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   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2 /*
   3  * Bitbang driver for Linux GPIO descriptors through libgpiod
   4  * Copyright (C) 2020 Antonio Borneo <borneo.antonio@gmail.com>
   5  *
   6  * Largely based on sysfsgpio driver
   7  * Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au
   8  * Copyright (C) 2014 by Jean-Christian de Rivaz <jc@eclis.ch>
   9  * Copyright (C) 2014 by Paul Fertser <fercerpav@gmail.com>
  10  */
  11
  12 #ifdef HAVE_CONFIG_H
  13 #include "config.h"
  14 #endif
  15
  16 #include <gpiod.h>
  17 #include <jtag/interface.h>
  18 #include <transport/transport.h>
  19 #include "bitbang.h"
  20
  21 /* gpio numbers for each gpio. Negative values are invalid */
  22 static int tck_gpio = -1;
  23 static int tms_gpio = -1;
  24 static int tdi_gpio = -1;
  25 static int tdo_gpio = -1;
  26 static int trst_gpio = -1;
  27 static int srst_gpio = -1;
  28 static int swclk_gpio = -1;
  29 static int swdio_gpio = -1;
  30 static int swdio_dir_gpio = -1;
  31 static int led_gpio = -1;
  32 static int gpiochip = -1;
  33 static int tck_gpiochip = -1;
  34 static int tms_gpiochip = -1;
  35 static int tdi_gpiochip = -1;
  36 static int tdo_gpiochip = -1;
  37 static int trst_gpiochip = -1;
  38 static int srst_gpiochip = -1;
  39 static int swclk_gpiochip = -1;
  40 static int swdio_gpiochip = -1;
  41 static int swdio_dir_gpiochip = -1;
  42 static int led_gpiochip = -1;
  43
  44 static struct gpiod_chip *gpiod_chip_tck;
  45 static struct gpiod_chip *gpiod_chip_tms;
  46 static struct gpiod_chip *gpiod_chip_tdi;
  47 static struct gpiod_chip *gpiod_chip_tdo;
  48 static struct gpiod_chip *gpiod_chip_trst;
  49 static struct gpiod_chip *gpiod_chip_srst;
  50 static struct gpiod_chip *gpiod_chip_swclk;
  51 static struct gpiod_chip *gpiod_chip_swdio;
  52 static struct gpiod_chip *gpiod_chip_swdio_dir;
  53 static struct gpiod_chip *gpiod_chip_led;
  54
  55 static struct gpiod_line *gpiod_tck;
  56 static struct gpiod_line *gpiod_tms;
  57 static struct gpiod_line *gpiod_tdi;
  58 static struct gpiod_line *gpiod_tdo;
  59 static struct gpiod_line *gpiod_trst;
  60 static struct gpiod_line *gpiod_swclk;
  61 static struct gpiod_line *gpiod_swdio;
  62 static struct gpiod_line *gpiod_swdio_dir;
  63 static struct gpiod_line *gpiod_srst;
  64 static struct gpiod_line *gpiod_led;
  65
  66 static int last_swclk;
  67 static int last_swdio;
  68 static bool last_stored;
  69 static bool swdio_input;
  70 static bool swdio_dir_is_active_high = true;
  71
  72 /* Bitbang interface read of TDO */
  73 static bb_value_t linuxgpiod_read(void)
  74 {
  75         int retval;
  76
  77         retval = gpiod_line_get_value(gpiod_tdo);
  78         if (retval < 0) {
  79                 LOG_WARNING("reading tdo failed");
  80                 return 0;
  81         }
  82
  83         return retval ? BB_HIGH : BB_LOW;
  84 }
  85
  86 /*
  87  * Bitbang interface write of TCK, TMS, TDI
  88  *
  89  * Seeing as this is the only function where the outputs are changed,
  90  * we can cache the old value to avoid needlessly writing it.
