riscv-openocd/tcl/board/at91sam9g20-ek.cfg

#################################################################################################
#												#
# Author: Gary Carlson (gcarlson@carlson-minot.com)						#
# Generated for Atmel AT91SAM9G20-EK evaluation board using Atmel SAM-ICE (J-Link) version 8.	#
#												#
#################################################################################################

# Define basic characteristics for the CPU.  The AT91SAM9G20 processor is a subtle variant of
# the AT91SAM9260 and shares the same tap ID as it.

set _CHIPNAME at91sam9g20
set _ENDIAN little
set _CPUTAPID 0x0792603f

# Set reset type.  Note that the AT91SAM9G20-EK board has the trst signal disconnected.  In theory this script
# therefore should require "srst_only".  With some J-Link debuggers at least, "srst_only" causes a temporary USB
# communication fault.  This appears to be more likely attributed to an internal proprietary firmware quirk inside the
# dongle itself.  Using "trst_and_srst" works fine, however.  So if you can't beat them -- join them.  If you are using
# something other the a J-Link dongle you may be able to change this back to "srst_only".

reset_config trst_and_srst

# Set up the CPU and generate a new jtag tap for AT91SAM9G20.

jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID

# Use caution changing the delays listed below.  These seem to be affected by the board and type of
# debugger dongle.  A value of 200 ms seems to work reliably for the configuration listed in the file header above.

jtag_nsrst_delay 200
jtag_ntrst_delay 200

# Set fallback clock to 1/6 of worst-case clock speed (which would be the 32.768 kHz slow clock).

jtag_rclk 5

set _TARGETNAME [format "%s.cpu" $_CHIPNAME]
target create $_TARGETNAME arm926ejs -endian $_ENDIAN -chain-position $_TARGETNAME -variant arm926ejs

# Establish internal SRAM memory work areas that are important to pre-bootstrap loaders, etc.  The
# AT91SAM9G20 has two SRAM areas, one starting at 0x00200000 and the other starting at 0x00300000.
# Both areas are 16 kB long.

$_TARGETNAME configure -work-area-virt 0 -work-area-phys 0x00200000 -work-area-size 0x4000 -work-area-backup 1
$_TARGETNAME configure -work-area-virt 0 -work-area-phys 0x00300000 -work-area-size 0x4000 -work-area-backup 1

# If you don't want to execute built-in boot rom code (and there are good reasons at times not to do that) in the
# AT91SAM9 family, the microcontroller is a lump on a log without initialization.  Because this family has
# some powerful features, we want to have a special function that handles "reset init".  To do this we declare
# an event handler where these special activities can take place.

scan_chain
$_TARGETNAME configure -event reset-init {at91sam9g20_init}

# NandFlash configuration and definition
# Future TBD

proc read_register {register} {
        set result ""
        ocd_mem2array result 32 $register 1
        return $result(0)
}

proc at91sam9g20_init { } {

	# At reset AT91SAM9G20 chip runs on slow clock (32.768 kHz).  To shift over to a normal clock requires
	# a number of steps that must be carefully performed.  The process outline below follows the
	# recommended procedure outlined in the AT91SAM9G20 technical manual.
	#
	# Several key and very important things to keep in mind:
	# The SDRAM parts used currently on the Atmel evaluation board are -75 grade parts.  This
	# means the master clock (MCLK) must be at or below 133 MHz or timing errors will occur.  The processor
	# core can operate up to 400 MHz and therefore PCLK must be at or below this to function properly.

	jtag_khz 2			# Slow-speed oscillator enabled at reset, so run jtag speed slow.
	halt				# Make sure processor is halted, or error will result in following steps.
	mww 0xfffffd08 0xa5000501	# RSTC_MR : enable user reset.
	mww 0xfffffd44 0x00008000	# WDT_MR : disable watchdog.

	# Enable the main 18.432 MHz oscillator in CKGR_MOR register.
	# Wait for MOSCS in PMC_SR to assert indicating oscillator is again stable after change to CKGR_MOR.

	mww 0xfffffc20 0x00004001
	while { [expr [read_register 0xfffffc68] & 0x01] != 1 } { sleep 1 }

	# Set PLLA Register for 792.576 MHz (divider: bypass, multiplier: 43).
	# Wait for LOCKA signal in PMC_SR to assert indicating PLLA is stable.

	mww 0xfffffc28 0x202a3f01
	while { [expr [read_register 0xfffffc68] & 0x02] != 2 } { sleep 1 }

