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