1 /***************************************************************************
2 * Copyright (C) 2006 by Anders Larsen *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
23 #include <jtag/interface.h>
29 #define AT91C_BASE_SYS (0xfffff000)
37 #define PIO_PER (0) /* PIO enable */
38 #define PIO_OER (4) /* output enable */
39 #define PIO_ODR (5) /* output disable */
40 #define PIO_SODR (12) /* set output data */
41 #define PIO_CODR (13) /* clear output data */
42 #define PIO_PDSR (15) /* pin data status */
43 #define PIO_PPUER (25) /* pull-up enable */
45 #define NC (0) /* not connected */
81 int TDO_PIO
; /* PIO holding TDO */
82 uint32_t TDO_MASK
; /* TDO bitmask */
83 int TRST_PIO
; /* PIO holding TRST */
84 uint32_t TRST_MASK
; /* TRST bitmask */
85 int TMS_PIO
; /* PIO holding TMS */
86 uint32_t TMS_MASK
; /* TMS bitmask */
87 int TCK_PIO
; /* PIO holding TCK */
88 uint32_t TCK_MASK
; /* TCK bitmask */
89 int TDI_PIO
; /* PIO holding TDI */
90 uint32_t TDI_MASK
; /* TDI bitmask */
91 int SRST_PIO
; /* PIO holding SRST */
92 uint32_t SRST_MASK
; /* SRST bitmask */
95 static const struct device_t devices
[] = {
96 { "rea_ecr", PIOD
, P27
, PIOA
, NC
, PIOD
, P23
, PIOD
, P24
, PIOD
, P26
, PIOC
, P5
},
101 static char *at91rm9200_device
;
103 /* interface variables
105 static const struct device_t
*device
;
106 static int dev_mem_fd
;
107 static void *sys_controller
;
108 static uint32_t *pio_base
;
110 /* low level command set
112 static bb_value_t
at91rm9200_read(void);
113 static int at91rm9200_write(int tck
, int tms
, int tdi
);
114 static int at91rm9200_reset(int trst
, int srst
);
116 static int at91rm9200_init(void);
117 static int at91rm9200_quit(void);
119 static struct bitbang_interface at91rm9200_bitbang
= {
120 .read
= at91rm9200_read
,
121 .write
= at91rm9200_write
,
122 .reset
= at91rm9200_reset
,
126 static bb_value_t
at91rm9200_read(void)
128 return (pio_base
[device
->TDO_PIO
+ PIO_PDSR
] & device
->TDO_MASK
) ? BB_HIGH
: BB_LOW
;
131 static int at91rm9200_write(int tck
, int tms
, int tdi
)
134 pio_base
[device
->TCK_PIO
+ PIO_SODR
] = device
->TCK_MASK
;
136 pio_base
[device
->TCK_PIO
+ PIO_CODR
] = device
->TCK_MASK
;
139 pio_base
[device
->TMS_PIO
+ PIO_SODR
] = device
->TMS_MASK
;
141 pio_base
[device
->TMS_PIO
+ PIO_CODR
] = device
->TMS_MASK
;
144 pio_base
[device
->TDI_PIO
+ PIO_SODR
] = device
->TDI_MASK
;
146 pio_base
[device
->TDI_PIO
+ PIO_CODR
] = device
->TDI_MASK
;
151 /* (1) assert or (0) deassert reset lines */
152 static int at91rm9200_reset(int trst
, int srst
)
155 pio_base
[device
->TRST_PIO
+ PIO_SODR
] = device
->TRST_MASK
;
157 pio_base
[device
->TRST_PIO
+ PIO_CODR
] = device
->TRST_MASK
;
160 pio_base
[device
->SRST_PIO
+ PIO_SODR
] = device
->SRST_MASK
;
162 pio_base
[device
->SRST_PIO
+ PIO_CODR
] = device
->SRST_MASK
;
167 COMMAND_HANDLER(at91rm9200_handle_device_command
)
170 return ERROR_COMMAND_SYNTAX_ERROR
;
172 /* only if the device name wasn't overwritten by cmdline */
