET = 0x9C;
+__constant U32 _PIN_CNF_TPIU_CLOCK_VALUE = 0x80000503;
+__constant U32 _PIN_CNF_TPIU_DATA_VALUE = 0x00000503;
+
+// Settings
+__constant U32 _DEBUGGER_CLAIM_MASK = 0x2;
+
+// Used to check if we have already set up tracing
+int _needCoresightSetup = 1;
+
+// Unlock a CoreSight peripheral
+void _CSUnlock(U32 addr)
+{
+	JLINK_MEM_WriteU32(addr + _CORESIGHT_LAR_OFFSET, _CORESIGHT_UNLOCK_KEY);
+}
+
+// Lock a CoreSight peripheral
+void _CSLock(U32 addr)
+{
+	JLINK_MEM_WriteU32(addr + _CORESIGHT_LAR_OFFSET, 0);
+}
+
+// Set claim bits in the CoreSight peripheral to indicate to the firmware that it
+// has been configured by the host debugger
+void _CSClaim(U32 addr)
+{
+	JLINK_MEM_WriteU32(addr + _CORESIGHT_CLAIMSET_OFFSET, _DEBUGGER_CLAIM_MASK);
+}
+
+// Set up CoreSight and other necessary configuration so to enable ETM -> TPIU tracing.
+int _SetupETMTPIUTrace(void)
+{
+	// Set up ATB funnels/replicators to route ApplicationDomain ETM to TPIU
+	_CSUnlock(_ATBFUNNEL212_ADDR);
+	JLINK_MEM_WriteU32(_ATBFUNNEL212_ADDR + _ATBFUNNEL_CTRLREG_OFFSET, _HOLDTIME_4 | _ENS0);
+	_CSClaim(_ATBFUNNEL212_ADDR);
+	_CSLock(_ATBFUNNEL212_ADDR);
+
+	_CSUnlock(_ATBREPLICATOR212_ADDR);
+	JLINK_MEM_WriteU32(_ATBREPLICATOR212_ADDR + _ATBREPLICATOR_IDFILTER0_OFFSET, _ID_NONE);
+	JLINK_MEM_WriteU32(_ATBREPLICATOR212_ADDR + _ATBREPLICATOR_IDFILTER1_OFFSET, _ID1x);
+	_CSLock(_ATBREPLICATOR212_ADDR);
+	_CSClaim(_ATBREPLICATOR212_ADDR);
+	_CSLock(_ATBREPLICATOR212_ADDR);
+
+	_CSUnlock(_ATBFUNNEL211_ADDR);
+	JLINK_MEM_WriteU32(_ATBFUNNEL211_ADDR + _ATBFUNNEL_CTRLREG_OFFSET, _HOLDTIME_4 | _ENS0);
+	_CSClaim(_ATBFUNNEL211_ADDR);
+	_CSLock(_ATBFUNNEL211_ADDR);
+
+	_CSUnlock(_ATBREPLICATOR213_ADDR);
+	JLINK_MEM_WriteU32(_ATBREPLICATOR213_ADDR + _ATBREPLICATOR_IDFILTER0_OFFSET, _ID1x);
+	JLINK_MEM_WriteU32(_ATBREPLICATOR213_ADDR + _ATBREPLICATOR_IDFILTER1_OFFSET, _ID_NONE);
+	_CSClaim(_ATBREPLICATOR213_ADDR);
+	_CSLock(_ATBREPLICATOR213_ADDR);
+
+	// Configure timestamp generator for the correct clock rate
+	JLINK_MEM_WriteU32(_TSGEN_ADDR + _TSGEN_CNTFID0_OFFSET, _TS_CLOCKRATE);
+	JLINK_MEM_WriteU32(_TSGEN_ADDR + _TSGEN_CNTCR_OFFSET, 1);
+	_CSClaim(_TSGEN_ADDR);
+
+	// Configure CTI1 for TPIU formatter flushing
+	_CSUnlock(_CTI210_ADDR);
+	JLINK_MEM_WriteU32(_CTI210_ADDR + _CTIOUTEN_OFFSET, _TPIU_FLUSH_TRIG);
+	JLINK_MEM_WriteU32(_CTI210_ADDR + _CTIGATE_OFFSET, _TPIU_FLUSH_TRIG);
+	JLINK_MEM_WriteU32(_CTI210_ADDR + _CTICONTROL_OFFSET, 1);
+	_CSClaim(_CTI210_ADDR);
+	_CSLock(_CTI210_ADDR);
+
+	// Configure TPIU for port size 4, continuous formatting
+	_CSUnlock(_TPIU_ADDR);
+	JLINK_MEM_WriteU32(_TPIU_ADDR + _CURRENTPORTSIZE_OFFSET, _CURRENTPORTSIZE_4);
+	JLINK_MEM_WriteU32(_TPIU_ADDR + _FFCR_OFFSET, _ENFCONT | _FONFLIN | _ENFTC);
+	JLINK_MEM_WriteU32(_TPIU_ADDR + _FSCR_OFFSET, _TPIU_SYNC_FRAME_COUNT);
+	_CSClaim(_TPIU_ADDR);
+	_CSLock(_TPIU_ADDR);
+
+	// Configure the trace pins
+	JLINK_MEM_WriteU32(_P7_ADDR + _PIN_CNF3_OFFSET, _PIN_CNF_TPIU_CLOCK_VALUE);
+	JLINK_MEM_WriteU32(_P7_ADDR + _PIN_CNF4_OFFSET, _PIN_CNF_TPIU_DATA_VALUE);
+	JLINK_MEM_WriteU32(_P7_ADDR + _PIN_CNF5_OFFSET, _PIN_CNF_TPIU_DATA_VALUE);
+	JLINK_MEM_WriteU32(_P7_ADDR + _PIN_CNF6_OFFSET, _PIN_CNF_TPIU_DATA_VALUE);
+	JLINK_MEM_WriteU32(_P7_ADDR + _PIN_CNF7_OFFSET, _PIN_CNF_TPIU_DATA_VALUE);
+
+	return 0;
+}
+
+int ConfigTargetSettings(void)
+{
+	JLINK_ExecCommand("CORESIGHT_AddAP = Index=0 Type=AHB-AP");
+	CORESIGHT_IndexAHBAPToUse = 0;
+
+	// Adjust trace sample delay to compensate for timing when using 320MHz
+	JLINK_ExecCommand("TraceSampleAdjust TD = 1000");
+
+	return 0;
+}
+
+int OnTraceStart(void)
+{
+	// Set up CoreSight if not already configured
+	if (_needCoresightSetup) {
+		_SetupETMTPIUTrace();
+		_needCoresightSetup = 0;
+	}
+
+	return 0;
+}
+
+
 int SetupTarget(void)
 {
 	JLINK_TARGET_Halt();

