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Remove support for the GPL incompatible FTDI D2XX library
[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, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
18
19 #ifdef HAVE_CONFIG_H
20 #include "config.h"
21 #endif
22
23 #include <jtag/interface.h>
24 #include "bitbang.h"
25
26 #include <sys/mman.h>
27
28 /* AT91RM9200 */
29 #define AT91C_BASE_SYS (0xfffff000)
30
31 /* GPIO assignment */
32 #define PIOA (0 << 7)
33 #define PIOB (1 << 7)
34 #define PIOC (2 << 7)
35 #define PIOD (3 << 7)
36
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 */
44
45 #define NC (0) /* not connected */
46 #define P0 (1 << 0)
47 #define P1 (1 << 1)
48 #define P2 (1 << 2)
49 #define P3 (1 << 3)
50 #define P4 (1 << 4)
51 #define P5 (1 << 5)
52 #define P6 (1 << 6)
53 #define P7 (1 << 7)
54 #define P8 (1 << 8)
55 #define P9 (1 << 9)
56 #define P10 (1 << 10)
57 #define P11 (1 << 11)
58 #define P12 (1 << 12)
59 #define P13 (1 << 13)
60 #define P14 (1 << 14)
61 #define P15 (1 << 15)
62 #define P16 (1 << 16)
63 #define P17 (1 << 17)
64 #define P18 (1 << 18)
65 #define P19 (1 << 19)
66 #define P20 (1 << 20)
67 #define P21 (1 << 21)
68 #define P22 (1 << 22)
69 #define P23 (1 << 23)
70 #define P24 (1 << 24)
71 #define P25 (1 << 25)
72 #define P26 (1 << 26)
73 #define P27 (1 << 27)
74 #define P28 (1 << 28)
75 #define P29 (1 << 29)
76 #define P30 (1 << 30)
77 #define P31 (1 << 31)
78
79 struct device_t {
80 const char *name;
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 */
93 };
94
95 static const struct device_t devices[] = {
96 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
97 { .name = NULL },
98 };
99
100 /* configuration */
101 static char *at91rm9200_device;
102
103 /* interface variables
104 */
105 static const struct device_t *device;
106 static int dev_mem_fd;
107 static void *sys_controller;
108 static uint32_t *pio_base;
109
110 /* low level command set
111 */
112 static int at91rm9200_read(void);
113 static void at91rm9200_write(int tck, int tms, int tdi);
114 static void at91rm9200_reset(int trst, int srst);
115
116 static int at91rm9200_init(void);
117 static int at91rm9200_quit(void);
118
119 static struct bitbang_interface at91rm9200_bitbang = {
120 .read = at91rm9200_read,
121 .write = at91rm9200_write,
122 .reset = at91rm9200_reset,
123 .blink = 0
124 };
125
126 static int at91rm9200_read(void)
127 {
128 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
129 }
130
131 static void at91rm9200_write(int tck, int tms, int tdi)
132 {
133 if (tck)
134 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
135 else
136 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
137
138 if (tms)
139 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
140 else
141 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
142
143 if (tdi)
144 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
145 else
146 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
147 }
148
149 /* (1) assert or (0) deassert reset lines */
150 static void at91rm9200_reset(int trst, int srst)
151 {
152 if (trst == 0)
153 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
154 else if (trst == 1)
155 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
156
157 if (srst == 0)
158 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
159 else if (srst == 1)
160 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
161 }
162
163 COMMAND_HANDLER(at91rm9200_handle_device_command)
164 {
165 if (CMD_ARGC == 0)
166 return ERROR_COMMAND_SYNTAX_ERROR;
167
168 /* only if the device name wasn't overwritten by cmdline */
169 if (at91rm9200_device == 0) {
170 at91rm9200_device = malloc(strlen(CMD_ARGV[0]) + sizeof(char));
171 strcpy(at91rm9200_device, CMD_ARGV[0]);
172 }
173
174 return ERROR_OK;
175 }
176
177 static const struct command_registration at91rm9200_command_handlers[] = {
178 {
179 .name = "at91rm9200_device",
180 .handler = &at91rm9200_handle_device_command,
181 .mode = COMMAND_CONFIG,
182 .help = "query armjtagew info",
183 },
184 COMMAND_REGISTRATION_DONE
185 };
186
187 struct jtag_interface at91rm9200_interface = {
188 .name = "at91rm9200",
189 .execute_queue = bitbang_execute_queue,
190 .commands = at91rm9200_command_handlers,
191 .init = at91rm9200_init,
192 .quit = at91rm9200_quit,
193 };
194
195 static int at91rm9200_init(void)
196 {
197 const struct device_t *cur_device;
198
199 cur_device = devices;
200
201 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0) {
202 at91rm9200_device = "rea_ecr";
203 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
204 }
205
206 while (cur_device->name) {
207 if (strcmp(cur_device->name, at91rm9200_device) == 0) {
208 device = cur_device;
209 break;
210 }
211 cur_device++;
212 }
213
214 if (!device) {
215 LOG_ERROR("No matching device found for %s", at91rm9200_device);
216 return ERROR_JTAG_INIT_FAILED;
217 }
218
219 bitbang_interface = &at91rm9200_bitbang;
220
221 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
222 if (dev_mem_fd < 0) {
223 perror("open");
224 return ERROR_JTAG_INIT_FAILED;
225 }
226
227 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
228 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
229 if (sys_controller == MAP_FAILED) {
230 perror("mmap");
231 close(dev_mem_fd);
232 return ERROR_JTAG_INIT_FAILED;
233 }
234 pio_base = (uint32_t *)sys_controller + 0x100;
235
236 /*
237 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
238 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
239 */
240 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
241 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
242 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
243 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
244 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
245 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
246 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
247 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
248 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
249 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
250 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
251 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
252 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
253 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
254 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
255 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
256 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
257 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
258
259 return ERROR_OK;
260 }
261
262 static int at91rm9200_quit(void)
263 {
264
265 return ERROR_OK;
266 }
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