  91  */
  92 static int linuxgpiod_write(int tck, int tms, int tdi)
  93 {
  94         static int last_tck;
  95         static int last_tms;
  96         static int last_tdi;
  97
  98         static int first_time;
  99
 100         int retval;
 101
 102         if (!first_time) {
 103                 last_tck = !tck;
 104                 last_tms = !tms;
 105                 last_tdi = !tdi;
 106                 first_time = 1;
 107         }
 108
 109         if (tdi != last_tdi) {
 110                 retval = gpiod_line_set_value(gpiod_tdi, tdi);
 111                 if (retval < 0)
 112                         LOG_WARNING("writing tdi failed");
 113         }
 114
 115         if (tms != last_tms) {
 116                 retval = gpiod_line_set_value(gpiod_tms, tms);
 117                 if (retval < 0)
 118                         LOG_WARNING("writing tms failed");
 119         }
 120
 121         /* write clk last */
 122         if (tck != last_tck) {
 123                 retval = gpiod_line_set_value(gpiod_tck, tck);
 124                 if (retval < 0)
 125                         LOG_WARNING("writing tck failed");
 126         }
 127
 128         last_tdi = tdi;
 129         last_tms = tms;
 130         last_tck = tck;
 131
 132         return ERROR_OK;
 133 }
 134
 135 static int linuxgpiod_swdio_read(void)
 136 {
 137         int retval;
 138
 139         retval = gpiod_line_get_value(gpiod_swdio);
 140         if (retval < 0) {
 141                 LOG_WARNING("Fail read swdio");
 142                 return 0;
 143         }
 144
 145         return retval;
 146 }
 147
 148 static void linuxgpiod_swdio_drive(bool is_output)
 149 {
 150         int retval;
 151
 152         /*
 153          * FIXME: change direction requires release and re-require the line
 154          * https://stackoverflow.com/questions/58735140/
 155          * this would change in future libgpiod
 156          */
 157         gpiod_line_release(gpiod_swdio);
 158
 159         if (is_output) {
 160                 if (gpiod_swdio_dir) {
 161                         retval = gpiod_line_set_value(gpiod_swdio_dir, swdio_dir_is_active_high ? 1 : 0);
 162                         if (retval < 0)
 163                                 LOG_WARNING("Fail set swdio_dir");
 164                 }
 165                 retval = gpiod_line_request_output(gpiod_swdio, "OpenOCD", 1);
 166                 if (retval < 0)
 167                         LOG_WARNING("Fail request_output line swdio");
 168         } else {
 169                 retval = gpiod_line_request_input(gpiod_swdio, "OpenOCD");
 170                 if (retval < 0)
 171                         LOG_WARNING("Fail request_input line swdio");
 172                 if (gpiod_swdio_dir) {
 173                         retval = gpiod_line_set_value(gpiod_swdio_dir, swdio_dir_is_active_high ? 0 : 1);
 174                         if (retval < 0)
 175                                 LOG_WARNING("Fail set swdio_dir");
 176                 }
 177         }
 178
 179         last_stored = false;
 180         swdio_input = !is_output;
 181 }
 182
 183 static int linuxgpiod_swd_write(int swclk, int swdio)
 184 {
 185         int retval;
 186
 187         if (!swdio_input) {
 188                 if (!last_stored || (swdio != last_swdio)) {
 189                         retval = gpiod_line_set_value(gpiod_swdio, swdio);
 190                         if (retval < 0)
 191                                 LOG_WARNING("Fail set swdio");
 192                 }
 193         }
 194
 195         /* write swclk last */
 196         if (!last_stored || (swclk != last_swclk)) {
 197                 retval = gpiod_line_set_value(gpiod_swclk, swclk);
 198                 if (retval < 0)
 199                         LOG_WARNING("Fail set swclk");
 200         }
 201
 202         last_swdio = swdio;
 203         last_swclk = swclk;
 204         last_stored = true;
 205
 206         return ERROR_OK;
 207 }
 208
 209 static int linuxgpiod_blink(int on)
 210 {
 211         int retval;
 212
 213         if (!gpiod_led)
 214                 return ERROR_OK;
 215
 216         retval = gpiod_line_set_value(gpiod_led, on);
 217         if (retval < 0)
 218                 LOG_WARNING("Fail set led");
 219         return retval;
 220 }
 221
 222 static struct bitbang_interface linuxgpiod_bitbang = {
 223         .read = linuxgpiod_read,
 224         .write = linuxgpiod_write,
 225         .swdio_read = linuxgpiod_swdio_read,
 226         .swdio_drive = linuxgpiod_swdio_drive,
