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 ***************************************************************************/
38 #define AT91C_BASE_SYS (0xfffff000)
46 #define PIO_PER (0) /* PIO enable */
47 #define PIO_OER (4) /* output enable */
48 #define PIO_ODR (5) /* output disable */
49 #define PIO_SODR (12) /* set output data */
50 #define PIO_CODR (13) /* clear output data */
51 #define PIO_PDSR (15) /* pin data status */
52 #define PIO_PPUER (25) /* pull-up enable */
54 #define NC (0) /* not connected */
91 int TDO_PIO; /* PIO holding TDO */
92 u32 TDO_MASK; /* TDO bitmask */
93 int TRST_PIO; /* PIO holding TRST */
94 u32 TRST_MASK; /* TRST bitmask */
95 int TMS_PIO; /* PIO holding TMS */
96 u32 TMS_MASK; /* TMS bitmask */
97 int TCK_PIO; /* PIO holding TCK */
98 u32 TCK_MASK; /* TCK bitmask */
99 int TDI_PIO; /* PIO holding TDI */
100 u32 TDI_MASK; /* TDI bitmask */
101 int SRST_PIO; /* PIO holding SRST */
102 u32 SRST_MASK; /* SRST bitmask */
105 struct device_t devices[] =
107 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
112 char* at91rm9200_device;
114 /* interface variables
116 static struct device_t* device;
117 static int dev_mem_fd;
118 static void *sys_controller;
119 static u32* pio_base;
121 /* low level command set
123 int at91rm9200_read(void);
124 void at91rm9200_write(int tck, int tms, int tdi);
125 void at91rm9200_reset(int trst, int srst);
127 int at91rm9200_speed(int speed);
128 int at91rm9200_register_commands(struct command_context_s *cmd_ctx);
129 int at91rm9200_init(void);
130 int at91rm9200_quit(void);
132 jtag_interface_t at91rm9200_interface =
134 .name = "at91rm9200",
136 .execute_queue = bitbang_execute_queue,
138 .support_pathmove = 0,
140 .speed = at91rm9200_speed,
141 .register_commands = at91rm9200_register_commands,
142 .init = at91rm9200_init,
143 .quit = at91rm9200_quit,
146 bitbang_interface_t at91rm9200_bitbang =
148 .read = at91rm9200_read,
149 .write = at91rm9200_write,
150 .reset = at91rm9200_reset
153 int at91rm9200_read(void)
155 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
158 void at91rm9200_write(int tck, int tms, int tdi)
161 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
163 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
166 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
168 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
171 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
173 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
176 /* (1) assert or (0) deassert reset lines */
177 void at91rm9200_reset(int trst, int srst)
180 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
182 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
185 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
187 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
190 int at91rm9200_speed(int speed)
196 int at91rm9200_handle_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
201 /* only if the device name wasn't overwritten by cmdline */
202 if (at91rm9200_device == 0)
204 at91rm9200_device = malloc(strlen(args[0]) + sizeof(char));
205 strcpy(at91rm9200_device, args[0]);
211 int at91rm9200_register_commands(struct command_context_s *cmd_ctx)
213 register_command(cmd_ctx, NULL, "at91rm9200_device", at91rm9200_handle_device_command,
214 COMMAND_CONFIG, NULL);
218 int at91rm9200_init(void)
221 struct device_t *cur_device;
223 cur_device = devices;
225 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0)
227 at91rm9200_device = "rea_ecr";
228 WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
231 while (cur_device->name)
233 if (strcmp(cur_device->name, at91rm9200_device) == 0)
243 ERROR("No matching device found for %s", at91rm9200_device);
244 return ERROR_JTAG_INIT_FAILED;
247 bitbang_interface = &at91rm9200_bitbang;
249 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
250 if (dev_mem_fd < 0) {
252 return ERROR_JTAG_INIT_FAILED;
255 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
256 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
257 if (sys_controller == MAP_FAILED) {
260 return ERROR_JTAG_INIT_FAILED;
262 pio_base = (u32*)sys_controller + 0x100;
265 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
266 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
268 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
269 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
270 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
271 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
272 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
273 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
274 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
275 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
276 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
277 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
278 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
279 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
280 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
281 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
282 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
283 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
284 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
285 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
290 int at91rm9200_quit(void)