1 /* SPDX-License-Identifier: GPL-2.0-or-later */
3 * Bitbang driver for Linux GPIO descriptors through libgpiod
4 * Copyright (C) 2020 Antonio Borneo <borneo.antonio@gmail.com>
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>
17 #include <jtag/interface.h>
18 #include <transport/transport.h>
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 led_gpio = -1;
31 static int gpiochip = -1;
32 static int tck_gpiochip = -1;
33 static int tms_gpiochip = -1;
34 static int tdi_gpiochip = -1;
35 static int tdo_gpiochip = -1;
36 static int trst_gpiochip = -1;
37 static int srst_gpiochip = -1;
38 static int swclk_gpiochip = -1;
39 static int swdio_gpiochip = -1;
40 static int led_gpiochip = -1;
42 static struct gpiod_chip *gpiod_chip_tck;
43 static struct gpiod_chip *gpiod_chip_tms;
44 static struct gpiod_chip *gpiod_chip_tdi;
45 static struct gpiod_chip *gpiod_chip_tdo;
46 static struct gpiod_chip *gpiod_chip_trst;
47 static struct gpiod_chip *gpiod_chip_srst;
48 static struct gpiod_chip *gpiod_chip_swclk;
49 static struct gpiod_chip *gpiod_chip_swdio;
50 static struct gpiod_chip *gpiod_chip_led;
52 static struct gpiod_line *gpiod_tck;
53 static struct gpiod_line *gpiod_tms;
54 static struct gpiod_line *gpiod_tdi;
55 static struct gpiod_line *gpiod_tdo;
56 static struct gpiod_line *gpiod_trst;
57 static struct gpiod_line *gpiod_swclk;
58 static struct gpiod_line *gpiod_swdio;
59 static struct gpiod_line *gpiod_srst;
60 static struct gpiod_line *gpiod_led;
62 static int last_swclk;
63 static int last_swdio;
64 static bool last_stored;
65 static bool swdio_input;
67 /* Bitbang interface read of TDO */
68 static bb_value_t linuxgpiod_read(void)
72 retval = gpiod_line_get_value(gpiod_tdo);
74 LOG_WARNING("reading tdo failed");
78 return retval ? BB_HIGH : BB_LOW;
82 * Bitbang interface write of TCK, TMS, TDI
84 * Seeing as this is the only function where the outputs are changed,
85 * we can cache the old value to avoid needlessly writing it.
87 static int linuxgpiod_write(int tck, int tms, int tdi)
93 static int first_time;
104 if (tdi != last_tdi) {
105 retval = gpiod_line_set_value(gpiod_tdi, tdi);
107 LOG_WARNING("writing tdi failed");
110 if (tms != last_tms) {
111 retval = gpiod_line_set_value(gpiod_tms, tms);
113 LOG_WARNING("writing tms failed");
117 if (tck != last_tck) {
118 retval = gpiod_line_set_value(gpiod_tck, tck);
120 LOG_WARNING("writing tck failed");
130 static int linuxgpiod_swdio_read(void)
134 retval = gpiod_line_get_value(gpiod_swdio);
136 LOG_WARNING("Fail read swdio");
143 static void linuxgpiod_swdio_drive(bool is_output)
148 * FIXME: change direction requires release and re-require the line
149 * https://stackoverflow.com/questions/58735140/
150 * this would change in future libgpiod
152 gpiod_line_release(gpiod_swdio);
155 retval = gpiod_line_request_output(gpiod_swdio, "OpenOCD", 1);
157 LOG_WARNING("Fail request_output line swdio");
159 retval = gpiod_line_request_input(gpiod_swdio, "OpenOCD");
161 LOG_WARNING("Fail request_input line swdio");
165 swdio_input = !is_output;
168 static int linuxgpiod_swd_write(int swclk, int swdio)
173 if (!last_stored || (swdio != last_swdio)) {
174 retval = gpiod_line_set_value(gpiod_swdio, swdio);
176 LOG_WARNING("Fail set swdio");
180 /* write swclk last */
181 if (!last_stored || (swclk != last_swclk)) {
182 retval = gpiod_line_set_value(gpiod_swclk, swclk);
184 LOG_WARNING("Fail set swclk");
194 static int linuxgpiod_blink(int on)
201 retval = gpiod_line_set_value(gpiod_led, on);
203 LOG_WARNING("Fail set led");
207 static struct bitbang_interface linuxgpiod_bitbang = {
208 .read = linuxgpiod_read,
209 .write = linuxgpiod_write,
210 .swdio_read = linuxgpiod_swdio_read,
211 .swdio_drive = linuxgpiod_swdio_drive,
