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- added missing AT91RM9200 files
[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 #include "log.h"
25 #include "jtag.h"
26 #include "bitbang.h"
27
28 /* system includes */
29 #include <sys/io.h>
30 #include <string.h>
31 #include <stdlib.h>
32 #include <stdio.h>
33 #include <sys/mman.h>
34 #include <unistd.h>
35 #include <fcntl.h>
36
37 /* AT91RM9200 */
38 #define AT91C_BASE_SYS (0xfffff000)
39
40 /* GPIO assignment */
41 #define PIOA (0 << 7)
42 #define PIOB (1 << 7)
43 #define PIOC (2 << 7)
44 #define PIOD (3 << 7)
45
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 */
53
54 #define NC (0) /* not connected */
55 #define P0 (1 << 0)
56 #define P1 (1 << 1)
57 #define P2 (1 << 2)
58 #define P3 (1 << 3)
59 #define P4 (1 << 4)
60 #define P5 (1 << 5)
61 #define P6 (1 << 6)
62 #define P7 (1 << 7)
63 #define P8 (1 << 8)
64 #define P9 (1 << 9)
65 #define P10 (1 << 10)
66 #define P11 (1 << 11)
67 #define P12 (1 << 12)
68 #define P13 (1 << 13)
69 #define P14 (1 << 14)
70 #define P15 (1 << 15)
71 #define P16 (1 << 16)
72 #define P17 (1 << 17)
73 #define P18 (1 << 18)
74 #define P19 (1 << 19)
75 #define P20 (1 << 20)
76 #define P21 (1 << 21)
77 #define P22 (1 << 22)
78 #define P23 (1 << 23)
79 #define P24 (1 << 24)
80 #define P25 (1 << 25)
81 #define P26 (1 << 26)
82 #define P27 (1 << 27)
83 #define P28 (1 << 28)
84 #define P29 (1 << 29)
85 #define P30 (1 << 30)
86 #define P31 (1 << 31)
87
88 struct device_t
89 {
90 char* name;
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 */
103 };
104
105 struct device_t devices[] =
106 {
107 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
108 { NULL, 0 }
109 };
110
111 /* configuration */
112 char* at91rm9200_device;
113
114 /* interface variables
115 */
116 static struct device_t* device;
117 static int dev_mem_fd;
118 static void *sys_controller;
119 static u32* pio_base;
120
121 /* low level command set
122 */
123 int at91rm9200_read(void);
124 void at91rm9200_write(int tck, int tms, int tdi);
125 void at91rm9200_reset(int trst, int srst);
126
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);
131
132 jtag_interface_t at91rm9200_interface =
133 {
134 .name = "at91rm9200",
135
136 .execute_queue = bitbang_execute_queue,
137
138 .support_pathmove = 0,
139
140 .speed = at91rm9200_speed,
141 .register_commands = at91rm9200_register_commands,
142 .init = at91rm9200_init,
143 .quit = at91rm9200_quit,
144 };
145
146 bitbang_interface_t at91rm9200_bitbang =
147 {
148 .read = at91rm9200_read,
149 .write = at91rm9200_write,
150 .reset = at91rm9200_reset
151 };
152
153 int at91rm9200_read(void)
154 {
155 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) != 0;
156 }
157
158 void at91rm9200_write(int tck, int tms, int tdi)
159 {
160 if (tck)
161 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
162 else
163 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
164
165 if (tms)
166 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
167 else
168 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
169
170 if (tdi)
171 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
172 else
173 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
174 }
175
176 /* (1) assert or (0) deassert reset lines */
177 void at91rm9200_reset(int trst, int srst)
178 {
179 if (trst == 0)
180 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
181 else if (trst == 1)
182 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
183
184 if (srst == 0)
185 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
186 else if (srst == 1)
187 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
188 }
189
190 int at91rm9200_speed(int speed)
191 {
192
193 return ERROR_OK;
194 }
195
196 int at91rm9200_handle_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
197 {
198 if (argc == 0)
199 return ERROR_OK;
200
201 /* only if the device name wasn't overwritten by cmdline */
202 if (at91rm9200_device == 0)
203 {
204 at91rm9200_device = malloc(strlen(args[0]) + sizeof(char));
205 strcpy(at91rm9200_device, args[0]);
206 }
207
208 return ERROR_OK;
209 }
210
211 int at91rm9200_register_commands(struct command_context_s *cmd_ctx)
212 {
213 register_command(cmd_ctx, NULL, "at91rm9200_device", at91rm9200_handle_device_command,
214 COMMAND_CONFIG, NULL);
215 return ERROR_OK;
216 }
217
218 int at91rm9200_init(void)
219 {
220 int ret;
221 struct device_t *cur_device;
222
223 cur_device = devices;
224
225 if (at91rm9200_device == NULL || at91rm9200_device[0] == 0)
226 {
227 at91rm9200_device = "rea_ecr";
228 WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
229 }
230
231 while (cur_device->name)
232 {
233 if (strcmp(cur_device->name, at91rm9200_device) == 0)
234 {
235 device = cur_device;
236 break;
237 }
238 cur_device++;
239 }
240
241 if (!device)
242 {
243 ERROR("No matching device found for %s", at91rm9200_device);
244 return ERROR_JTAG_INIT_FAILED;
245 }
246
247 bitbang_interface = &at91rm9200_bitbang;
248
249 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
250 if (dev_mem_fd < 0) {
251 perror("open");
252 return ERROR_JTAG_INIT_FAILED;
253 }
254
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) {
258 perror("mmap");
259 close(dev_mem_fd);
260 return ERROR_JTAG_INIT_FAILED;
261 }
262 pio_base = (u32*)sys_controller + 0x100;
263
264 /*
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.
267 */
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;
286
287 return ERROR_OK;
288 }
289
290 int at91rm9200_quit(void)
291 {
292
293 return ERROR_OK;
294 }
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