 227         .swd_write = linuxgpiod_swd_write,
 228         .blink = linuxgpiod_blink,
 229 };
 230
 231 /*
 232  * Bitbang interface to manipulate reset lines SRST and TRST
 233  *
 234  * (1) assert or (0) deassert reset lines
 235  */
 236 static int linuxgpiod_reset(int trst, int srst)
 237 {
 238         int retval1 = 0, retval2 = 0;
 239
 240         LOG_DEBUG("linuxgpiod_reset");
 241
 242         /* assume active low */
 243         if (gpiod_srst) {
 244                 retval1 = gpiod_line_set_value(gpiod_srst, srst ? 0 : 1);
 245                 if (retval1 < 0)
 246                         LOG_WARNING("set srst value failed");
 247         }
 248
 249         /* assume active low */
 250         if (gpiod_trst) {
 251                 retval2 = gpiod_line_set_value(gpiod_trst, trst ? 0 : 1);
 252                 if (retval2 < 0)
 253                         LOG_WARNING("set trst value failed");
 254         }
 255
 256         return ((retval1 < 0) || (retval2 < 0)) ? ERROR_FAIL : ERROR_OK;
 257 }
 258
 259 /*
 260  * Helper function to determine if gpio number is valid
 261  *
 262  * Assume here that there will be less than 10000 gpios per gpiochip
 263  */
 264 static bool is_gpio_valid(int gpio)
 265 {
 266         return gpio >= 0 && gpio < 10000;
 267 }
 268
 269 static bool linuxgpiod_jtag_mode_possible(void)
 270 {
 271         if (!is_gpio_valid(tck_gpio))
 272                 return false;
 273         if (!is_gpio_valid(tms_gpio))
 274                 return false;
 275         if (!is_gpio_valid(tdi_gpio))
 276                 return false;
 277         if (!is_gpio_valid(tdo_gpio))
 278                 return false;
 279         return true;
 280 }
 281
 282 static bool linuxgpiod_swd_mode_possible(void)
 283 {
 284         if (!is_gpio_valid(swclk_gpio))
 285                 return false;
 286         if (!is_gpio_valid(swdio_gpio))
 287                 return false;
 288         return true;
 289 }
 290
 291 static inline void helper_release(struct gpiod_line *line)
 292 {
 293         if (line)
 294                 gpiod_line_release(line);
 295 }
 296
 297 static int linuxgpiod_quit(void)
 298 {
 299         helper_release(gpiod_led);
 300         helper_release(gpiod_srst);
 301         helper_release(gpiod_swdio);
 302         helper_release(gpiod_swclk);
 303         helper_release(gpiod_trst);
 304         helper_release(gpiod_tms);
 305         helper_release(gpiod_tck);
 306         helper_release(gpiod_tdi);
 307         helper_release(gpiod_tdo);
 308
 309         if (gpiod_chip_led != NULL)
 310                 gpiod_chip_close(gpiod_chip_led);
 311         if (gpiod_chip_srst != NULL)
 312                 gpiod_chip_close(gpiod_chip_srst);
 313         if (gpiod_chip_swdio != NULL)
 314                 gpiod_chip_close(gpiod_chip_swdio);
 315         if (gpiod_chip_swdio_dir != NULL)
 316                 gpiod_chip_close(gpiod_chip_swdio_dir);
 317         if (gpiod_chip_swclk != NULL)
 318                 gpiod_chip_close(gpiod_chip_swclk);
 319         if (gpiod_chip_trst != NULL)
 320                 gpiod_chip_close(gpiod_chip_trst);
 321         if (gpiod_chip_tms != NULL)
 322                 gpiod_chip_close(gpiod_chip_tms);
 323         if (gpiod_chip_tck != NULL)
 324                 gpiod_chip_close(gpiod_chip_tck);
 325         if (gpiod_chip_tdi != NULL)
 326                 gpiod_chip_close(gpiod_chip_tdi);
 327         if (gpiod_chip_tdo != NULL)
 328                 gpiod_chip_close(gpiod_chip_tdo);
 329
 330         return ERROR_OK;
 331 }
 332
 333 static struct gpiod_line *helper_get_line(const char *label,
 334                 struct gpiod_chip *gpiod_chip, unsigned int offset,
 335                 int val, int dir, int flags)
 336 {
 337         struct gpiod_line *line;
 338         int retval;
 339
 340         line = gpiod_chip_get_line(gpiod_chip, offset);
 341         if (!line) {
 342                 LOG_ERROR("Error get line %s", label);
 343                 return NULL;
 344         }
 345
 346         struct gpiod_line_request_config config = {
 347                 .consumer = "OpenOCD",
 348                 .request_type = dir,
 349                 .flags = flags,
 350         };
 351
 352         retval = gpiod_line_request(line, &config, val);
 353         if (retval < 0) {
 354                 LOG_ERROR("Error requesting gpio line %s", label);
 355                 return NULL;
 356         }
 357
 358         return line;
 359 }
 360
 361 static struct gpiod_line *helper_get_input_line(const char *label,
