Add initial GPMC test program and associated files for BeagleBone Black

4 files changed, 442 insertions, 0 deletions

diff --git a/fpga/interface/beaglebone_black/gpmc/test/BB-ULAB-00A0.dts b/fpga/interface/beaglebone_black/gpmc/test/BB-ULAB-00A0.dts
new file mode 100644
index 0000000..e146171
--- /dev/null
+++ b/fpga/interface/beaglebone_black/gpmc/test/BB-ULAB-00A0.dts
@@ -0,0 +1,152 @@
+/*
+ *       Copyright (C) 2013 Tom King <ka6sox@gmail.com>
+ *		 (C) 2013 Ian McMahon <ian.mcmahon@prototechnical.com>
+ *		 (C) 2014 Timothy Pearson <kb9vqf@pearsoncomputing.net>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ */
+/dts-v1/;
+/plugin/;
+
+/ {
+	compatible = "ti,beaglebone", "ti,beaglebone-black";
+	
+	/* identification */
+	manufacturer = "Raptor Engineering";
+	board-name = "Universal Laboratory Debug Control Interface";
+	model = "ULABCTL001";
+	part-number = "BB-BONE-ULAB";
+	version = "0001";
+	
+	/* state the resources this cape uses */
+	exclusive-use =
+		/* the pin header uses */
+		"P8.45",	/* GPMC: gpmc_a0 */
+		"P8.46",	/* GPMC: gpmc_a1 */
+		"P9.14",	/* GPMC: gpmc_a2 */
+		"P8.44",	/* GPMC: gpmc_a3 */
+		"P8.41",	/* GPMC: gpmc_a4 */
+		"P8.42",	/* GPMC: gpmc_a5 */
+		"P8.39",	/* GPMC: gpmc_a6 */
+		"P8.40",	/* GPMC: gpmc_a7 */
+		"P8.27",	/* GPMC: gpmc_a8 */
+		"P8.29",	/* GPMC: gpmc_a9 */
+		"P8.28",	/* GPMC: gpmc_a10 */
+		"P8.30",	/* GPMC: gpmc_a11 */
+		"P8.37",	/* GPMC: gpmc_a12 */
+		"P8.38",	/* GPMC: gpmc_a13 */
+		"P8.36",	/* GPMC: gpmc_a14 */
+		"P8.34",	/* GPMC: gpmc_a15 */
+		"P8.35",	/* GPMC: gpmc_a16 */
+		"P8.33",	/* GPMC: gpmc_a17 */
+		"P8.31",	/* GPMC: gpmc_a18 */
+		"P8.32",	/* GPMC: gpmc_a19 */
+
+		"P8.25",	/* GPMC: gpmc_ad0 */
+		"P8.24",	/* GPMC: gpmc_ad1 */
+		"P8.5",		/* GPMC: gpmc_ad2 */
+		"P8.6",		/* GPMC: gpmc_ad3 */
+		"P8.23",	/* GPMC: gpmc_ad4 */
+		"P8.22",	/* GPMC: gpmc_ad5 */
+		"P8.3",		/* GPMC: gpmc_ad6 */
+		"P8.4", 	/* GPMC: gpmc_ad7 */
+
+		"P8.7",		/* GPMC: gpmc_advn_ale */
+		"P8.8",		/* GPMC: gpmc_oen_ren */
+		"P8.10",	/* GPMC: gpmc_wen */
+	
+		"P9.11",	/* GPIO: gpio0[30] */
+		"P9.13",	/* GPIO: gpio0[31] */
+		"P9.21",	/* GPIO: gpio0[3] */
+		"P9.22",	/* GPIO: gpio0[2] */
+
+		"P8.43",	/* GPIO: boot select */
+
+		/* the hardware IP this cape uses */
+		"GPMC";
+
+	fragment@0 {
+		target = <&am33xx_pinmux>;
+		__overlay__ {
+			bb_gpmc_pins: pinmux_bb_gpmc_pins {
+				pinctrl-single,pins = <
+
+				/* address bus */
+				0x0a0 0x01  /* gpmc_a0, OUTPUT_PULLDOWN | MODE1 */
+				0x0a4 0x01  /* gpmc_a1, OUTPUT_PULLDOWN | MODE1 */
+				0x048 0x00  /* gpmc_a2, OUTPUT_PULLDOWN | MODE0 */
+				0x0ac 0x01  /* gpmc_a3, OUTPUT_PULLDOWN | MODE1 */
+				0x0b0 0x01  /* gpmc_a4, OUTPUT_PULLDOWN | MODE1 */
+				0x0b4 0x01  /* gpmc_a5, OUTPUT_PULLDOWN | MODE1 */
+				0x0b8 0x01  /* gpmc_a6, OUTPUT_PULLDOWN | MODE1 */