212 .swd_write = linuxgpiod_swd_write,
213 .blink = linuxgpiod_blink,
217 * Bitbang interface to manipulate reset lines SRST and TRST
219 * (1) assert or (0) deassert reset lines
221 static int linuxgpiod_reset(int trst, int srst)
223 int retval1 = 0, retval2 = 0;
225 LOG_DEBUG("linuxgpiod_reset");
227 /* assume active low */
229 retval1 = gpiod_line_set_value(gpiod_srst, srst ? 0 : 1);
231 LOG_WARNING("set srst value failed");
234 /* assume active low */
236 retval2 = gpiod_line_set_value(gpiod_trst, trst ? 0 : 1);
238 LOG_WARNING("set trst value failed");
241 return ((retval1 < 0) || (retval2 < 0)) ? ERROR_FAIL : ERROR_OK;
245 * Helper function to determine if gpio number is valid
247 * Assume here that there will be less than 10000 gpios per gpiochip
249 static bool is_gpio_valid(int gpio)
251 return gpio >= 0 && gpio < 10000;
254 static bool linuxgpiod_jtag_mode_possible(void)
256 if (!is_gpio_valid(tck_gpio))
258 if (!is_gpio_valid(tms_gpio))
260 if (!is_gpio_valid(tdi_gpio))
262 if (!is_gpio_valid(tdo_gpio))
267 static bool linuxgpiod_swd_mode_possible(void)
269 if (!is_gpio_valid(swclk_gpio))
271 if (!is_gpio_valid(swdio_gpio))
276 static inline void helper_release(struct gpiod_line *line)
279 gpiod_line_release(line);
282 static int linuxgpiod_quit(void)
284 helper_release(gpiod_led);
285 helper_release(gpiod_srst);
286 helper_release(gpiod_swdio);
287 helper_release(gpiod_swclk);
288 helper_release(gpiod_trst);
289 helper_release(gpiod_tms);
290 helper_release(gpiod_tck);
291 helper_release(gpiod_tdi);
292 helper_release(gpiod_tdo);
294 if (gpiod_chip_led != NULL)
295 gpiod_chip_close(gpiod_chip_led);
296 if (gpiod_chip_srst != NULL)
297 gpiod_chip_close(gpiod_chip_srst);
298 if (gpiod_chip_swdio != NULL)
299 gpiod_chip_close(gpiod_chip_swdio);
300 if (gpiod_chip_swclk != NULL)
301 gpiod_chip_close(gpiod_chip_swclk);
302 if (gpiod_chip_trst != NULL)
303 gpiod_chip_close(gpiod_chip_trst);
304 if (gpiod_chip_tms != NULL)
305 gpiod_chip_close(gpiod_chip_tms);
306 if (gpiod_chip_tck != NULL)
307 gpiod_chip_close(gpiod_chip_tck);
308 if (gpiod_chip_tdi != NULL)
309 gpiod_chip_close(gpiod_chip_tdi);
310 if (gpiod_chip_tdo != NULL)
311 gpiod_chip_close(gpiod_chip_tdo);
316 static struct gpiod_line *helper_get_line(const char *label,
317 struct gpiod_chip *gpiod_chip, unsigned int offset,
318 int val, int dir, int flags)
320 struct gpiod_line *line;
323 line = gpiod_chip_get_line(gpiod_chip, offset);
325 LOG_ERROR("Error get line %s", label);
329 struct gpiod_line_request_config config = {
330 .consumer = "OpenOCD",
335 retval = gpiod_line_request(line, &config, val);
337 LOG_ERROR("Error requesting gpio line %s", label);
344 static struct gpiod_line *helper_get_input_line(const char *label,
345 struct gpiod_chip *gpiod_chip, unsigned int offset)
347 return helper_get_line(label, gpiod_chip, offset, 0,
348 GPIOD_LINE_REQUEST_DIRECTION_INPUT, 0);
351 static struct gpiod_line *helper_get_output_line(const char *label,
352 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
354 return helper_get_line(label, gpiod_chip, offset, val,
355 GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, 0);
358 static struct gpiod_line *helper_get_open_drain_output_line(const char *label,
359 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
361 return helper_get_line(label, gpiod_chip, offset, val,
362 GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, GPIOD_LINE_REQUEST_FLAG_OPEN_DRAIN);
365 static int linuxgpiod_init(void)
367 LOG_INFO("Linux GPIOD JTAG/SWD bitbang driver");
369 bitbang_interface = &linuxgpiod_bitbang;
372 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
373 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
374 * For SWD, SWCLK and SWDIO are configures as output high.
