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/*************************************************************************** |
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* Copyright (C) 2006 by Anders Larsen * |
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* al@alarsen.net * |
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* * |
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* This program is free software; you can redistribute it and/or modify * |
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* it under the terms of the GNU General Public License as published by * |
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* the Free Software Foundation; either version 2 of the License, or * |
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* (at your option) any later version. * |
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* * |
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* This program is distributed in the hope that it will be useful, * |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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* GNU General Public License for more details. * |
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* * |
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* You should have received a copy of the GNU General Public License * |
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* along with this program; if not, write to the * |
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* Free Software Foundation, Inc., * |
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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***************************************************************************/ |
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#ifdef HAVE_CONFIG_H |
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#include "config.h" |
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#endif |
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#include "log.h" |
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#include "jtag.h" |
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#include "bitbang.h" |
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/* system includes */ |
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#include <sys/io.h> |
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#include <string.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <sys/mman.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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/* AT91RM9200 */ |
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#define AT91C_BASE_SYS (0xfffff000) |
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/* GPIO assignment */ |
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#define PIOA (0 << 7) |
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#define PIOB (1 << 7) |
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#define PIOC (2 << 7) |
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#define PIOD (3 << 7) |
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#define PIO_PER (0) /* PIO enable */ |
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#define PIO_OER (4) /* output enable */ |
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#define PIO_ODR (5) /* output disable */ |
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#define PIO_SODR (12) /* set output data */ |
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#define PIO_CODR (13) /* clear output data */ |
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#define PIO_PDSR (15) /* pin data status */ |
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#define PIO_PPUER (25) /* pull-up enable */ |
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#define NC (0) /* not connected */ |
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#define P0 (1 << 0) |
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#define P1 (1 << 1) |
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#define P2 (1 << 2) |
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#define P3 (1 << 3) |
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#define P4 (1 << 4) |
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#define P5 (1 << 5) |
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#define P6 (1 << 6) |
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#define P7 (1 << 7) |
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#define P8 (1 << 8) |
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#define P9 (1 << 9) |
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#define P10 (1 << 10) |
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#define P11 (1 << 11) |
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#define P12 (1 << 12) |
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#define P13 (1 << 13) |
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#define P14 (1 << 14) |
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#define P15 (1 << 15) |
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#define P16 (1 << 16) |
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#define P17 (1 << 17) |
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#define P18 (1 << 18) |
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#define P19 (1 << 19) |
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#define P20 (1 << 20) |
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#define P21 (1 << 21) |
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#define P22 (1 << 22) |
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#define P23 (1 << 23) |
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#define P24 (1 << 24) |
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#define P25 (1 << 25) |
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#define P26 (1 << 26) |
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#define P27 (1 << 27) |
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#define P28 (1 << 28) |
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#define P29 (1 << 29) |
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#define P30 (1 << 30) |
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#define P31 (1 << 31) |
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struct device_t |
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{ |
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char* name; |
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int TDO_PIO; /* PIO holding TDO */ |
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u32 TDO_MASK; /* TDO bitmask */ |
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int TRST_PIO; /* PIO holding TRST */ |
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u32 TRST_MASK; /* TRST bitmask */ |
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int TMS_PIO; /* PIO holding TMS */ |
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u32 TMS_MASK; /* TMS bitmask */ |
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int TCK_PIO; /* PIO holding TCK */ |
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u32 TCK_MASK; /* TCK bitmask */ |
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int TDI_PIO; /* PIO holding TDI */ |
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u32 TDI_MASK; /* TDI bitmask */ |
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int SRST_PIO; /* PIO holding SRST */ |
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u32 SRST_MASK; /* SRST bitmask */ |
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}; |
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struct device_t devices[] = |
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{ |
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{ "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 }, |
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{ NULL, 0 } |
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}; |
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/* configuration */ |
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char* at91rm9200_device; |
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/* interface variables |
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*/ |
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static struct device_t* device; |
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static int dev_mem_fd; |
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static void *sys_controller; |
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static u32* pio_base; |
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/* low level command set |
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*/ |
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int at91rm9200_read(void); |
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void at91rm9200_write(int tck, int tms, int tdi); |
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void at91rm9200_reset(int trst, int srst); |
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int at91rm9200_speed(int speed); |
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int at91rm9200_register_commands(struct command_context_s *cmd_ctx); |
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int at91rm9200_init(void); |
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int at91rm9200_quit(void); |
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jtag_interface_t at91rm9200_interface = |
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{ |
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.name = "at91rm9200", |
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.execute_queue = bitbang_execute_queue, |
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.support_pathmove = 0, |
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.speed = at91rm9200_speed, |
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.register_commands = at91rm9200_register_commands, |
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.init = at91rm9200_init, |
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.quit = at91rm9200_quit, |
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}; |
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bitbang_interface_t at91rm9200_bitbang = |
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{ |
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.read = at91rm9200_read, |
