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 <jtag/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 }