 362                 struct gpiod_chip *gpiod_chip, unsigned int offset)
 363 {
 364         return helper_get_line(label, gpiod_chip, offset, 0,
 365                         GPIOD_LINE_REQUEST_DIRECTION_INPUT, 0);
 366 }
 367
 368 static struct gpiod_line *helper_get_output_line(const char *label,
 369                 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
 370 {
 371         return helper_get_line(label, gpiod_chip, offset, val,
 372                         GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, 0);
 373 }
 374
 375 static struct gpiod_line *helper_get_open_drain_output_line(const char *label,
 376                 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
 377 {
 378         return helper_get_line(label, gpiod_chip, offset, val,
 379                         GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, GPIOD_LINE_REQUEST_FLAG_OPEN_DRAIN);
 380 }
 381
 382 static int linuxgpiod_init(void)
 383 {
 384         LOG_INFO("Linux GPIOD JTAG/SWD bitbang driver");
 385
 386         bitbang_interface = &linuxgpiod_bitbang;
 387
 388         /*
 389          * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
 390          * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
 391          * For SWD, SWCLK and SWDIO are configures as output high.
 392          */
 393
 394         if (transport_is_jtag()) {
 395                 if (!linuxgpiod_jtag_mode_possible()) {
 396                         LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 397                         goto out_error;
 398                 }
 399
 400                 gpiod_chip_tdo = gpiod_chip_open_by_number(tdo_gpiochip);
 401                 if (!gpiod_chip_tdo) {
 402                         LOG_ERROR("Cannot open LinuxGPIOD tdo_gpiochip %d", tdo_gpiochip);
 403                         goto out_error;
 404                 }
 405                 gpiod_chip_tdi = gpiod_chip_open_by_number(tdi_gpiochip);
 406                 if (!gpiod_chip_tdi) {
 407                         LOG_ERROR("Cannot open LinuxGPIOD tdi_gpiochip %d", tdi_gpiochip);
 408                         goto out_error;
 409                 }
 410                 gpiod_chip_tck = gpiod_chip_open_by_number(tck_gpiochip);
 411                 if (!gpiod_chip_tck) {
 412                         LOG_ERROR("Cannot open LinuxGPIOD tck_gpiochip %d", tck_gpiochip);
 413                         goto out_error;
 414                 }
 415                 gpiod_chip_tms = gpiod_chip_open_by_number(tms_gpiochip);
 416                 if (!gpiod_chip_tms) {
 417                         LOG_ERROR("Cannot open LinuxGPIOD tms_gpiochip %d", tms_gpiochip);
 418                         goto out_error;
 419                 }
 420
 421                 gpiod_tdo = helper_get_input_line("tdo", gpiod_chip_tdo, tdo_gpio);
 422                 if (!gpiod_tdo)
 423                         goto out_error;
 424
 425                 gpiod_tdi = helper_get_output_line("tdi", gpiod_chip_tdi, tdi_gpio, 0);
 426                 if (!gpiod_tdi)
 427                         goto out_error;
 428
 429                 gpiod_tck = helper_get_output_line("tck", gpiod_chip_tck, tck_gpio, 0);
 430                 if (!gpiod_tck)
 431                         goto out_error;
 432
 433                 gpiod_tms = helper_get_output_line("tms", gpiod_chip_tms, tms_gpio, 1);
 434                 if (!gpiod_tms)
 435                         goto out_error;
 436
 437                 if (is_gpio_valid(trst_gpio)) {
 438                         gpiod_chip_trst = gpiod_chip_open_by_number(trst_gpiochip);
 439                         if (!gpiod_chip_trst) {
 440                                 LOG_ERROR("Cannot open LinuxGPIOD trst_gpiochip %d", trst_gpiochip);
 441                                 goto out_error;
 442                         }
 443
 444                         if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 445                                 gpiod_trst = helper_get_open_drain_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
 446                         else
 447                                 gpiod_trst = helper_get_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
 448
 449                         if (!gpiod_trst)
 450                                 goto out_error;
 451                 }
 452         }
 453
 454         if (transport_is_swd()) {
 455                 if (!linuxgpiod_swd_mode_possible()) {
 456                         LOG_ERROR("Require swclk and swdio gpio for SWD mode");