377 if (transport_is_jtag()) {
378 if (!linuxgpiod_jtag_mode_possible()) {
379 LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
383 gpiod_chip_tdo = gpiod_chip_open_by_number(tdo_gpiochip);
384 if (!gpiod_chip_tdo) {
385 LOG_ERROR("Cannot open LinuxGPIOD tdo_gpiochip %d", tdo_gpiochip);
388 gpiod_chip_tdi = gpiod_chip_open_by_number(tdi_gpiochip);
389 if (!gpiod_chip_tdi) {
390 LOG_ERROR("Cannot open LinuxGPIOD tdi_gpiochip %d", tdi_gpiochip);
393 gpiod_chip_tck = gpiod_chip_open_by_number(tck_gpiochip);
394 if (!gpiod_chip_tck) {
395 LOG_ERROR("Cannot open LinuxGPIOD tck_gpiochip %d", tck_gpiochip);
398 gpiod_chip_tms = gpiod_chip_open_by_number(tms_gpiochip);
399 if (!gpiod_chip_tms) {
400 LOG_ERROR("Cannot open LinuxGPIOD tms_gpiochip %d", tms_gpiochip);
404 gpiod_tdo = helper_get_input_line("tdo", gpiod_chip_tdo, tdo_gpio);
408 gpiod_tdi = helper_get_output_line("tdi", gpiod_chip_tdi, tdi_gpio, 0);
412 gpiod_tck = helper_get_output_line("tck", gpiod_chip_tck, tck_gpio, 0);
416 gpiod_tms = helper_get_output_line("tms", gpiod_chip_tms, tms_gpio, 1);
420 if (is_gpio_valid(trst_gpio)) {
421 gpiod_chip_trst = gpiod_chip_open_by_number(trst_gpiochip);
422 if (!gpiod_chip_trst) {
423 LOG_ERROR("Cannot open LinuxGPIOD trst_gpiochip %d", trst_gpiochip);
427 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
428 gpiod_trst = helper_get_open_drain_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
430 gpiod_trst = helper_get_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
437 if (transport_is_swd()) {
438 if (!linuxgpiod_swd_mode_possible()) {
439 LOG_ERROR("Require swclk and swdio gpio for SWD mode");
443 gpiod_chip_swclk = gpiod_chip_open_by_number(swclk_gpiochip);
444 if (!gpiod_chip_swclk) {
445 LOG_ERROR("Cannot open LinuxGPIOD swclk_gpiochip %d", swclk_gpiochip);
448 gpiod_chip_swdio = gpiod_chip_open_by_number(swdio_gpiochip);
449 if (!gpiod_chip_swdio) {
450 LOG_ERROR("Cannot open LinuxGPIOD swdio_gpiochip %d", swdio_gpiochip);
454 gpiod_swclk = helper_get_output_line("swclk", gpiod_chip_swclk, swclk_gpio, 1);
458 gpiod_swdio = helper_get_output_line("swdio", gpiod_chip_swdio, swdio_gpio, 1);
463 if (is_gpio_valid(srst_gpio)) {
464 gpiod_chip_srst = gpiod_chip_open_by_number(srst_gpiochip);
465 if (!gpiod_chip_srst) {
466 LOG_ERROR("Cannot open LinuxGPIOD srst_gpiochip %d", srst_gpiochip);
470 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
471 gpiod_srst = helper_get_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
473 gpiod_srst = helper_get_open_drain_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
479 if (is_gpio_valid(led_gpio)) {
480 gpiod_chip_led = gpiod_chip_open_by_number(led_gpiochip);
481 if (!gpiod_chip_led) {
482 LOG_ERROR("Cannot open LinuxGPIOD led_gpiochip %d", led_gpiochip);
486 gpiod_led = helper_get_output_line("led", gpiod_chip_led, led_gpio, 0);
496 return ERROR_JTAG_INIT_FAILED;
499 COMMAND_HELPER(linuxgpiod_helper_gpionum, const char *name, int *chip, int *line)
503 return ERROR_COMMAND_SYNTAX_ERROR;
505 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], *chip);
509 COMMAND_PARSE_NUMBER(int, CMD_ARGV[i], *line);
510 command_print(CMD, "LinuxGPIOD %s: chip = %d, num = %d", name, *chip, *line);
514 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionums)
517 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
518 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
519 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
520 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
521 } else if (CMD_ARGC != 0) {
522 return ERROR_COMMAND_SYNTAX_ERROR;
526 "LinuxGPIOD nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
527 tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
532 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tck)
534 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tck", &tck_gpiochip,
538 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tms)
540 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tms", &tms_gpiochip,
544 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdo)
546 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdo", &tdo_gpiochip,
550 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdi)
552 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdi", &tdi_gpiochip,
556 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_srst)
