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 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
25 #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 */
83 int TDO_PIO
; /* PIO holding TDO */
84 uint32_t TDO_MASK
; /* TDO bitmask */
85 int TRST_PIO
; /* PIO holding TRST */
86 uint32_t TRST_MASK
; /* TRST bitmask */
87 int TMS_PIO
; /* PIO holding TMS */
88 uint32_t TMS_MASK
; /* TMS bitmask */
89 int TCK_PIO
; /* PIO holding TCK */
90 uint32_t TCK_MASK
; /* TCK bitmask */
91 int TDI_PIO
; /* PIO holding TDI */
92 uint32_t TDI_MASK
; /* TDI bitmask */
93 int SRST_PIO
; /* PIO holding SRST */
94 uint32_t SRST_MASK
; /* SRST bitmask */
97 static struct device_t devices
[] = {
98 { "rea_ecr", PIOD
, P27
, PIOA
, NC
, PIOD
, P23
, PIOD
, P24
, PIOD
, P26
, PIOC
, P5
},
103 static char *at91rm9200_device
;
105 /* interface variables
107 static struct device_t
*device
;
108 static int dev_mem_fd
;
109 static void *sys_controller
;
110 static uint32_t *pio_base
;
112 /* low level command set
114 static int at91rm9200_read(void);
115 static void at91rm9200_write(int tck
, int tms
, int tdi
);
116 static void at91rm9200_reset(int trst
, int srst
);
118 static int at91rm9200_init(void);
119 static int at91rm9200_quit(void);
121 static struct bitbang_interface at91rm9200_bitbang
= {
122 .read
= at91rm9200_read
,
123 .write
= at91rm9200_write
,
124 .reset
= at91rm9200_reset
,
128 static int at91rm9200_read(void)
130 return (pio_base
[device
->TDO_PIO
+ PIO_PDSR
] & device
->TDO_MASK
) != 0;
133 static void at91rm9200_write(int tck
, int tms
, int tdi
)
136 pio_base
[device
->TCK_PIO
+ PIO_SODR
] = device
->TCK_MASK
;
138 pio_base
[device
->TCK_PIO
+ PIO_CODR
] = device
->TCK_MASK
;
141 pio_base
[device
->TMS_PIO
+ PIO_SODR
] = device
->TMS_MASK
;
143 pio_base
[device
->TMS_PIO
+ PIO_CODR
] = device
->TMS_MASK
;
146 pio_base
[device
->TDI_PIO
+ PIO_SODR
] = device
->TDI_MASK
;
148 pio_base
[device
->TDI_PIO
+ PIO_CODR
] = device
->TDI_MASK
;
151 /* (1) assert or (0) deassert reset lines */
152 static void at91rm9200_reset(int trst
, int srst
)
155 pio_base
[device
->TRST_PIO
+ PIO_SODR
] = device
->TRST_MASK
;
157 pio_base
[device
->TRST_PIO
+ PIO_CODR
] = device
->TRST_MASK
;
160 pio_base
[device
->SRST_PIO
+ PIO_SODR
] = device
->SRST_MASK
;
162 pio_base
[device
->SRST_PIO
+ PIO_CODR
] = device
->SRST_MASK
;
165 COMMAND_HANDLER(at91rm9200_handle_device_command
)
168 return ERROR_COMMAND_SYNTAX_ERROR
;
170 /* only if the device name wasn't overwritten by cmdline */
171 if (at91rm9200_device
== 0) {
172 at91rm9200_device
= malloc(strlen(CMD_ARGV
[0]) + sizeof(char));
173 strcpy(at91rm9200_device
, CMD_ARGV
[0]);
179 static const struct command_registration at91rm9200_command_handlers
[] = {
181 .name
= "at91rm9200_device",
182 .handler
= &at91rm9200_handle_device_command
,
183 .mode
= COMMAND_CONFIG
,
184 .help
= "query armjtagew info",
186 COMMAND_REGISTRATION_DONE
189 struct jtag_interface at91rm9200_interface
= {
190 .name
= "at91rm9200",
191 .execute_queue
= bitbang_execute_queue
,
192 .commands
= at91rm9200_command_handlers
,
193 .init
= at91rm9200_init
,
194 .quit
= at91rm9200_quit
,
197 static int at91rm9200_init(void)
199 struct device_t
*cur_device
;
201 cur_device
= devices
;
203 if (at91rm9200_device
== NULL
|| at91rm9200_device
[0] == 0) {
204 at91rm9200_device
= "rea_ecr";
205 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
208 while (cur_device
->name
) {
209 if (strcmp(cur_device
->name
, at91rm9200_device
) == 0) {
217 LOG_ERROR("No matching device found for %s", at91rm9200_device
);
218 return ERROR_JTAG_INIT_FAILED
;
221 bitbang_interface
= &at91rm9200_bitbang
;
223 dev_mem_fd
= open("/dev/mem", O_RDWR
| O_SYNC
);
224 if (dev_mem_fd
< 0) {
226 return ERROR_JTAG_INIT_FAILED
;
229 sys_controller
= mmap(NULL
, 4096, PROT_READ
| PROT_WRITE
,
230 MAP_SHARED
, dev_mem_fd
, AT91C_BASE_SYS
);
231 if (sys_controller
== MAP_FAILED
) {
234 return ERROR_JTAG_INIT_FAILED
;
236 pio_base
= (uint32_t *)sys_controller
+ 0x100;
239 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
240 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
242 pio_base
[device
->TDI_PIO
+ PIO_CODR
] = device
->TDI_MASK
;
243 pio_base
[device
->TDI_PIO
+ PIO_OER
] = device
->TDI_MASK
;
244 pio_base
[device
->TDI_PIO
+ PIO_PER
] = device
->TDI_MASK
;
245 pio_base
[device
->TCK_PIO
+ PIO_CODR
] = device
->TCK_MASK
;
246 pio_base
[device
->TCK_PIO
+ PIO_OER
] = device
->TCK_MASK
;
247 pio_base
[device
->TCK_PIO
+ PIO_PER
] = device
->TCK_MASK
;
248 pio_base
[device
->TMS_PIO
+ PIO_SODR
] = device
->TMS_MASK
;
249 pio_base
[device
->TMS_PIO
+ PIO_OER
] = device
->TMS_MASK
;
250 pio_base
[device
->TMS_PIO
+ PIO_PER
] = device
->TMS_MASK
;
251 pio_base
[device
->TRST_PIO
+ PIO_SODR
] = device
->TRST_MASK
;
252 pio_base
[device
->TRST_PIO
+ PIO_OER
] = device
->TRST_MASK
;
253 pio_base
[device
->TRST_PIO
+ PIO_PER
] = device
->TRST_MASK
;
254 pio_base
[device
->SRST_PIO
+ PIO_SODR
] = device
->SRST_MASK
;
255 pio_base
[device
->SRST_PIO
+ PIO_OER
] = device
->SRST_MASK
;
256 pio_base
[device
->SRST_PIO
+ PIO_PER
] = device
->SRST_MASK
;
257 pio_base
[device
->TDO_PIO
+ PIO_ODR
] = device
->TDO_MASK
;
258 pio_base
[device
->TDO_PIO
+ PIO_PPUER
] = device
->TDO_MASK
;
259 pio_base
[device
->TDO_PIO
+ PIO_PER
] = device
->TDO_MASK
;
264 static int at91rm9200_quit(void)
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