	# Set master system clock prescaler divide by 6 and processor clock divide by 2 in PMC_MCKR.
	# Wait for MCKRDY signal from PMC_SR to assert.

	mww 0xfffffc30 0x00000101
	while { [expr [read_register 0xfffffc68] & 0x08] != 8 } { sleep 1 }

	# Now change PMC_MCKR register to select PLLA.
	# Wait for MCKRDY signal from PMC_SR to assert.

	mww 0xfffffc30 0x00001302
	while { [expr [read_register 0xfffffc68] & 0x08] != 8 } { sleep 1 }

	# Processor and master clocks are now operating and stable at maximum frequency possible:
	#	-> MCLK = 132.096 MHz
	#	-> PCLK = 396.288 MHz

	# Switch over to adaptive clocking.

	jtag_khz 0

	# Enable faster DCC downloads.

	arm7_9 dcc_downloads enable

	# To be able to use external SDRAM, several peripheral configuration registers must
	# be modified.  The first change is made to PIO_ASR to select peripheral functions
	# for D15 through D31.  The second change is made to the PIO_PDR register to disable
	# this for D15 through D31.

	mww 0xfffff870 0xffff0000
	mww 0xfffff804 0xffff0000

	# The EBI chip select register EBI_CS must be specifically configured to enable the internal SDRAM controller
	# using CS1.  Additionally we want CS3 assigned to NandFlash.  Also VDDIO is connected physically on
	# the board to the 3.3 VDC power supply so set the appropriate register bit to notify the micrcontroller.

	mww 0xffffef1c 0x000100a

	# The AT91SAM9G20-EK evaluation board has built-in NandFlash.  The exact physical timing characteristics
	# for the memory type used on the current board (MT29F2G08AACWP) can be established by setting
	# four registers in order:  SMC_SETUP3, SMC_PULSE3, SMC_CYCLE3, and SMC_MODE3.

	mww 0xffffec30 0x00020002
	mww 0xffffec34 0x04040404
	mww 0xffffec38 0x00070007
	mww 0xffffec3c 0x00030003

	# Identify NandFlash bank 0.  Disabled at the moment because a memory driver is not yet complete.

#	nand probe 0

	# Now setup SDRAM.  This is tricky and configuration is very important for reliability!  The current calculations
	# are based on 2 x Micron MT48LC16M16A2-75 memory (4 M x 16 bit x 4 banks).  If you use this file as a reference
	# for a new board that uses different SDRAM devices or clock rates, you need to recalculate the value inserted
	# into the SDRAM_CR register.  Using the memory datasheet for the -75 grade part and assuming a master clock
	# of 132.096 MHz then the SDCLK period is equal to 7.6 ns.  This means the device requires:
	#
	#	CAS latency = 3 cycles
	#	TXSR = 10 cycles
	#	TRAS = 6 cycles
	#	TRCD = 3 cycles
	#	TRP = 3 cycles
	#	TRC = 9 cycles
	#	TWR = 2 cycles
	#	9 column, 13 row, 4 banks
	#	refresh equal to or less then 7.8 us for commerical/industrial rated devices
	#
	#	Thus SDRAM_CR = 0xa6339279

	mww 0xffffea08 0xa6339279

	# Next issue a 'NOP' command through the SDRAMC_MR register followed by writing a zero value into
	# the starting memory location for the SDRAM.

	mww 0xffffea00 0x00000001
	mww 0x20000000 0

	# Issue an 'All Banks Precharge' command through the SDRAMC_MR register followed by writing a zero
	# value into the starting memory location for the SDRAM.

	mww 0xffffea00 0x00000002
	mww 0x20000000 0

	# Now issue an 'Auto-Refresh' command through the SDRAMC_MR register.  Follow this operation by writing
	# zero values eight times into the starting memory location for the SDRAM.

	mww 0xffffea00 0x4
	mww 0x20000000 0
	mww 0x20000000 0
	mww 0x20000000 0
	mww 0x20000000 0
	mww 0x20000000 0
	mww 0x20000000 0
	mww 0x20000000 0
	mww 0x20000000 0

	# Almost done, so next issue a 'Load Mode Register' command followed by a zero value write to the
	# the starting memory location for the SDRAM.

	mww 0xffffea00 0x3
	mww 0x20000000 0

	# Signal normal mode using the SDRAMC_MR register and follow with a zero value write the the starting
	# memory location for the SDRAM.

	mww 0xffffea00 0x0
	mww 0x20000000 0

	# Finally set the refresh rate to about every 7 us (7.5 ns x 924 cycles).

	mww 0xffffea04 0x0000039c
}