 457                         goto out_error;
 458                 }
 459
 460                 gpiod_chip_swclk = gpiod_chip_open_by_number(swclk_gpiochip);
 461                 if (!gpiod_chip_swclk) {
 462                         LOG_ERROR("Cannot open LinuxGPIOD swclk_gpiochip %d", swclk_gpiochip);
 463                         goto out_error;
 464                 }
 465                 gpiod_chip_swdio = gpiod_chip_open_by_number(swdio_gpiochip);
 466                 if (!gpiod_chip_swdio) {
 467                         LOG_ERROR("Cannot open LinuxGPIOD swdio_gpiochip %d", swdio_gpiochip);
 468                         goto out_error;
 469                 }
 470
 471                 if (is_gpio_valid(swdio_dir_gpio)) {
 472                         gpiod_chip_swdio_dir = gpiod_chip_open_by_number(swdio_dir_gpiochip);
 473                         if (!gpiod_chip_swdio_dir) {
 474                                 LOG_ERROR("Cannot open LinuxGPIOD swdio_dir_gpiochip %d", swdio_dir_gpiochip);
 475                                 goto out_error;
 476                         }
 477                 }
 478
 479                 gpiod_swclk = helper_get_output_line("swclk", gpiod_chip_swclk, swclk_gpio, 1);
 480                 if (!gpiod_swclk)
 481                         goto out_error;
 482
 483                 /* Set buffer direction before making SWDIO an output */
 484                 if (is_gpio_valid(swdio_dir_gpio)) {
 485                         gpiod_swdio_dir = helper_get_output_line("swdio_dir", gpiod_chip_swdio_dir, swdio_dir_gpio,
 486                                         swdio_dir_is_active_high ? 1 : 0);
 487                         if (!gpiod_swdio_dir)
 488                                 goto out_error;
 489                 }
 490
 491                 gpiod_swdio = helper_get_output_line("swdio", gpiod_chip_swdio, swdio_gpio, 1);
 492                 if (!gpiod_swdio)
 493                         goto out_error;
 494         }
 495
 496         if (is_gpio_valid(srst_gpio)) {
 497                 gpiod_chip_srst = gpiod_chip_open_by_number(srst_gpiochip);
 498                 if (!gpiod_chip_srst) {
 499                         LOG_ERROR("Cannot open LinuxGPIOD srst_gpiochip %d", srst_gpiochip);
 500                         goto out_error;
 501                 }
 502
 503                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 504                         gpiod_srst = helper_get_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
 505                 else
 506                         gpiod_srst = helper_get_open_drain_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
 507
 508                 if (!gpiod_srst)
 509                         goto out_error;
 510         }
 511
 512         if (is_gpio_valid(led_gpio)) {
 513                 gpiod_chip_led = gpiod_chip_open_by_number(led_gpiochip);
 514                 if (!gpiod_chip_led) {
 515                         LOG_ERROR("Cannot open LinuxGPIOD led_gpiochip %d", led_gpiochip);
 516                         goto out_error;
 517                 }
 518
 519                 gpiod_led = helper_get_output_line("led", gpiod_chip_led, led_gpio, 0);
 520                 if (!gpiod_led)
 521                         goto out_error;
 522         }
 523
 524         return ERROR_OK;
 525
 526 out_error:
 527         linuxgpiod_quit();
 528
 529         return ERROR_JTAG_INIT_FAILED;
 530 }
 531
 532 COMMAND_HELPER(linuxgpiod_helper_gpionum, const char *name, int *chip, int *line)
 533 {
 534         int i = 0;
 535         if (CMD_ARGC > 2)
 536                 return ERROR_COMMAND_SYNTAX_ERROR;
 537         if (CMD_ARGC == 2) {
 538                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], *chip);
 539                 i = 1;
 540         }
 541         if (CMD_ARGC > 0)
 542                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[i], *line);
 543         command_print(CMD, "LinuxGPIOD %s: chip = %d, num = %d", name, *chip, *line);
 544         return ERROR_OK;
 545 }
 546
 547 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionums)
 548 {
 549         if (CMD_ARGC == 4) {
 550                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 551                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
 552                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
 553                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
 554         } else if (CMD_ARGC != 0) {