+				0x0bc 0x01  /* gpmc_a7, OUTPUT_PULLDOWN | MODE1 */
+				0x0e0 0x01  /* gpmc_a8, OUTPUT_PULLDOWN | MODE1 */
+				0x0e4 0x01  /* gpmc_a9, OUTPUT_PULLDOWN | MODE1 */
+				0x0e8 0x01  /* gpmc_a10, OUTPUT_PULLDOWN | MODE1 */
+				0x0ec 0x01  /* gpmc_a11, OUTPUT_PULLDOWN | MODE1 */
+				0x0c0 0x01  /* gpmc_a12, OUTPUT_PULLDOWN | MODE1 */
+				0x0c4 0x01  /* gpmc_a13, OUTPUT_PULLDOWN | MODE1 */
+				0x0c8 0x01  /* gpmc_a14, OUTPUT_PULLDOWN | MODE1 */
+				0x0cc 0x01  /* gpmc_a15, OUTPUT_PULLDOWN | MODE1 */
+				0x0d0 0x01  /* gpmc_a16, OUTPUT_PULLDOWN | MODE1 */
+				0x0d4 0x01  /* gpmc_a17, OUTPUT_PULLDOWN | MODE1 */
+				0x0d8 0x01  /* gpmc_a18, OUTPUT_PULLDOWN | MODE1 */
+				0x0dc 0x01  /* gpmc_a19, OUTPUT_PULLDOWN | MODE1 */
+
+				/* address/data muxed bus */
+				0x000 0x30  /* gpmc_ad0, INPUT_PULLUP | MODE0 */
+				0x004 0x30  /* gpmc_ad1, INPUT_PULLUP | MODE0 */
+				0x008 0x30  /* gpmc_ad2, INPUT_PULLUP | MODE0 */
+				0x00c 0x30  /* gpmc_ad3, INPUT_PULLUP | MODE0 */
+				0x010 0x30  /* gpmc_ad4, INPUT_PULLUP | MODE0 */
+				0x014 0x30  /* gpmc_ad5, INPUT_PULLUP | MODE0 */
+				0x018 0x30  /* gpmc_ad6, INPUT_PULLUP | MODE0 */
+				0x01c 0x30  /* gpmc_ad7, INPUT_PULLUP | MODE0 */
+
+				/* control */
+				0x090 0x10  /* gpmc_advn_ale, OUTPUT_PULLUP | MODE0 */
+				0x094 0x10  /* gpmc_oen_ren, OUTPUT_PULLUP | MODE0 */
+				0x098 0x10  /* gpmc_wen, OUTPUT_PULLUP | MODE0 */
+
+				/* gpio */
+				0x070 0x07  /* gpio0[30], OUTPUT_PULLDOWN | MODE7 */
+				0x074 0x07  /* gpio0[31], OUTPUT_PULLDOWN | MODE7 */
+				0x154 0x27  /* gpio0[3], INPUT_PULLDOWN | MODE7 */
+				0x150 0x07  /* gpio0[2], OUTPUT_PULLDOWN | MODE7 */
+
+				>;
+			};
+		};
+	};
+	
+	fragment@1 {
+		target = <&gpmc>;
+		depth = <1>;    /* only create devices on depth 1 */
+	
+		/* stupid warnings */
+		#address-cells = <1>;
+		#size-cells = <1>;
+	
+		__overlay__ {
+			status = "okay";
+	
+			#address-cells = <2>;
+			#size-cells = <1>;
+	
+			pinctrl-names = "default";
+			pinctrl-0 = <&bb_gpmc_pins>;
+	
+			/* chip select ranges */
+			ranges = <0 0 0x10000000 0x02000000>; /* CS0 @addr 0x01000000, size 0x02000000 */
+	
+			sram@0 {
+				compatible = "raptorengineering,ulab","sram";
+				address-cells = <1>;
+				size-cells = <1>;
+				bank-width = <1>;
+			};
+		};
+	};
+};
diff --git a/fpga/interface/beaglebone_black/gpmc/test/Makefile b/fpga/interface/beaglebone_black/gpmc/test/Makefile
new file mode 100644
index 0000000..fc42856
--- /dev/null
+++ b/fpga/interface/beaglebone_black/gpmc/test/Makefile
@@ -0,0 +1,47 @@
+# Copyright (C) 2014 Timothy Pearson
+# 
+# Permission to use, copy, modify, and/or distribute this software for any
+# purpose with or without fee is hereby granted, provided that the above
+# copyright notice and this permission notice appear in all copies.
