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Remove interface.h from public JTAG header, include it where required.
[openocd.git] / src / jtag / at91rm9200.c
1 /***************************************************************************
2 * Copyright (C) 2006 by Anders Larsen *
3 * al@alarsen.net *
4 * *
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. *
9 * *
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. *
14 * *
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 ***************************************************************************/
20 #ifdef HAVE_CONFIG_H
21 #include "config.h"
22 #endif
23
24 #define INCLUDE_JTAG_INTERFACE_H
25 #include "interface.h"
26 #include "bitbang.h"
27
28 #include <sys/mman.h>
29
30
31 /* AT91RM9200 */
32 #define AT91C_BASE_SYS (0xfffff000)
33
34 /* GPIO assignment */
35 #define PIOA (0 << 7)
36 #define PIOB (1 << 7)
37 #define PIOC (2 << 7)
38 #define PIOD (3 << 7)
39
40 #define PIO_PER (0) /* PIO enable */
41 #define PIO_OER (4) /* output enable */
42 #define PIO_ODR (5) /* output disable */
43 #define PIO_SODR (12) /* set output data */
44 #define PIO_CODR (13) /* clear output data */
45 #define PIO_PDSR (15) /* pin data status */
46 #define PIO_PPUER (25) /* pull-up enable */
47
48 #define NC (0) /* not connected */
49 #define P0 (1 << 0)
50 #define P1 (1 << 1)
51 #define P2 (1 << 2)
52 #define P3 (1 << 3)
53 #define P4 (1 << 4)
54 #define P5 (1 << 5)
55 #define P6 (1 << 6)
56 #define P7 (1 << 7)
57 #define P8 (1 << 8)
58 #define P9 (1 << 9)
59 #define P10 (1 << 10)
60 #define P11 (1 << 11)
61 #define P12 (1 << 12)
62 #define P13 (1 << 13)
63 #define P14 (1 << 14)
64 #define P15 (1 << 15)
65 #define P16 (1 << 16)
66 #define P17 (1 << 17)
67 #define P18 (1 << 18)
68 #define P19 (1 << 19)
69 #define P20 (1 << 20)
70 #define P21 (1 << 21)
71 #define P22 (1 << 22)
72 #define P23 (1 << 23)
73 #define P24 (1 << 24)
74 #define P25 (1 << 25)
75 #define P26 (1 << 26)
76 #define P27 (1 << 27)
77 #define P28 (1 << 28)
78 #define P29 (1 << 29)
79 #define P30 (1 << 30)
80 #define P31 (1 << 31)
81
82 struct device_t
83 {
84 char* name;
85 int TDO_PIO; /* PIO holding TDO */
86 u32 TDO_MASK; /* TDO bitmask */
87 int TRST_PIO; /* PIO holding TRST */
88 u32 TRST_MASK; /* TRST bitmask */
89 int TMS_PIO; /* PIO holding TMS */
90 u32 TMS_MASK; /* TMS bitmask */
91 int TCK_PIO; /* PIO holding TCK */
92 u32 TCK_MASK; /* TCK bitmask */
93 int TDI_PIO; /* PIO holding TDI */
94 u32 TDI_MASK; /* TDI bitmask */
95 int SRST_PIO; /* PIO holding SRST */
96 u32 SRST_MASK; /* SRST bitmask */
97 };
98
99 static struct device_t devices[] =
100 {
101 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
102 { .name = NULL },
103 };
104
105 /* configuration */
106 static char* at91rm9200_device;
107
108 /* interface variables
109 */
110 static struct device_t* device;
111 static int dev_mem_fd;
112 static void *sys_controller;
113 static u32* pio_base;
114
115 /* low level command set
116 */
117 static int at91rm9200_read(void);
118 static void at91rm9200_write(int tck, int tms, int tdi);
119 static void at91rm9200_reset(int trst, int srst);
120
121 static int at91rm9200_speed(int speed);
122 static int at91rm9200_register_commands(struct command_context_s *cmd_ctx);
123 static int at91rm9200_init(void);
124 static int at91rm9200_quit(void);
125
126 jtag_interface_t at91rm9200_interface =
127 {
128 .name = "at91rm9200",
129
130 .execute_queue = bitbang_execute_queue,
131
132 .speed = at91rm9200_speed,
133 .register_commands = at91rm9200_register_commands,
134 .init = at91rm9200_init,
135 .quit = at91rm9200_quit,
136 };
137
138 static bitbang_interface_t at91rm9200_bitbang =
139 {
140 .read = at91rm9200_read,
141 .write = at91rm9200_write,
142 .reset = at91rm9200_reset,
143 .blink = 0
144 };
145
146 static int at91rm9200_read(void)
147 {
148 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
149 }
150
151 static void at91rm9200_write(int tck, int tms, int tdi)
152 {
153 if (tck)
154 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
155 else
156 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
157
158 if (tms)
159 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
160 else
161 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
162
163 if (tdi)
164 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
165 else
166 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
167 }
168
169 /* (1) assert or (0) deassert reset lines */
170 static void at91rm9200_reset(int trst, int srst)
171 {
172 if (trst == 0)
173 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
174 else if (trst == 1)
175 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
176
177 if (srst == 0)
178 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
179 else if (srst == 1)
180 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
181 }
182
183 static int at91rm9200_speed(int speed)
184 {
185
186 return ERROR_OK;
187 }
188
189 static int at91rm9200_handle_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
190 {
191 if (argc == 0)
192 return ERROR_OK;
193
194 /* only if the device name wasn't overwritten by cmdline */
195 if (at91rm9200_device == 0)
196 {
197 at91rm9200_device = malloc(strlen(args[0]) + sizeof(char));
198 strcpy(at91rm9200_device, args[0]);
199 }
200
201 return ERROR_OK;
202 }
203
204 static int at91rm9200_register_commands(struct command_context_s *cmd_ctx)
205 {
206 register_command(cmd_ctx, NULL, "at91rm9200_device", at91rm9200_handle_device_command,
207 COMMAND_CONFIG, NULL);
208 return ERROR_OK;
209 }
210
211 static int at91rm9200_init(void)
212 {
213 struct device_t *cur_device;
214
215 cur_device = devices;
216
217 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0)
218 {
219 at91rm9200_device = "rea_ecr";
220 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
221 }
222
223 while (cur_device->name)
224 {
225 if (strcmp(cur_device->name, at91rm9200_device) == 0)
226 {
227 device = cur_device;
228 break;
229 }
230 cur_device++;
231 }
232
233 if (!device)
234 {
235 LOG_ERROR("No matching device found for %s", at91rm9200_device);
236 return ERROR_JTAG_INIT_FAILED;
237 }
238
239 bitbang_interface = &at91rm9200_bitbang;
240
241 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
242 if (dev_mem_fd < 0) {
243 perror("open");
244 return ERROR_JTAG_INIT_FAILED;
245 }
246
247 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
248 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
249 if (sys_controller == MAP_FAILED) {
250 perror("mmap");
251 close(dev_mem_fd);
252 return ERROR_JTAG_INIT_FAILED;
253 }
254 pio_base = (u32*)sys_controller + 0x100;
255
256 /*
257 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
258 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
259 */
260 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
261 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
262 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
263 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
264 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
265 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
266 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
267 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
268 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
269 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
270 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
271 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
272 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
273 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
274 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
275 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
276 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
277 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
278
279 return ERROR_OK;
280 }
281
282 static int at91rm9200_quit(void)
283 {
284
285 return ERROR_OK;
286 }
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