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[openocd.git] / src / jtag / drivers / at91rm9200.c
1 /***************************************************************************
2 * Copyright (C) 2006 by Anders Larsen *
3 * al@alarsen.net *
4 * *
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. *
9 * *
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. *
14 * *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program; if not, write to the *
17 * Free Software Foundation, Inc., *
18 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19 ***************************************************************************/
20
21 #ifdef HAVE_CONFIG_H
22 #include "config.h"
23 #endif
24
25 #include <jtag/interface.h>
26 #include "bitbang.h"
27
28 #include <sys/mman.h>
29
30 /* AT91RM9200 */
31 #define AT91C_BASE_SYS (0xfffff000)
32
33 /* GPIO assignment */
34 #define PIOA (0 << 7)
35 #define PIOB (1 << 7)
36 #define PIOC (2 << 7)
37 #define PIOD (3 << 7)
38
39 #define PIO_PER (0) /* PIO enable */
40 #define PIO_OER (4) /* output enable */
41 #define PIO_ODR (5) /* output disable */
42 #define PIO_SODR (12) /* set output data */
43 #define PIO_CODR (13) /* clear output data */
44 #define PIO_PDSR (15) /* pin data status */
45 #define PIO_PPUER (25) /* pull-up enable */
46
47 #define NC (0) /* not connected */
48 #define P0 (1 << 0)
49 #define P1 (1 << 1)
50 #define P2 (1 << 2)
51 #define P3 (1 << 3)
52 #define P4 (1 << 4)
53 #define P5 (1 << 5)
54 #define P6 (1 << 6)
55 #define P7 (1 << 7)
56 #define P8 (1 << 8)
57 #define P9 (1 << 9)
58 #define P10 (1 << 10)
59 #define P11 (1 << 11)
60 #define P12 (1 << 12)
61 #define P13 (1 << 13)
62 #define P14 (1 << 14)
63 #define P15 (1 << 15)
64 #define P16 (1 << 16)
65 #define P17 (1 << 17)
66 #define P18 (1 << 18)
67 #define P19 (1 << 19)
68 #define P20 (1 << 20)
69 #define P21 (1 << 21)
70 #define P22 (1 << 22)
71 #define P23 (1 << 23)
72 #define P24 (1 << 24)
73 #define P25 (1 << 25)
74 #define P26 (1 << 26)
75 #define P27 (1 << 27)
76 #define P28 (1 << 28)
77 #define P29 (1 << 29)
78 #define P30 (1 << 30)
79 #define P31 (1 << 31)
80
81 struct device_t {
82 char *name;
83 int TDO_PIO; /* PIO holding TDO */
84 uint32_t TDO_MASK; /* TDO bitmask */
85 int TRST_PIO; /* PIO holding TRST */
86 uint32_t TRST_MASK; /* TRST bitmask */
87 int TMS_PIO; /* PIO holding TMS */
88 uint32_t TMS_MASK; /* TMS bitmask */
89 int TCK_PIO; /* PIO holding TCK */
90 uint32_t TCK_MASK; /* TCK bitmask */
91 int TDI_PIO; /* PIO holding TDI */
92 uint32_t TDI_MASK; /* TDI bitmask */
93 int SRST_PIO; /* PIO holding SRST */
94 uint32_t SRST_MASK; /* SRST bitmask */
95 };
96
97 static struct device_t devices[] = {
98 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
99 { .name = NULL },
100 };
101
102 /* configuration */
103 static char *at91rm9200_device;
104
105 /* interface variables
106 */
107 static struct device_t *device;
108 static int dev_mem_fd;
109 static void *sys_controller;
110 static uint32_t *pio_base;
111
112 /* low level command set
113 */
114 static int at91rm9200_read(void);
115 static void at91rm9200_write(int tck, int tms, int tdi);
116 static void at91rm9200_reset(int trst, int srst);
117
118 static int at91rm9200_speed(int speed);
119 static int at91rm9200_init(void);
120 static int at91rm9200_quit(void);
121
122 static struct bitbang_interface at91rm9200_bitbang = {
123 .read = at91rm9200_read,
124 .write = at91rm9200_write,
125 .reset = at91rm9200_reset,
126 .blink = 0
127 };
128
129 static int at91rm9200_read(void)
130 {
131 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
132 }
133
134 static void at91rm9200_write(int tck, int tms, int tdi)
135 {
136 if (tck)
137 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
138 else
139 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
140
141 if (tms)
142 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
143 else
144 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
145
146 if (tdi)
147 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
148 else
149 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
150 }
151
152 /* (1) assert or (0) deassert reset lines */
153 static void at91rm9200_reset(int trst, int srst)
154 {
155 if (trst == 0)
156 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
157 else if (trst == 1)
158 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
159
160 if (srst == 0)
161 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
162 else if (srst == 1)
163 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
164 }
165
166 static int at91rm9200_speed(int speed)
167 {
168
169 return ERROR_OK;
170 }
171
172 COMMAND_HANDLER(at91rm9200_handle_device_command)
173 {
174 if (CMD_ARGC == 0)
175 return ERROR_COMMAND_SYNTAX_ERROR;
176
177 /* only if the device name wasn't overwritten by cmdline */
178 if (at91rm9200_device == 0) {
179 at91rm9200_device = malloc(strlen(CMD_ARGV[0]) + sizeof(char));
180 strcpy(at91rm9200_device, CMD_ARGV[0]);
181 }
182
183 return ERROR_OK;
184 }
185
186 static const struct command_registration at91rm9200_command_handlers[] = {
187 {
188 .name = "at91rm9200_device",
189 .handler = &at91rm9200_handle_device_command,
190 .mode = COMMAND_CONFIG,
191 .help = "query armjtagew info",
192 },
193 COMMAND_REGISTRATION_DONE
194 };
195
196 struct jtag_interface at91rm9200_interface = {
197 .name = "at91rm9200",
198 .execute_queue = bitbang_execute_queue,
199 .speed = at91rm9200_speed,
200 .commands = at91rm9200_command_handlers,
201 .init = at91rm9200_init,
202 .quit = at91rm9200_quit,
203 };
204
205 static int at91rm9200_init(void)
206 {
207 struct device_t *cur_device;
208
209 cur_device = devices;
210
211 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0) {
212 at91rm9200_device = "rea_ecr";
213 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
214 }
215
216 while (cur_device->name) {
217 if (strcmp(cur_device->name, at91rm9200_device) == 0) {
218 device = cur_device;
219 break;
220 }
221 cur_device++;
222 }
223
224 if (!device) {
225 LOG_ERROR("No matching device found for %s", at91rm9200_device);
226 return ERROR_JTAG_INIT_FAILED;
227 }
228
229 bitbang_interface = &at91rm9200_bitbang;
230
231 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
232 if (dev_mem_fd < 0) {
233 perror("open");
234 return ERROR_JTAG_INIT_FAILED;
235 }
236
237 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
238 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
239 if (sys_controller == MAP_FAILED) {
240 perror("mmap");
241 close(dev_mem_fd);
242 return ERROR_JTAG_INIT_FAILED;
243 }
244 pio_base = (uint32_t *)sys_controller + 0x100;
245
246 /*
247 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
248 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
249 */
250 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
251 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
252 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
253 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
254 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
255 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
256 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
257 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
258 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
259 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
260 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
261 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
262 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
263 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
264 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
265 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
266 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
267 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
268
269 return ERROR_OK;
270 }
271
272 static int at91rm9200_quit(void)
273 {
274
275 return ERROR_OK;
276 }
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