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 ***************************************************************************/
24 #include <jtag/interface.h>
31 #define AT91C_BASE_SYS (0xfffff000)
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 */
47 #define NC (0) /* not connected */
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 */
98 static struct device_t devices[] =
100 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
105 static char* at91rm9200_device;
107 /* interface variables
109 static struct device_t* device;
110 static int dev_mem_fd;
111 static void *sys_controller;
112 static uint32_t* pio_base;
114 /* low level command set
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);
120 static int at91rm9200_speed(int speed);
121 static int at91rm9200_init(void);
122 static int at91rm9200_quit(void);
124 static struct bitbang_interface at91rm9200_bitbang =
126 .read = at91rm9200_read,
127 .write = at91rm9200_write,
128 .reset = at91rm9200_reset,
132 static int at91rm9200_read(void)
134 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
137 static void at91rm9200_write(int tck, int tms, int tdi)
140 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
142 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
145 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
147 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
150 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
152 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
155 /* (1) assert or (0) deassert reset lines */
156 static void at91rm9200_reset(int trst, int srst)
159 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
161 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
164 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
166 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
169 static int at91rm9200_speed(int speed)
175 COMMAND_HANDLER(at91rm9200_handle_device_command)
180 /* only if the device name wasn't overwritten by cmdline */
181 if (at91rm9200_device == 0)
183 at91rm9200_device = malloc(strlen(CMD_ARGV[0]) + sizeof(char));
184 strcpy(at91rm9200_device, CMD_ARGV[0]);
190 static const struct command_registration at91rm9200_command_handlers[] = {
192 .name = "at91rm9200_device",
193 .handler = &at91rm9200_handle_device_command,
194 .mode = COMMAND_CONFIG,
195 .help = "query armjtagew info",
197 COMMAND_REGISTRATION_DONE
200 struct jtag_interface at91rm9200_interface =
202 .name = "at91rm9200",
204 .execute_queue = bitbang_execute_queue,
206 .speed = at91rm9200_speed,
207 .commands = at91rm9200_command_handlers,
208 .init = at91rm9200_init,
209 .quit = at91rm9200_quit,
212 static int at91rm9200_init(void)
214 struct device_t *cur_device;
216 cur_device = devices;
218 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0)
220 at91rm9200_device = "rea_ecr";
221 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
224 while (cur_device->name)
226 if (strcmp(cur_device->name, at91rm9200_device) == 0)
236 LOG_ERROR("No matching device found for %s", at91rm9200_device);
237 return ERROR_JTAG_INIT_FAILED;
240 bitbang_interface = &at91rm9200_bitbang;
242 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
243 if (dev_mem_fd < 0) {
245 return ERROR_JTAG_INIT_FAILED;
248 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
249 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
250 if (sys_controller == MAP_FAILED) {
253 return ERROR_JTAG_INIT_FAILED;
255 pio_base = (uint32_t*)sys_controller + 0x100;
258 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
259 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
261 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
262 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
263 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
264 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
265 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
266 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
267 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
268 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
269 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
270 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
271 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
272 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
273 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
274 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
275 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
276 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
277 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
278 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
283 static int at91rm9200_quit(void)