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, write to the *
17 * Free Software Foundation, Inc., *
18 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19 ***************************************************************************/
25 #include <jtag/interface.h>
31 #define AT91C_BASE_SYS (0xfffff000)
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 */
47 #define NC (0) /* not connected */
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 */
97 static struct device_t devices
[] = {
98 { "rea_ecr", PIOD
, P27
, PIOA
, NC
, PIOD
, P23
, PIOD
, P24
, PIOD
, P26
, PIOC
, P5
},
103 static char *at91rm9200_device
;
105 /* interface variables
107 static struct device_t
*device
;
108 static int dev_mem_fd
;
109 static void *sys_controller
;
110 static uint32_t *pio_base
;
112 /* low level command set
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
);
118 static int at91rm9200_speed(int speed
);
119 static int at91rm9200_init(void);
120 static int at91rm9200_quit(void);
122 static struct bitbang_interface at91rm9200_bitbang
= {
123 .read
= at91rm9200_read
,
124 .write
= at91rm9200_write
,
125 .reset
= at91rm9200_reset
,
129 static int at91rm9200_read(void)
131 return (pio_base
[device
->TDO_PIO
+ PIO_PDSR
] & device
->TDO_MASK
) != 0;
134 static void at91rm9200_write(int tck
, int tms
, int tdi
)
137 pio_base
[device
->TCK_PIO
+ PIO_SODR
] = device
->TCK_MASK
;
139 pio_base
[device
->TCK_PIO
+ PIO_CODR
] = device
->TCK_MASK
;
142 pio_base
[device
->TMS_PIO
+ PIO_SODR
] = device
->TMS_MASK
;
144 pio_base
[device
->TMS_PIO
+ PIO_CODR
] = device
->TMS_MASK
;
147 pio_base
[device
->TDI_PIO
+ PIO_SODR
] = device
->TDI_MASK
;
149 pio_base
[device
->TDI_PIO
+ PIO_CODR
] = device
->TDI_MASK
;
152 /* (1) assert or (0) deassert reset lines */
153 static void at91rm9200_reset(int trst
, int srst
)
156 pio_base
[device
->TRST_PIO
+ PIO_SODR
] = device
->TRST_MASK
;
158 pio_base
[device
->TRST_PIO
+ PIO_CODR
] = device
->TRST_MASK
;
161 pio_base
[device
->SRST_PIO
+ PIO_SODR
] = device
->SRST_MASK
;
163 pio_base
[device
->SRST_PIO
+ PIO_CODR
] = device
->SRST_MASK
;
166 static int at91rm9200_speed(int speed
)
172 COMMAND_HANDLER(at91rm9200_handle_device_command
)
175 return ERROR_COMMAND_SYNTAX_ERROR
;
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]);
186 static const struct command_registration at91rm9200_command_handlers
[] = {
188 .name
= "at91rm9200_device",
189 .handler
= &at91rm9200_handle_device_command
,
190 .mode
= COMMAND_CONFIG
,
191 .help
= "query armjtagew info",
193 COMMAND_REGISTRATION_DONE
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
,
205 static int at91rm9200_init(void)
207 struct device_t
*cur_device
;
209 cur_device
= devices
;
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'");
216 while (cur_device
->name
) {
217 if (strcmp(cur_device
->name
, at91rm9200_device
) == 0) {
225 LOG_ERROR("No matching device found for %s", at91rm9200_device
);
226 return ERROR_JTAG_INIT_FAILED
;
229 bitbang_interface
= &at91rm9200_bitbang
;
231 dev_mem_fd
= open("/dev/mem", O_RDWR
| O_SYNC
);
232 if (dev_mem_fd
< 0) {
234 return ERROR_JTAG_INIT_FAILED
;
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
) {
242 return ERROR_JTAG_INIT_FAILED
;
244 pio_base
= (uint32_t *)sys_controller
+ 0x100;
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.
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
;
272 static int at91rm9200_quit(void)
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