drivers/firmware/nrf_ironside/CMakeLists.txt

@@ -7,5 +7,6 @@ zephyr_library_sources_ifdef(CONFIG_NRF_IRONSIDE_CALL call.c)
 
 zephyr_library_sources_ifdef(CONFIG_NRF_IRONSIDE_BOOT_REPORT boot_report.c)
 zephyr_library_sources_ifdef(CONFIG_NRF_IRONSIDE_CPUCONF_SERVICE cpuconf.c)
+zephyr_library_sources_ifdef(CONFIG_NRF_IRONSIDE_TDD_SERVICE tdd.c)
 zephyr_library_sources_ifdef(CONFIG_NRF_IRONSIDE_UPDATE_SERVICE update.c)
 zephyr_library_sources_ifdef(CONFIG_NRF_IRONSIDE_DVFS_SERVICE dvfs.c)

drivers/firmware/nrf_ironside/Kconfig

@@ -37,6 +37,12 @@ config NRF_IRONSIDE_CPUCONF_SERVICE
 	help
 	  Service used to boot local domain cores.
 
+config NRF_IRONSIDE_TDD_SERVICE
+	bool "IRONside tdd service"
+	select NRF_IRONSIDE_CALL
+	help
+	  Service used to control the trace and debug domain.
+
 config NRF_IRONSIDE_UPDATE_SERVICE
 	bool "IRONside update service"
 	select NRF_IRONSIDE_CALL

drivers/firmware/nrf_ironside/tdd.c

@@ -0,0 +1,28 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/drivers/firmware/nrf_ironside/tdd.h>
+#include <zephyr/drivers/firmware/nrf_ironside/call.h>
+
+int ironside_se_tdd_configure(const enum ironside_se_tdd_config config)
+{
+	int err;
+	struct ironside_call_buf *const buf = ironside_call_alloc();
+
+	buf->id = IRONSIDE_SE_CALL_ID_TDD_V0;
+	buf->args[IRONSIDE_SE_TDD_SERVICE_REQ_CONFIG_IDX] = (uint32_t)config;
+
+	ironside_call_dispatch(buf);
+
+	if (buf->status == IRONSIDE_CALL_STATUS_RSP_SUCCESS) {
+		err = buf->args[IRONSIDE_SE_TDD_SERVICE_RSP_RETCODE_IDX];
+	} else {
+		err = buf->status;
+	}
+
+	ironside_call_release(buf);
+
+	return err;
+}

include/zephyr/drivers/firmware/nrf_ironside/tdd.h

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_ZEPHYR_DRIVERS_FIRMWARE_NRF_IRONSIDE_TDD_H_
+#define ZEPHYR_INCLUDE_ZEPHYR_DRIVERS_FIRMWARE_NRF_IRONSIDE_TDD_H_
+
+#include <zephyr/drivers/firmware/nrf_ironside/call.h>
+
+#include <nrfx.h>
+
+#define IRONSIDE_SE_TDD_SERVICE_ERROR_INVALID_CONFIG (1)
+
+#define IRONSIDE_SE_CALL_ID_TDD_V0 4
+
+#define IRONSIDE_SE_TDD_SERVICE_REQ_CONFIG_IDX  0
+#define IRONSIDE_SE_TDD_SERVICE_RSP_RETCODE_IDX 0
+
+enum ironside_se_tdd_config {
+	RESERVED0 = 0, /* Reserved */
+	/** Turn off the TDD */
+	IRONSIDE_SE_TDD_CONFIG_OFF = 1,
+	/** Turn on the TDD with default configuration */
+	IRONSIDE_SE_TDD_CONFIG_ON_DEFAULT = 2,
+};
+
+/**
+ * @brief Control the Trace and Debug Domain (TDD).
+ *
+ * @param config The configuration to be applied.
+ *
+ * @retval 0 on success.
+ * @retval -IRONSIDE_SE_TDD_ERROR_EINVAL on invalid argument.
+ */
+int ironside_se_tdd_configure(const enum ironside_se_tdd_config config);
+
+#endif /* ZEPHYR_INCLUDE_ZEPHYR_DRIVERS_FIRMWARE_NRF_IRONSIDE_TDD_H_ */

