1 // SPDX-License-Identifier: GPL-2.0-or-later
3 /***************************************************************************
4 * Copyright (C) 2006 by Anders Larsen *
6 ***************************************************************************/
12 #include <jtag/interface.h>
18 #define AT91C_BASE_SYS (0xfffff000)
26 #define PIO_PER (0) /* PIO enable */
27 #define PIO_OER (4) /* output enable */
28 #define PIO_ODR (5) /* output disable */
29 #define PIO_SODR (12) /* set output data */
30 #define PIO_CODR (13) /* clear output data */
31 #define PIO_PDSR (15) /* pin data status */
32 #define PIO_PPUER (25) /* pull-up enable */
34 #define NC (0) /* not connected */
70 int TDO_PIO; /* PIO holding TDO */
71 uint32_t TDO_MASK; /* TDO bitmask */
72 int TRST_PIO; /* PIO holding TRST */
73 uint32_t TRST_MASK; /* TRST bitmask */
74 int TMS_PIO; /* PIO holding TMS */
75 uint32_t TMS_MASK; /* TMS bitmask */
76 int TCK_PIO; /* PIO holding TCK */
77 uint32_t TCK_MASK; /* TCK bitmask */
78 int TDI_PIO; /* PIO holding TDI */
79 uint32_t TDI_MASK; /* TDI bitmask */
80 int SRST_PIO; /* PIO holding SRST */
81 uint32_t SRST_MASK; /* SRST bitmask */
84 static const struct device_t devices[] = {
85 { "rea_ecr", PIOD, P27, PIOA, NC, PIOD, P23, PIOD, P24, PIOD, P26, PIOC, P5 },
90 static char *at91rm9200_device;
92 /* interface variables
94 static const struct device_t *device;
95 static int dev_mem_fd;
96 static void *sys_controller;
97 static uint32_t *pio_base;
99 /* low level command set
101 static bb_value_t at91rm9200_read(void);
102 static int at91rm9200_write(int tck, int tms, int tdi);
104 static int at91rm9200_init(void);
105 static int at91rm9200_quit(void);
107 static struct bitbang_interface at91rm9200_bitbang = {
108 .read = at91rm9200_read,
109 .write = at91rm9200_write,
113 static bb_value_t at91rm9200_read(void)
115 return (pio_base[device->TDO_PIO + PIO_PDSR] & device->TDO_MASK) ? BB_HIGH : BB_LOW;
118 static int at91rm9200_write(int tck, int tms, int tdi)
121 pio_base[device->TCK_PIO + PIO_SODR] = device->TCK_MASK;
123 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
126 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
128 pio_base[device->TMS_PIO + PIO_CODR] = device->TMS_MASK;
131 pio_base[device->TDI_PIO + PIO_SODR] = device->TDI_MASK;
133 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
138 /* (1) assert or (0) deassert reset lines */
139 static int at91rm9200_reset(int trst, int srst)
142 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
144 pio_base[device->TRST_PIO + PIO_CODR] = device->TRST_MASK;
147 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
149 pio_base[device->SRST_PIO + PIO_CODR] = device->SRST_MASK;
154 COMMAND_HANDLER(at91rm9200_handle_device_command)
157 return ERROR_COMMAND_SYNTAX_ERROR;
159 /* only if the device name wasn't overwritten by cmdline */
160 if (at91rm9200_device == 0) {
161 at91rm9200_device = malloc(strlen(CMD_ARGV[0]) + sizeof(char));
162 strcpy(at91rm9200_device, CMD_ARGV[0]);
168 static const struct command_registration at91rm9200_command_handlers[] = {
170 .name = "at91rm9200_device",
171 .handler = &at91rm9200_handle_device_command,
172 .mode = COMMAND_CONFIG,
173 .help = "Set at91rm9200 device [default \"rea_ecr\"]",
176 COMMAND_REGISTRATION_DONE
179 static struct jtag_interface at91rm9200_interface = {
180 .execute_queue = bitbang_execute_queue,
183 struct adapter_driver at91rm9200_adapter_driver = {
184 .name = "at91rm9200",
185 .transports = jtag_only,
186 .commands = at91rm9200_command_handlers,
188 .init = at91rm9200_init,
189 .quit = at91rm9200_quit,
190 .reset = at91rm9200_reset,
192 .jtag_ops = &at91rm9200_interface,
195 static int at91rm9200_init(void)
197 const struct device_t *cur_device;
199 cur_device = devices;
201 if (!at91rm9200_device || at91rm9200_device[0] == 0) {
202 at91rm9200_device = "rea_ecr";
203 LOG_WARNING("No at91rm9200 device specified, using default 'rea_ecr'");
206 while (cur_device->name) {
207 if (strcmp(cur_device->name, at91rm9200_device) == 0) {
215 LOG_ERROR("No matching device found for %s", at91rm9200_device);
216 return ERROR_JTAG_INIT_FAILED;
219 bitbang_interface = &at91rm9200_bitbang;
221 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
222 if (dev_mem_fd < 0) {
223 LOG_ERROR("open: %s", strerror(errno));
224 return ERROR_JTAG_INIT_FAILED;
227 sys_controller = mmap(NULL, 4096, PROT_READ | PROT_WRITE,
228 MAP_SHARED, dev_mem_fd, AT91C_BASE_SYS);
229 if (sys_controller == MAP_FAILED) {
230 LOG_ERROR("mmap: %s", strerror(errno));
232 return ERROR_JTAG_INIT_FAILED;
234 pio_base = (uint32_t *)sys_controller + 0x100;
237 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
238 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
240 pio_base[device->TDI_PIO + PIO_CODR] = device->TDI_MASK;
241 pio_base[device->TDI_PIO + PIO_OER] = device->TDI_MASK;
242 pio_base[device->TDI_PIO + PIO_PER] = device->TDI_MASK;
243 pio_base[device->TCK_PIO + PIO_CODR] = device->TCK_MASK;
244 pio_base[device->TCK_PIO + PIO_OER] = device->TCK_MASK;
245 pio_base[device->TCK_PIO + PIO_PER] = device->TCK_MASK;
246 pio_base[device->TMS_PIO + PIO_SODR] = device->TMS_MASK;
247 pio_base[device->TMS_PIO + PIO_OER] = device->TMS_MASK;
248 pio_base[device->TMS_PIO + PIO_PER] = device->TMS_MASK;
249 pio_base[device->TRST_PIO + PIO_SODR] = device->TRST_MASK;
250 pio_base[device->TRST_PIO + PIO_OER] = device->TRST_MASK;
251 pio_base[device->TRST_PIO + PIO_PER] = device->TRST_MASK;
252 pio_base[device->SRST_PIO + PIO_SODR] = device->SRST_MASK;
253 pio_base[device->SRST_PIO + PIO_OER] = device->SRST_MASK;
254 pio_base[device->SRST_PIO + PIO_PER] = device->SRST_MASK;
255 pio_base[device->TDO_PIO + PIO_ODR] = device->TDO_MASK;
256 pio_base[device->TDO_PIO + PIO_PPUER] = device->TDO_MASK;
257 pio_base[device->TDO_PIO + PIO_PER] = device->TDO_MASK;
262 static int at91rm9200_quit(void)