 555                 return ERROR_COMMAND_SYNTAX_ERROR;
 556         }
 557
 558         command_print(CMD,
 559                         "LinuxGPIOD nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
 560                         tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 561
 562         return ERROR_OK;
 563 }
 564
 565 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tck)
 566 {
 567         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tck", &tck_gpiochip,
 568                         &tck_gpio);
 569 }
 570
 571 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tms)
 572 {
 573         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tms", &tms_gpiochip,
 574                         &tms_gpio);
 575 }
 576
 577 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdo)
 578 {
 579         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdo", &tdo_gpiochip,
 580                         &tdo_gpio);
 581 }
 582
 583 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdi)
 584 {
 585         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdi", &tdi_gpiochip,
 586                         &tdi_gpio);
 587 }
 588
 589 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_srst)
 590 {
 591         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "srst", &srst_gpiochip,
 592                         &srst_gpio);
 593 }
 594
 595 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_trst)
 596 {
 597         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "trst", &trst_gpiochip,
 598                         &trst_gpio);
 599 }
 600
 601 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionums)
 602 {
 603         if (CMD_ARGC == 2) {
 604                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 605                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
 606         } else if (CMD_ARGC != 0) {
 607                 return ERROR_COMMAND_SYNTAX_ERROR;
 608         }
 609
 610         command_print(CMD,
 611                         "LinuxGPIOD nums: swclk = %d, swdio = %d",
 612                         swclk_gpio, swdio_gpio);
 613
 614         return ERROR_OK;
 615 }
 616
 617 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swclk)
 618 {
 619         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swclk", &swclk_gpiochip,
 620                         &swclk_gpio);
 621 }
 622
 623 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swdio)
 624 {
 625         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swdio", &swdio_gpiochip,
 626                         &swdio_gpio);
 627 }
 628
 629 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swdio_dir)
 630 {
 631         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swdio_dir", &swdio_dir_gpiochip,
 632                         &swdio_dir_gpio);
 633 }
 634
 635 COMMAND_HANDLER(linuxgpiod_handle_gpionum_led)
 636 {
 637         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "led", &led_gpiochip,
 638                         &led_gpio);
 639 }
 640
 641 COMMAND_HANDLER(linuxgpiod_handle_gpiochip)
 642 {
 643         if (CMD_ARGC == 1) {
 644                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], gpiochip);
 645                 tck_gpiochip = gpiochip;
 646                 tms_gpiochip = gpiochip;
 647                 tdi_gpiochip = gpiochip;
 648                 tdo_gpiochip = gpiochip;
 649                 trst_gpiochip = gpiochip;
 650                 srst_gpiochip = gpiochip;
 651                 swclk_gpiochip = gpiochip;
 652                 swdio_gpiochip = gpiochip;
 653                 swdio_dir_gpiochip = gpiochip;
 654                 led_gpiochip = gpiochip;
 655         }
 656
 657         command_print(CMD, "LinuxGPIOD gpiochip = %d", gpiochip);
 658         return ERROR_OK;
 659 }
 660
 661 static const struct command_registration linuxgpiod_subcommand_handlers[] = {
 662         {
 663                 .name = "jtag_nums",
 664                 .handler = linuxgpiod_handle_jtag_gpionums,
 665                 .mode = COMMAND_CONFIG,
 666                 .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
 667                 .usage = "tck tms tdi tdo",
 668         },
 669         {
 670                 .name = "tck_num",
 671                 .handler = linuxgpiod_handle_jtag_gpionum_tck,
 672                 .mode = COMMAND_CONFIG,
 673                 .help = "gpio chip number (optional) and gpio number for tck.",
 674                 .usage = "[chip] tck",
 675         },
 676         {