soc/nordic/nrf54h/Kconfig

@@ -8,7 +8,6 @@ config SOC_SERIES_NRF54HX
 	select HAS_NRFX
 	select HAS_NORDIC_DRIVERS
 	select SOC_EARLY_INIT_HOOK if ARM
-	select SOC_LATE_INIT_HOOK if SOC_NRF54H20_CPURAD_ENABLE
 	select NRF_PLATFORM_HALTIUM
 
 config SOC_NRF54H20_CPUAPP_COMMON
@@ -67,11 +66,23 @@ config SOC_NRF54H20_CPURAD_COMMON
 	select HAS_PM
 	select HAS_POWEROFF
 
+config SOC_NRF54H20_TDD_ENABLE
+	bool "Power and configure the trace and debug domain (TDD)"
+	depends on SOC_NRF54H20_CPUAPP
+	select NRF_IRONSIDE_TDD_SERVICE
+	select SOC_LATE_INIT_HOOK
+	help
+	  This will at application boot time request that the trace and
+	  debug domain (TDD) is powered up and configured.
+	  This allows configuring the coresight peripherals from
+	  the application domain.
+
 config SOC_NRF54H20_CPURAD_ENABLE
 	bool "Boot the nRF54H20 Radio core"
 	default y if NRF_802154_SER_HOST
 	depends on SOC_NRF54H20_CPUAPP
 	select NRF_IRONSIDE_CPUCONF_SERVICE
+	select SOC_LATE_INIT_HOOK
 	help
 	  This will at application boot time enable clock to the
 	  Radiocore, and also power will be requested to the Radiocore

soc/nordic/nrf54h/soc.c

@@ -23,6 +23,7 @@
 #include <soc_lrcconf.h>
 #include <dmm.h>
 #include <zephyr/drivers/firmware/nrf_ironside/cpuconf.h>
+#include <zephyr/drivers/firmware/nrf_ironside/tdd.h>
 
 LOG_MODULE_REGISTER(soc, CONFIG_SOC_LOG_LEVEL);
 
@@ -161,10 +162,19 @@ void soc_early_init_hook(void)
 	}
 }
 
-#if defined(CONFIG_SOC_NRF54H20_CPURAD_ENABLE)
+#if defined(CONFIG_SOC_LATE_INIT_HOOK)
+
 void soc_late_init_hook(void)
 {
-	int err;
+#if defined(CONFIG_SOC_NRF54H20_TDD_ENABLE)
+	int err_tdd;
+
+	err_tdd = ironside_se_tdd_configure(IRONSIDE_SE_TDD_CONFIG_ON_DEFAULT);
+	__ASSERT(err_tdd == 0, "err_tdd was %d", err_tdd);
+#endif
+
+#if defined(CONFIG_SOC_NRF54H20_CPURAD_ENABLE)
+	int err_cpuconf;
 
 	/* The msg will be used for communication prior to IPC
 	 * communication being set up. But at this moment no such
@@ -181,8 +191,10 @@ void soc_late_init_hook(void)
 	/* Don't wait as this is not yet supported. */
 	bool cpu_wait = false;
 
-	err = ironside_cpuconf(NRF_PROCESSOR_RADIOCORE, radiocore_address, cpu_wait, msg, msg_size);
-	__ASSERT(err == 0, "err was %d", err);
+	err_cpuconf = ironside_cpuconf(NRF_PROCESSOR_RADIOCORE, radiocore_address, cpu_wait, msg,
+				       msg_size);
+	__ASSERT(err_cpuconf == 0, "err_cpuconf was %d", err_cpuconf);
+#endif
 }
 #endif
 

tests/kernel/interrupt/src/nested_irq.c

@@ -60,7 +60,8 @@
  */
 #define IRQ0_PRIO	IRQ_DEFAULT_PRIORITY
 #define IRQ1_PRIO	0x0
-#elif defined(CONFIG_SOC_SERIES_NRF54LX) && defined(CONFIG_RISCV_CORE_NORDIC_VPR)
+#elif (defined(CONFIG_SOC_SERIES_NRF54LX) || defined(CONFIG_SOC_NRF54H20_CPUFLPR)) && \
+	defined(CONFIG_RISCV_CORE_NORDIC_VPR)
 #define IRQ0_LINE	16
 #define IRQ1_LINE	17