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/***************************************************************************
* 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;
}