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 }