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.	#
#												#
#################################################################################################

# FIXME use some standard target config, maybe create one from this
#
#	source [find target/...cfg]

# 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 _FLASHTYPE nandflash_cs3
set _ENDIAN little
set _CPUTAPID 0x0792603f

# Set reset type.  Note that the AT91SAM9G20-EK board has the trst signal disconnected.  Therefore
# the reset needs to be configured for "srst_only".  If for some reason, a zero-ohm jumper is
# added to the board to connect the trst signal, then this parameter may need to be changed.

reset_config srst_only

# 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 JTAG adapter.  A value of 200 ms seems
# to work reliably for the configuration listed in the file header above.

adapter_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 $_CHIPNAME.cpu
target create $_TARGETNAME arm926ejs -endian $_ENDIAN -chain-position $_TARGETNAME

# 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-phys 0x00200000 -work-area-size 0x4000 -work-area-backup 1
$_TARGETNAME configure -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_reset_init}
$_TARGETNAME configure -event reset-start {at91sam9g20_reset_start}

# NandFlash configuration and definition

nand device nandflash_cs3 at91sam9 $_TARGETNAME 0x40000000 0xfffffe800
at91sam9 cle 0 22
at91sam9 ale 0 21
at91sam9 rdy_busy 0 0xfffff800 13
at91sam9 ce 0 0xfffff800 14

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

proc at91sam9g20_reset_start { } {

	# Make sure that the the jtag is running slow, since there are a number of different ways the board
	# can be configured coming into this state that can cause communication problems with the jtag
	# adapter.  Also since this call can be made following a "reset init" where fast memory accesses
	# are enabled, need to temporarily shut this down so that the RSTC_MR register can be written at slower
	# jtag speed without causing GDB keep alive problem.

	arm7_9 fast_memory_access disable
	adapter_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.
	wait_halt 10000
	mww 0xfffffd08 0xa5000501       # RSTC_MR : enable user reset.
}

proc at91sam9g20_reset_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.

	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.

	adapter_khz 0

	# Enable faster DCC downloads and memory accesses.

	arm7_9 dcc_downloads enable
	arm7_9 fast_memory_access 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
	# a number of registers.  The first step involves setting up the general I/O pins on the processor
	# to be able to interface and support the external memory.

	mww 0xfffffc10 0x00000010	# PMC_PCER : enable PIOC clock
	mww 0xfffff800 0x00006000	# PIOC_PER : enable PIO function for 13(RDY/~BSY) and 14(~CS)
	mww 0xfffff810 0x00004000	# PIOC_OER : enable output on 14
	mww 0xfffff814 0x00002000	# PIOC_ODR : disable output on 13
    	mww 0xfffff830 0x00004000	# PIOC_SODR : set 14 to disable NAND

	# 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.  Computing the exact values of these registers
	# is a little tedious to do here.  If you have questions about how to do this, Atmel has
	# a decent application note #6255B that covers this process. 

	mww 0xffffec30 0x00020002	# SMC_SETUP3 : 2 clock cycle setup for NRD and NWE
	mww 0xffffec34 0x04040404	# SMC_PULSE3 : 4 clock cycle pulse for all signals
	mww 0xffffec38 0x00070006	# SMC_CYCLE3 : 7 clock cycle NRD and 6 NWE cycle
	mww 0xffffec3C 0x00020003	# SMC_MODE3 : NRD and NWE control, no NWAIT, 8-bit DBW, 
   
	mww 0xffffe800 0x00000001	# ECC_CR : reset the ECC parity registers
	mww 0xffffe804 0x00000002	# ECC_MR : page size is 2112 words (word is 8 bits)

	# Identify NandFlash bank 0.

	nand probe nandflash_cs3

	# The AT91SAM9G20-EK evaluation board has build-in serial data flash also.

	# 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
}