1 /***************************************************************************
2 * Copyright (C) 2006 by Anders Larsen *
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. *
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. *
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 ***************************************************************************/
37 #define AT91C_BASE_SYS (0xfffff000)
45 #define PIO_PER (0) /* PIO enable */
46 #define PIO_OER (4) /* output enable */
47 #define PIO_ODR (5) /* output disable */
48 #define PIO_SODR (12) /* set output data */
49 #define PIO_CODR (13) /* clear output data */
50 #define PIO_PDSR (15) /* pin data status */
51 #define PIO_PPUER (25) /* pull-up enable */
53 #define NC (0) /* not connected */
90 int TDO_PIO; /* PIO holding TDO */
91 u32 TDO_MASK; /* TDO bitmask */
92 int TRST_PIO; /* PIO holding TRST */
93 u32 TRST_MASK; /* TRST bitmask */
94 int TMS_PIO; /* PIO holding TMS */
95 u32 TMS_MASK; /* TMS bitmask */
96 int TCK_PIO; /* PIO holding TCK */
97 u32 TCK_MASK; /* TCK bitmask */
98 int TDI_PIO; /* PIO holding TDI */
99 u32 TDI_MASK; /* TDI bitmask */
100 int SRST_PIO; /* PIO holding SRST */
101 u32 SRST_MASK; /* SRST bitmask */
104 struct device_t devices[] =
106 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
111 char* at91rm9200_device;
113 /* interface variables
115 static struct device_t* device;
116 static int dev_mem_fd;
117 static void *sys_controller;
118 static u32* pio_base;
120 /* low level command set
122 int at91rm9200_read(void);
123 void at91rm9200_write(int tck, int tms, int tdi);
124 void at91rm9200_reset(int trst, int srst);
126 int at91rm9200_speed(int speed);
127 int at91rm9200_register_commands(struct command_context_s *cmd_ctx);
128 int at91rm9200_init(void);
129 int at91rm9200_quit(void);
131 jtag_interface_t at91rm9200_interface =
133 .name = "at91rm9200",
135 .execute_queue = bitbang_execute_queue,
137 .speed = at91rm9200_speed,
138 .register_commands = at91rm9200_register_commands,
139 .init = at91rm9200_init,
140 .quit = at91rm9200_quit,
143 bitbang_interface_t at91rm9200_bitbang =
145 .read = at91rm9200_read,
146 .write = at91rm9200_write,
147 .reset = at91rm9200_reset,
151 int at91rm9200_read(void)
153 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
156 void at91rm9200_write(int tck, int tms, int tdi)
159 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
161 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
164 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
166 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
169 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
171 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
174 /* (1) assert or (0) deassert reset lines */
175 void at91rm9200_reset(int trst, int srst)
178 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
180 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
183 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
185 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
188 int at91rm9200_speed(int speed)
194 int at91rm9200_handle_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
199 /* only if the device name wasn't overwritten by cmdline */
200 if (at91rm9200_device == 0)
202 at91rm9200_device = malloc(strlen(args[0]) + sizeof(char));
203 strcpy(at91rm9200_device, args[0]);
209 int at91rm9200_register_commands(struct command_context_s *cmd_ctx)
211 register_command(cmd_ctx, NULL, "at91rm9200_device", at91rm9200_handle_device_command,
212 COMMAND_CONFIG, NULL);
216 int at91rm9200_init(void)
218 struct device_t *cur_device;
220 cur_device = devices;
222 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0)
224 at91rm9200_device = "rea_ecr";
225 WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
228 while (cur_device->name)
230 if (strcmp(cur_device->name, at91rm9200_device) == 0)
240 ERROR("No matching device found for %s", at91rm9200_device);
241 return ERROR_JTAG_INIT_FAILED;
244 bitbang_interface = &at91rm9200_bitbang;
246 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
247 if (dev_mem_fd < 0) {
249 return ERROR_JTAG_INIT_FAILED;
252 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
253 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
254 if (sys_controller == MAP_FAILED) {
257 return ERROR_JTAG_INIT_FAILED;
259 pio_base = (u32*)sys_controller + 0x100;
262 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
263 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
265 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
266 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
267 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
268 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
269 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
270 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
271 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
272 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
273 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
274 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
275 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
276 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
277 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
278 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
279 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
280 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
281 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
282 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
287 int at91rm9200_quit(void)