+# 
+# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+AR = ar
+RANLIB = ranlib
+CC = gcc
+
+CFLAGS += -Wall -Os -ggdb -MD
+#CFLAGS += -Wextra -Wno-unused-parameter -Werror
+
+help:
+	@echo ""
+	@echo "Usage:"
+	@echo ""
+	@echo "  $(MAKE) bbb-gpmc-test"
+	@echo "                .... build bbb-gpmc-test"
+	@echo ""
+	@echo "  $(MAKE) all"
+	@echo "                .... build everything"
+	@echo ""
+	@echo "  $(MAKE) install"
+	@echo "                .... install everything in /usr/"
+	@echo ""
+
+all: bbb-gpmc-test
+
+install: all
+	install -Dt /usr/bin/ bbb-gpmc-test
+
+bbb-gpmc-test: bbb-gpmc-test.o
+
+clean:
+	rm -f bbb-gpmc-test.o
+
+-include *.d
+
diff --git a/fpga/interface/beaglebone_black/gpmc/test/NOTES b/fpga/interface/beaglebone_black/gpmc/test/NOTES
new file mode 100644
index 0000000..11a075f
--- /dev/null
+++ b/fpga/interface/beaglebone_black/gpmc/test/NOTES
@@ -0,0 +1,3 @@
+Disable eMMC in uEnv.txt
+Comment out eMMC block in /boot/dtbs/am335x-boneblack.dts (mmc@481d8000)
+Compile and install uLab cape (BB-ULAB-00A0.dts) in /lib/firmware, then load it via the cape manager
diff --git a/fpga/interface/beaglebone_black/gpmc/test/bbb-gpmc-test.c b/fpga/interface/beaglebone_black/gpmc/test/bbb-gpmc-test.c
new file mode 100644
index 0000000..9b17634
--- /dev/null
+++ b/fpga/interface/beaglebone_black/gpmc/test/bbb-gpmc-test.c
@@ -0,0 +1,240 @@
+/*
+ *  bbb-gpmc-test
+ *
+ *  Copyright (C) 2014  Timothy Pearson <kb9vqf@pearsoncomputing.net> (Beaglebone Black)
+ *
+ *  Permission to use, copy, modify, and/or distribute this software for any
+ *  purpose with or without fee is hereby granted, provided that the above
+ *  copyright notice and this permission notice appear in all copies.