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.write = at91rm9200_write, |
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.reset = at91rm9200_reset |
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}; |
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int at91rm9200_read(void) |
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{ |
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return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0; |
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} |
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void at91rm9200_write(int tck, int tms, int tdi) |
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{ |
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if (tck) |
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pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK; |
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else |
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pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK; |
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if (tms) |
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pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK; |
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else |
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pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK; |
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if (tdi) |
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pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK; |
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else |
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pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK; |
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} |
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/* (1) assert or (0) deassert reset lines */ |
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void at91rm9200_reset(int trst, int srst) |
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{ |
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if (trst == 0) |
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pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK; |
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else if (trst == 1) |
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pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK; |
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if (srst == 0) |
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pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK; |
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else if (srst == 1) |
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pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK; |
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} |
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int at91rm9200_speed(int speed) |
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{ |
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return ERROR_OK; |
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} |
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int at91rm9200_handle_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc) |
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{ |
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if (argc == 0) |
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return ERROR_OK; |
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/* only if the device name wasn't overwritten by cmdline */ |
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if (at91rm9200_device == 0) |
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{ |
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at91rm9200_device = malloc(strlen(args[0]) + sizeof(char)); |
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strcpy(at91rm9200_device, args[0]); |
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} |
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return ERROR_OK; |
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} |
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int at91rm9200_register_commands(struct command_context_s *cmd_ctx) |
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{ |
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register_command(cmd_ctx, NULL, "at91rm9200_device", at91rm9200_handle_device_command, |
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COMMAND_CONFIG, NULL); |
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return ERROR_OK; |
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} |
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int at91rm9200_init(void) |
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{ |
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int ret; |
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struct device_t *cur_device; |
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cur_device = devices; |
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if (at91rm9200_device == NULL || at91rm9200_device[0] == 0) |
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{ |
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at91rm9200_device = "rea_ecr"; |
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WARNING("No at91rm9200 device specified, using default 'rea_ecr'"); |
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} |
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while (cur_device->name) |
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{ |
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if (strcmp(cur_device->name, at91rm9200_device) == 0) |
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{ |
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device = cur_device; |
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break; |
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} |
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cur_device++; |
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} |
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if (!device) |
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{ |
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ERROR("No matching device found for %s", at91rm9200_device); |
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return ERROR_JTAG_INIT_FAILED; |
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} |
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bitbang_interface = &at91rm9200_bitbang; |
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dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC); |
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if (dev_mem_fd < 0) { |
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perror("open"); |
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return ERROR_JTAG_INIT_FAILED; |
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} |
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sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE, |
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MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS); |
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if (sys_controller == MAP_FAILED) { |
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perror("mmap"); |
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close(dev_mem_fd); |
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return ERROR_JTAG_INIT_FAILED; |
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} |
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pio_base = (u32*)sys_controller + 0x100; |
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/* |
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* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST |
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* as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high. |
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*/ |
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pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK; |
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pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK; |
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pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK; |
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pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK; |
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pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK; |
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pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK; |
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pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK; |
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pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK; |
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pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK; |
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pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK; |
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pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK; |
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pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK; |
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pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK; |
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pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK; |
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pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK; |
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pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK; |
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pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK; |
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pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK; |
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return ERROR_OK; |
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} |
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int at91rm9200_quit(void) |
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{ |
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return ERROR_OK; |
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} |