 677                 .name = "tms_num",
 678                 .handler = linuxgpiod_handle_jtag_gpionum_tms,
 679                 .mode = COMMAND_CONFIG,
 680                 .help = "gpio chip number (optional) and gpio number for tms.",
 681                 .usage = "[chip] tms",
 682         },
 683         {
 684                 .name = "tdo_num",
 685                 .handler = linuxgpiod_handle_jtag_gpionum_tdo,
 686                 .mode = COMMAND_CONFIG,
 687                 .help = "gpio chip number (optional) and gpio number for tdo.",
 688                 .usage = "[chip] tdo",
 689         },
 690         {
 691                 .name = "tdi_num",
 692                 .handler = linuxgpiod_handle_jtag_gpionum_tdi,
 693                 .mode = COMMAND_CONFIG,
 694                 .help = "gpio chip number (optional) and gpio number for tdi.",
 695                 .usage = "[chip] tdi",
 696         },
 697         {
 698                 .name = "srst_num",
 699                 .handler = linuxgpiod_handle_jtag_gpionum_srst,
 700                 .mode = COMMAND_CONFIG,
 701                 .help = "gpio chip number (optional) and gpio number for srst.",
 702                 .usage = "[chip] srst",
 703         },
 704         {
 705                 .name = "trst_num",
 706                 .handler = linuxgpiod_handle_jtag_gpionum_trst,
 707                 .mode = COMMAND_CONFIG,
 708                 .help = "gpio chip number (optional) and gpio number for trst.",
 709                 .usage = "[chip] trst",
 710         },
 711         {
 712                 .name = "swd_nums",
 713                 .handler = linuxgpiod_handle_swd_gpionums,
 714                 .mode = COMMAND_CONFIG,
 715                 .help = "gpio numbers for swclk, swdio. (in that order)",
 716                 .usage = "swclk swdio",
 717         },
 718         {
 719                 .name = "swclk_num",
 720                 .handler = linuxgpiod_handle_swd_gpionum_swclk,
 721                 .mode = COMMAND_CONFIG,
 722                 .help = "gpio chip number (optional) and gpio number for swclk.",
 723                 .usage = "[chip] swclk",
 724         },
 725         {
 726                 .name = "swdio_num",
 727                 .handler = linuxgpiod_handle_swd_gpionum_swdio,
 728                 .mode = COMMAND_CONFIG,
 729                 .help = "gpio chip number (optional) and gpio number for swdio.",
 730                 .usage = "[chip] swdio",
 731         },
 732         {
 733                 .name = "swdio_dir_num",
 734                 .handler = linuxgpiod_handle_swd_gpionum_swdio_dir,
 735                 .mode = COMMAND_CONFIG,
 736                 .help = "gpio chip number (optional) and gpio number for swdio_dir.",
 737                 .usage = "[chip] swdio_dir",
 738         },
 739         {
 740                 .name = "led_num",
 741                 .handler = linuxgpiod_handle_gpionum_led,
 742                 .mode = COMMAND_CONFIG,
 743                 .help = "gpio chip number (optional) and gpio number for LED.",
 744                 .usage = "[chip] led",
 745         },
 746         {
 747                 .name = "gpiochip",
 748                 .handler = linuxgpiod_handle_gpiochip,
 749                 .mode = COMMAND_CONFIG,
 750                 .help = "number of the gpiochip.",
 751                 .usage = "gpiochip",
 752         },
 753         COMMAND_REGISTRATION_DONE
 754 };
 755
 756 static const struct command_registration linuxgpiod_command_handlers[] = {
 757         {
 758                 .name = "linuxgpiod",
 759                 .mode = COMMAND_ANY,
 760                 .help = "perform linuxgpiod management",
 761                 .chain = linuxgpiod_subcommand_handlers,
 762                 .usage = "",
 763         },
 764         COMMAND_REGISTRATION_DONE
 765 };
 766
 767 static const char *const linuxgpiod_transport[] = { "swd", "jtag", NULL };
 768
 769 static struct jtag_interface linuxgpiod_interface = {
 770         .supported = DEBUG_CAP_TMS_SEQ,
 771         .execute_queue = bitbang_execute_queue,
 772 };
 773
 774 struct adapter_driver linuxgpiod_adapter_driver = {
 775         .name = "linuxgpiod",
 776         .transports = linuxgpiod_transport,
 777         .commands = linuxgpiod_command_handlers,
 778
 779         .init = linuxgpiod_init,
 780         .quit = linuxgpiod_quit,
 781         .reset = linuxgpiod_reset,
 782
 783         .jtag_ops = &linuxgpiod_interface,
 784         .swd_ops = &bitbang_swd,
 785 };