173 if (at91rm9200_device
== 0) {
174 at91rm9200_device
= malloc(strlen(CMD_ARGV
[0]) + sizeof(char));
175 strcpy(at91rm9200_device
, CMD_ARGV
[0]);
181 static const struct command_registration at91rm9200_command_handlers
[] = {
183 .name
= "at91rm9200_device",
184 .handler
= &at91rm9200_handle_device_command
,
185 .mode
= COMMAND_CONFIG
,
186 .help
= "Set at91rm9200 device [default \"rea_ecr\"]",
189 COMMAND_REGISTRATION_DONE
192 struct jtag_interface at91rm9200_interface
= {
193 .name
= "at91rm9200",
194 .execute_queue
= bitbang_execute_queue
,
195 .commands
= at91rm9200_command_handlers
,
196 .init
= at91rm9200_init
,
197 .quit
= at91rm9200_quit
,
200 static int at91rm9200_init(void)
202 const struct device_t
*cur_device
;
204 cur_device
= devices
;
206 if (at91rm9200_device
== NULL
|| at91rm9200_device
[0] == 0) {
207 at91rm9200_device
= "rea_ecr";
208 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
211 while (cur_device
->name
) {
212 if (strcmp(cur_device
->name
, at91rm9200_device
) == 0) {
220 LOG_ERROR("No matching device found for %s", at91rm9200_device
);
221 return ERROR_JTAG_INIT_FAILED
;
224 bitbang_interface
= &at91rm9200_bitbang
;
226 dev_mem_fd
= open("/dev/mem", O_RDWR
| O_SYNC
);
227 if (dev_mem_fd
< 0) {
229 return ERROR_JTAG_INIT_FAILED
;
232 sys_controller
= mmap(NULL
, 4096, PROT_READ
| PROT_WRITE
,
233 MAP_SHARED
, dev_mem_fd
, AT91C_BASE_SYS
);
234 if (sys_controller
== MAP_FAILED
) {
237 return ERROR_JTAG_INIT_FAILED
;
239 pio_base
= (uint32_t *)sys_controller
+ 0x100;
242 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
243 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
245 pio_base
[device
->TDI_PIO
+ PIO_CODR
] = device
->TDI_MASK
;
246 pio_base
[device
->TDI_PIO
+ PIO_OER
] = device
->TDI_MASK
;
247 pio_base
[device
->TDI_PIO
+ PIO_PER
] = device
->TDI_MASK
;
248 pio_base
[device
->TCK_PIO
+ PIO_CODR
] = device
->TCK_MASK
;
249 pio_base
[device
->TCK_PIO
+ PIO_OER
] = device
->TCK_MASK
;
250 pio_base
[device
->TCK_PIO
+ PIO_PER
] = device
->TCK_MASK
;
251 pio_base
[device
->TMS_PIO
+ PIO_SODR
] = device
->TMS_MASK
;
252 pio_base
[device
->TMS_PIO
+ PIO_OER
] = device
->TMS_MASK
;
253 pio_base
[device
->TMS_PIO
+ PIO_PER
] = device
->TMS_MASK
;
254 pio_base
[device
->TRST_PIO
+ PIO_SODR
] = device
->TRST_MASK
;
255 pio_base
[device
->TRST_PIO
+ PIO_OER
] = device
->TRST_MASK
;
256 pio_base
[device
->TRST_PIO
+ PIO_PER
] = device
->TRST_MASK
;
257 pio_base
[device
->SRST_PIO
+ PIO_SODR
] = device
->SRST_MASK
;
258 pio_base
[device
->SRST_PIO
+ PIO_OER
] = device
->SRST_MASK
;
259 pio_base
[device
->SRST_PIO
+ PIO_PER
] = device
->SRST_MASK
;
260 pio_base
[device
->TDO_PIO
+ PIO_ODR
] = device
->TDO_MASK
;
261 pio_base
[device
->TDO_PIO
+ PIO_PPUER
] = device
->TDO_MASK
;
262 pio_base
[device
->TDO_PIO
+ PIO_PER
] = device
->TDO_MASK
;
267 static int at91rm9200_quit(void)
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