+ *
+ *  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ *  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ *  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ *  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ *  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ *  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ *  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ */
+
+#include <sys/time.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <errno.h>
+
+
+/** BEGIN: Low-Level I/O Implementation **/
+
+// Beaglebone Black GPMC driver
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+#include <fcntl.h>
+
+#define MEMORY_SPACE_ADDRESS_BITS 15
+
+#define GPMC_BASE 0x50000000
+#define GPMC_REGLEN 0x10000000
+
+#define GPMC_CHIPSELECTCONFIGDISPLACEMENT (0x30 / 4)
+
+#define GPMC_CONFIG (0x50 / 4)
+#define GPMC_CONFIG1 (0x60 / 4)
+#define GPMC_CONFIG2 (0x64 / 4)
+#define GPMC_CONFIG3 (0x68 / 4)
+#define GPMC_CONFIG4 (0x6c / 4)
+#define GPMC_CONFIG5 (0x70 / 4)
+#define GPMC_CONFIG6 (0x74 / 4)
+#define GPMC_CONFIG7 (0x78 / 4)
+
+#define MEMORY_SIZE (1 << MEMORY_SPACE_ADDRESS_BITS)
+
+int mem_fd = 0;
+int gpmc_mem_fd = 0;
+char *gpio_mem, *gpio_map, *gpmc_map;
+
+// I/O access
+static volatile unsigned int *gpio = NULL;
+static volatile unsigned char *gpio_char = NULL;
+static volatile unsigned int *gpmc = NULL;
+
+static void gpmc_mapregisters()
+{
+	/* open /dev/mem */
+	if ((gpmc_mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
+		printf("can't open /dev/mem \n");
+		exit (-1);
+	}
+
+	/* mmap GPMC */
+	gpmc_map = (char *)mmap(
+		0,
+		GPMC_REGLEN,
+		PROT_READ|PROT_WRITE,
+		MAP_SHARED,
+		gpmc_mem_fd,
+		GPMC_BASE
+	);
+
+	if (gpmc_map == MAP_FAILED) {
+		printf("mmap error %d\n", (int)gpmc_map);
+		exit (-1);
+	}
+
+	// Always use volatile pointer!
+	gpmc = (volatile unsigned *)gpmc_map;
+}
+
+static void gpmc_unmapregisters()
+{
+	munmap((void*) gpmc, GPMC_REGLEN);
+	if (gpmc_mem_fd != -1) {
+		close(gpmc_mem_fd);
+	}
+}
+
+static void gpmc_setup(void)
+{
+	// WARNING: The GPMC runs at the L3 clock frequency!
+	// It is not well documented, but that frequency seems to be 200MHz on the AM335x series of chips
+
+	gpmc_mapregisters();
+
+	if (gpmc != NULL) {
+		int chipselect = 0;
+		int displacement = GPMC_CHIPSELECTCONFIGDISPLACEMENT * chipselect;
+
+		// disable before playing with the registers
+		*(gpmc + displacement + GPMC_CONFIG7) = 0x00000000;
+
+		*(gpmc + displacement + GPMC_CONFIG)  = 0x00000000; // Unlimited address space
+		*(gpmc + displacement + GPMC_CONFIG1) = 0x00000000; // No burst, async, 8-bit, non multiplexed
+
+// 		// 200MHz compatible SRAM device
+// 		*(gpmc + displacement + GPMC_CONFIG2) = 0x00000800; // Assert CS on fclk 0, deassert CS on fclk 8
+// 		*(gpmc + displacement + GPMC_CONFIG3) = 0x00000200; // Assert ADV on fclk0, deassert ADV on fclk2
+// 		*(gpmc + displacement + GPMC_CONFIG4) = 0x06020802; // Assert WE on fclk2, deassert WE on fclk6, assert OE on fclk2, deassert OE on fclk8
+// 		*(gpmc + displacement + GPMC_CONFIG5) = 0x00060808; // Data valid on fclk 6, cycle time 8 fclks
+
+		// 100MHz compatible SRAM device
+		*(gpmc + displacement + GPMC_CONFIG2) = 0x00001000; // Assert CS on fclk0, deassert CS on fclk16
+		*(gpmc + displacement + GPMC_CONFIG3) = 0x00000400; // Assert ADV on fclk 0, deassert ADV on fclk 4
+		*(gpmc + displacement + GPMC_CONFIG4) = 0x0c041004; // Assert WE on fclk4, deassert WE on fclk12, assert OE on fclk4, deassert OE on fclk16
+		*(gpmc + displacement + GPMC_CONFIG5) = 0x000c1010; // Data valid on fclk 12, cycle time 16 fclks
+
+		*(gpmc + displacement + GPMC_CONFIG6) = 0x00000000; // No back to back cycle restrictions
+		*(gpmc + displacement + GPMC_CONFIG7) = 0x00000e50; // CS0: Set base address 0x10000000, 32MB region, and enable CS
+
+		gpmc_unmapregisters();
+	}
+}
+
+static void io_setup(void)
+{
+	printf("sizeof int:\t%d\n", sizeof(int));
+
+	/* open /dev/mem */
+	if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
+		printf("can't open /dev/mem \n");
+		exit (-1);
+	}
+
+	/* mmap GPIO */
+	gpio_map = (char *)mmap(
+		0,
+		MEMORY_SIZE,
+		PROT_READ|PROT_WRITE,
+		MAP_SHARED,
+		mem_fd,
+		0x10000000
+	);
+
+	if (gpio_map == MAP_FAILED) {
+		printf("mmap error %d\n", (int)gpio_map);
+		exit (-1);
+	}
+
+	// Always use volatile pointer!
