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openocd: src/jtag: replace the GPL-2.0-or-later license tag
[openocd.git] / src / jtag / drivers / at91rm9200.c
1 /* SPDX-License-Identifier: GPL-2.0-or-later */
2
3 /***************************************************************************
4 * Copyright (C) 2006 by Anders Larsen *
5 * al@alarsen.net *
6 ***************************************************************************/
7
8 #ifdef HAVE_CONFIG_H
9 #include "config.h"
10 #endif
11
12 #include <jtag/interface.h>
13 #include "bitbang.h"
14
15 #include <sys/mman.h>
16
17 /* AT91RM9200 */
18 #define AT91C_BASE_SYS (0xfffff000)
19
20 /* GPIO assignment */
21 #define PIOA (0 << 7)
22 #define PIOB (1 << 7)
23 #define PIOC (2 << 7)
24 #define PIOD (3 << 7)
25
26 #define PIO_PER (0) /* PIO enable */
27 #define PIO_OER (4) /* output enable */
28 #define PIO_ODR (5) /* output disable */
29 #define PIO_SODR (12) /* set output data */
30 #define PIO_CODR (13) /* clear output data */
31 #define PIO_PDSR (15) /* pin data status */
32 #define PIO_PPUER (25) /* pull-up enable */
33
34 #define NC (0) /* not connected */
35 #define P0 (1 << 0)
36 #define P1 (1 << 1)
37 #define P2 (1 << 2)
38 #define P3 (1 << 3)
39 #define P4 (1 << 4)
40 #define P5 (1 << 5)
41 #define P6 (1 << 6)
42 #define P7 (1 << 7)
43 #define P8 (1 << 8)
44 #define P9 (1 << 9)
45 #define P10 (1 << 10)
46 #define P11 (1 << 11)
47 #define P12 (1 << 12)
48 #define P13 (1 << 13)
49 #define P14 (1 << 14)
50 #define P15 (1 << 15)
51 #define P16 (1 << 16)
52 #define P17 (1 << 17)
53 #define P18 (1 << 18)
54 #define P19 (1 << 19)
55 #define P20 (1 << 20)
56 #define P21 (1 << 21)
57 #define P22 (1 << 22)
58 #define P23 (1 << 23)
59 #define P24 (1 << 24)
60 #define P25 (1 << 25)
61 #define P26 (1 << 26)
62 #define P27 (1 << 27)
63 #define P28 (1 << 28)
64 #define P29 (1 << 29)
65 #define P30 (1 << 30)
66 #define P31 (1 << 31)
67
68 struct device_t {
69 const char *name;
70 int TDO_PIO; /* PIO holding TDO */
71 uint32_t TDO_MASK; /* TDO bitmask */
72 int TRST_PIO; /* PIO holding TRST */
73 uint32_t TRST_MASK; /* TRST bitmask */
74 int TMS_PIO; /* PIO holding TMS */
75 uint32_t TMS_MASK; /* TMS bitmask */
76 int TCK_PIO; /* PIO holding TCK */
77 uint32_t TCK_MASK; /* TCK bitmask */
78 int TDI_PIO; /* PIO holding TDI */
79 uint32_t TDI_MASK; /* TDI bitmask */
80 int SRST_PIO; /* PIO holding SRST */
81 uint32_t SRST_MASK; /* SRST bitmask */
82 };
83
84 static const struct device_t devices[] = {
85 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
86 { .name = NULL },
87 };
88
89 /* configuration */
90 static char *at91rm9200_device;
91
92 /* interface variables
93 */
94 static const struct device_t *device;
95 static int dev_mem_fd;
96 static void *sys_controller;
97 static uint32_t *pio_base;
98
99 /* low level command set
100 */
101 static bb_value_t at91rm9200_read(void);
102 static int at91rm9200_write(int tck, int tms, int tdi);
103
104 static int at91rm9200_init(void);
105 static int at91rm9200_quit(void);
106
107 static struct bitbang_interface at91rm9200_bitbang = {
108 .read = at91rm9200_read,
109 .write = at91rm9200_write,
110 .blink = 0
111 };
112
113 static bb_value_t at91rm9200_read(void)
114 {
115 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) ? BB_HIGH : BB_LOW;
116 }
117
118 static int at91rm9200_write(int tck, int tms, int tdi)
119 {
120 if (tck)
121 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
122 else
123 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
124
125 if (tms)
126 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
127 else
128 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
129
130 if (tdi)
131 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
132 else
133 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
134
135 return ERROR_OK;
136 }
137
138 /* (1) assert or (0) deassert reset lines */
139 static int at91rm9200_reset(int trst, int srst)
140 {
141 if (trst == 0)
142 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
143 else if (trst == 1)
144 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
145
146 if (srst == 0)
147 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
148 else if (srst == 1)
149 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
150
151 return ERROR_OK;
152 }
153
154 COMMAND_HANDLER(at91rm9200_handle_device_command)
155 {
156 if (CMD_ARGC == 0)
157 return ERROR_COMMAND_SYNTAX_ERROR;
158
159 /* only if the device name wasn't overwritten by cmdline */
160 if (at91rm9200_device == 0) {
161 at91rm9200_device = malloc(strlen(CMD_ARGV[0]) + sizeof(char));
162 strcpy(at91rm9200_device, CMD_ARGV[0]);
163 }
164
165 return ERROR_OK;
166 }
167
168 static const struct command_registration at91rm9200_command_handlers[] = {
169 {
170 .name = "at91rm9200_device",
171 .handler = &at91rm9200_handle_device_command,
172 .mode = COMMAND_CONFIG,
173 .help = "Set at91rm9200 device [default \"rea_ecr\"]",
174 .usage = "<device>",
175 },
176 COMMAND_REGISTRATION_DONE
177 };
178
179 static struct jtag_interface at91rm9200_interface = {
180 .execute_queue = bitbang_execute_queue,
181 };
182
183 struct adapter_driver at91rm9200_adapter_driver = {
184 .name = "at91rm9200",
185 .transports = jtag_only,
186 .commands = at91rm9200_command_handlers,
187
188 .init = at91rm9200_init,
189 .quit = at91rm9200_quit,
190 .reset = at91rm9200_reset,
191
192 .jtag_ops = &at91rm9200_interface,
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 || 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 LOG_ERROR("open: %s", strerror(errno));
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 LOG_ERROR("mmap: %s", strerror(errno));
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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