558 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "srst", &srst_gpiochip,
562 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_trst)
564 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "trst", &trst_gpiochip,
568 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionums)
571 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
572 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
573 } else if (CMD_ARGC != 0) {
574 return ERROR_COMMAND_SYNTAX_ERROR;
578 "LinuxGPIOD nums: swclk = %d, swdio = %d",
579 swclk_gpio, swdio_gpio);
584 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swclk)
586 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swclk", &swclk_gpiochip,
590 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swdio)
592 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swdio", &swdio_gpiochip,
596 COMMAND_HANDLER(linuxgpiod_handle_gpionum_led)
598 return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "led", &led_gpiochip,
602 COMMAND_HANDLER(linuxgpiod_handle_gpiochip)
605 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], gpiochip);
606 tck_gpiochip = gpiochip;
607 tms_gpiochip = gpiochip;
608 tdi_gpiochip = gpiochip;
609 tdo_gpiochip = gpiochip;
610 trst_gpiochip = gpiochip;
611 srst_gpiochip = gpiochip;
612 swclk_gpiochip = gpiochip;
613 swdio_gpiochip = gpiochip;
614 led_gpiochip = gpiochip;
617 command_print(CMD, "LinuxGPIOD gpiochip = %d", gpiochip);
621 static const struct command_registration linuxgpiod_subcommand_handlers[] = {
624 .handler = linuxgpiod_handle_jtag_gpionums,
625 .mode = COMMAND_CONFIG,
626 .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
627 .usage = "tck tms tdi tdo",
631 .handler = linuxgpiod_handle_jtag_gpionum_tck,
632 .mode = COMMAND_CONFIG,
633 .help = "gpio chip number (optional) and gpio number for tck.",
634 .usage = "[chip] tck",
638 .handler = linuxgpiod_handle_jtag_gpionum_tms,
639 .mode = COMMAND_CONFIG,
640 .help = "gpio chip number (optional) and gpio number for tms.",
641 .usage = "[chip] tms",
645 .handler = linuxgpiod_handle_jtag_gpionum_tdo,
646 .mode = COMMAND_CONFIG,
647 .help = "gpio chip number (optional) and gpio number for tdo.",
648 .usage = "[chip] tdo",
652 .handler = linuxgpiod_handle_jtag_gpionum_tdi,
653 .mode = COMMAND_CONFIG,
654 .help = "gpio chip number (optional) and gpio number for tdi.",
655 .usage = "[chip] tdi",
659 .handler = linuxgpiod_handle_jtag_gpionum_srst,
660 .mode = COMMAND_CONFIG,
661 .help = "gpio chip number (optional) and gpio number for srst.",
662 .usage = "[chip] srst",
666 .handler = linuxgpiod_handle_jtag_gpionum_trst,
667 .mode = COMMAND_CONFIG,
668 .help = "gpio chip number (optional) and gpio number for trst.",
669 .usage = "[chip] trst",
673 .handler = linuxgpiod_handle_swd_gpionums,
674 .mode = COMMAND_CONFIG,
675 .help = "gpio numbers for swclk, swdio. (in that order)",
676 .usage = "swclk swdio",
680 .handler = linuxgpiod_handle_swd_gpionum_swclk,
681 .mode = COMMAND_CONFIG,
682 .help = "gpio chip number (optional) and gpio number for swclk.",
683 .usage = "[chip] swclk",
687 .handler = linuxgpiod_handle_swd_gpionum_swdio,
688 .mode = COMMAND_CONFIG,
689 .help = "gpio chip number (optional) and gpio number for swdio.",
690 .usage = "[chip] swdio",
694 .handler = linuxgpiod_handle_gpionum_led,
695 .mode = COMMAND_CONFIG,
696 .help = "gpio chip number (optional) and gpio number for LED.",
697 .usage = "[chip] led",
701 .handler = linuxgpiod_handle_gpiochip,
702 .mode = COMMAND_CONFIG,
703 .help = "number of the gpiochip.",
706 COMMAND_REGISTRATION_DONE
709 static const struct command_registration linuxgpiod_command_handlers[] = {
711 .name = "linuxgpiod",
713 .help = "perform linuxgpiod management",
714 .chain = linuxgpiod_subcommand_handlers,
717 COMMAND_REGISTRATION_DONE
720 static const char *const linuxgpiod_transport[] = { "swd", "jtag", NULL };
722 static struct jtag_interface linuxgpiod_interface = {
723 .supported = DEBUG_CAP_TMS_SEQ,
724 .execute_queue = bitbang_execute_queue,
727 struct adapter_driver linuxgpiod_adapter_driver = {
728 .name = "linuxgpiod",
729 .transports = linuxgpiod_transport,
730 .commands = linuxgpiod_command_handlers,
732 .init = linuxgpiod_init,
733 .quit = linuxgpiod_quit,
734 .reset = linuxgpiod_reset,
736 .jtag_ops = &linuxgpiod_interface,
737 .swd_ops = &bitbang_swd,