+	gpio = (volatile unsigned *)gpio_map;
+	gpio_char = (volatile unsigned char *)gpio_map;
+
+	// Select a test from the following blocks of code...
+
+// 	// DEBUG ONLY
+// 	// Clear out the mapped memory
+// 	int i;
+// 	for (i=0;i<0x3ff; i++) {
+// 		*(gpio + i) = 0x00000000;
+// 	}
+
+	// DEBUG ONLY
+	// Fill the mapped memory with a test pattern
+// 	int j;
+// 	for (j=0;j<0x00001000; j++) {
+// 		*(gpio + j) = j;
+// 	}
+// 	int j;
+// 	for (j=0;j<0x3ff; j++) {
+// 		*(gpio + j) = j;
+// 	}
+	int j;
+	for (j=0;j<MEMORY_SIZE; j++) {
+		*(gpio_char + j) = ((unsigned char)j);
+	}
+
+	// DEBUG ONLY
+	// Prints the contents of the mapped memory
+	int k;
+	for (k=0;k<(MEMORY_SIZE/4); k++) {
+		printf("0x%08x\t%08x\n", k, *(gpio + k));
+	}
+	fflush(stdout);
+
+// 	// DEBUG ONLY
+// 	// Excercise the memory space
+// 	int l;
+// 	while (1) {
+// 		for (l=0;l<(MEMORY_SIZE/4); l++) {
+// 			k = *(gpio + l);
+// 		}
+// 	}
+
+// 	while (1) {
+// 		printf("0x%08x\t0x%08x\t0x%08x\t0x%08x\r", *(gpio + 0), *(gpio + 1), *(gpio + 2), *(gpio + 3));
+// 		usleep(1);
+// 	}
+
+// 	while (1) {
+// 		printf("0x%08x\t0x%08x\t0x%08x\t0x%08x\r", *(gpio + 3), *(gpio + 2), *(gpio + 1), *(gpio + 0));
+// 		usleep(1);
+// 	}
+
+// 	printf("0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\n\r", *(gpio_char + 0), *(gpio_char + 0), *(gpio_char + 0), *(gpio_char + 0), *(gpio_char + 0), *(gpio_char + 0), *(gpio_char + 0), *(gpio_char + 0));
+// 
+	while (1) {
+//		printf("0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\r", *(gpio_char + 0), *(gpio_char + 1), *(gpio_char + 2), *(gpio_char + 3), *(gpio_char + 4), *(gpio_char + 5), *(gpio_char + 6), *(gpio_char + 7));
+//		printf("0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\r", *(gpio_char + 0), *(gpio_char + 1), *(gpio_char + 2), *(gpio_char + 3), *(gpio_char + 0x1000), *(gpio_char + 0x1001), *(gpio_char + 0x1002), *(gpio_char + 0x1003));
+		printf("0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\r", *(gpio_char + 0), *(gpio_char + 1), *(gpio_char + 2), *(gpio_char + 3), *(gpio_char + 0x4000), *(gpio_char + 0x4001), *(gpio_char + 0x4002), *(gpio_char + 0x4003));
+// 		printf("0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\t0x%02x\r", *(gpio_char + 0x4000), *(gpio_char + 0x4001), *(gpio_char + 0x4002), *(gpio_char + 0x4003), *(gpio_char + 0x4000), *(gpio_char + 0x4001), *(gpio_char + 0x4002), *(gpio_char + 0x4003));
+		usleep(10);
+	}
+}
+
+static void io_shutdown(void)
+{
+	//
+}
+
+/** END: Low-Level I/O Implementation **/
+
+int main(int argc, char **argv)
+{
+	gpmc_setup();
+	printf("GPMC setup complete!\n"); fflush(stdout);
+	io_setup();
+	return 0;
+}
+