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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 #ifdef HAVE_CONFIG_H
21 #include "config.h"
22 #endif
23
24 #include "interface.h"
25 #include "bitbang.h"
26
27 #include <sys/mman.h>
28
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 {
83 char* name;
84 int TDO_PIO; /* PIO holding TDO */
85 uint32_t TDO_MASK; /* TDO bitmask */
86 int TRST_PIO; /* PIO holding TRST */
87 uint32_t TRST_MASK; /* TRST bitmask */
88 int TMS_PIO; /* PIO holding TMS */
89 uint32_t TMS_MASK; /* TMS bitmask */
90 int TCK_PIO; /* PIO holding TCK */
91 uint32_t TCK_MASK; /* TCK bitmask */
92 int TDI_PIO; /* PIO holding TDI */
93 uint32_t TDI_MASK; /* TDI bitmask */
94 int SRST_PIO; /* PIO holding SRST */
95 uint32_t SRST_MASK; /* SRST bitmask */
96 };
97
98 static struct device_t devices[] =
99 {
100 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
101 { .name = NULL },
102 };
103
104 /* configuration */
105 static char* at91rm9200_device;
106
107 /* interface variables
108 */
109 static struct device_t* device;
110 static int dev_mem_fd;
111 static void *sys_controller;
112 static uint32_t* pio_base;
113
114 /* low level command set
115 */
116 static int at91rm9200_read(void);
117 static void at91rm9200_write(int tck, int tms, int tdi);
118 static void at91rm9200_reset(int trst, int srst);
119
120 static int at91rm9200_speed(int speed);
121 static int at91rm9200_register_commands(struct command_context *cmd_ctx);
122 static int at91rm9200_init(void);
123 static int at91rm9200_quit(void);
124
125 struct jtag_interface at91rm9200_interface =
126 {
127 .name = "at91rm9200",
128
129 .execute_queue = bitbang_execute_queue,
130
131 .speed = at91rm9200_speed,
132 .register_commands = at91rm9200_register_commands,
133 .init = at91rm9200_init,
134 .quit = at91rm9200_quit,
135 };
136
137 static struct bitbang_interface at91rm9200_bitbang =
138 {
139 .read = at91rm9200_read,
140 .write = at91rm9200_write,
141 .reset = at91rm9200_reset,
142 .blink = 0
143 };
144
145 static int at91rm9200_read(void)
146 {
147 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
148 }
149
150 static void at91rm9200_write(int tck, int tms, int tdi)
151 {
152 if (tck)
153 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
154 else
155 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
156
157 if (tms)
158 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
159 else
160 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
161
162 if (tdi)
163 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
164 else
165 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
166 }
167
168 /* (1) assert or (0) deassert reset lines */
169 static void at91rm9200_reset(int trst, int srst)
170 {
171 if (trst == 0)
172 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
173 else if (trst == 1)
174 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
175
176 if (srst == 0)
177 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
178 else if (srst == 1)
179 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
180 }
181
182 static int at91rm9200_speed(int speed)
183 {
184
185 return ERROR_OK;
186 }
187
188 static int at91rm9200_handle_device_command(struct command_context *cmd_ctx, char *cmd, char **CMD_ARGV, int argc)
189 {
190 if (CMD_ARGC == 0)
191 return ERROR_OK;
192
193 /* only if the device name wasn't overwritten by cmdline */
194 if (at91rm9200_device == 0)
195 {
196 at91rm9200_device = malloc(strlen(CMD_ARGV[0]) + sizeof(char));
197 strcpy(at91rm9200_device, CMD_ARGV[0]);
198 }
199
200 return ERROR_OK;
201 }
202
203 static const struct command_registration at91rm9200_command_handlers[] = {
204 {
205 .name = "at91rm9200_device",
206 .handler = &at91rm9200_handle_device_command,
207 .mode = COMMAND_CONFIG,
208 .help = "query armjtagew info",
209 },
210 };
211
212 static int at91rm9200_register_commands(struct command_context *cmd_ctx)
213 {
214 return register_commands(cmd_ctx, NULL, at91rm9200_command_handlers);
215 }
216
217 static int at91rm9200_init(void)
218 {
219 struct device_t *cur_device;
220
221 cur_device = devices;
222
223 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0)
224 {
225 at91rm9200_device = "rea_ecr";
226 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
227 }
228
229 while (cur_device->name)
230 {
231 if (strcmp(cur_device->name, at91rm9200_device) == 0)
232 {
233 device = cur_device;
234 break;
235 }
236 cur_device++;
237 }
238
239 if (!device)
240 {
241 LOG_ERROR("No matching device found for %s", at91rm9200_device);
242 return ERROR_JTAG_INIT_FAILED;
243 }
244
245 bitbang_interface = &at91rm9200_bitbang;
246
247 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
248 if (dev_mem_fd < 0) {
249 perror("open");
250 return ERROR_JTAG_INIT_FAILED;
251 }
252
253 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
254 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
255 if (sys_controller == MAP_FAILED) {
256 perror("mmap");
257 close(dev_mem_fd);
258 return ERROR_JTAG_INIT_FAILED;
259 }
260 pio_base = (uint32_t*)sys_controller + 0x100;
261
262 /*
263 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
264 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
265 */
266 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
267 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
268 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
269 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
270 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
271 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
272 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
273 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
274 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
275 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
276 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
277 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
278 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
279 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
280 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
281 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
282 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
283 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
284
285 return ERROR_OK;
286 }
287
288 static int at91rm9200_quit(void)
289 {
290
291 return ERROR_OK;
292 }
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