X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fbcm2835gpio.c;h=f1538dda7f13a7b91db4457c001f579e48a460aa;hb=0dd969d83badb6793519ee99dd8ab8579d5f59df;hp=0bbbc6fced2f5d75f80d0f9b12697a4f92d3e0b9;hpb=e643a494d46c571711ccba361ad20faaf6f6503c;p=fw%2Fopenocd diff --git a/src/jtag/drivers/bcm2835gpio.c b/src/jtag/drivers/bcm2835gpio.c index 0bbbc6fce..f1538dda7 100644 --- a/src/jtag/drivers/bcm2835gpio.c +++ b/src/jtag/drivers/bcm2835gpio.c @@ -12,6 +12,7 @@ #include "config.h" #endif +#include #include #include #include "bitbang.h" @@ -24,13 +25,17 @@ uint32_t bcm2835_peri_base = 0x20000000; #define BCM2835_PADS_GPIO_0_27 (bcm2835_peri_base + 0x100000) #define BCM2835_PADS_GPIO_0_27_OFFSET (0x2c / 4) +/* See "GPIO Function Select Registers (GPFSELn)" in "Broadcom BCM2835 ARM Peripherals" datasheet. */ +#define BCM2835_GPIO_MODE_INPUT 0 +#define BCM2835_GPIO_MODE_OUTPUT 1 + /* GPIO setup macros */ #define MODE_GPIO(g) (*(pio_base+((g)/10))>>(((g)%10)*3) & 7) #define INP_GPIO(g) do { *(pio_base+((g)/10)) &= ~(7<<(((g)%10)*3)); } while (0) #define SET_MODE_GPIO(g, m) do { /* clear the mode bits first, then set as necessary */ \ INP_GPIO(g); \ *(pio_base+((g)/10)) |= ((m)<<(((g)%10)*3)); } while (0) -#define OUT_GPIO(g) SET_MODE_GPIO(g, 1) +#define OUT_GPIO(g) SET_MODE_GPIO(g, BCM2835_GPIO_MODE_OUTPUT) #define GPIO_SET (*(pio_base+7)) /* sets bits which are 1, ignores bits which are 0 */ #define GPIO_CLR (*(pio_base+10)) /* clears bits which are 1, ignores bits which are 0 */ @@ -40,64 +45,109 @@ static int dev_mem_fd; static volatile uint32_t *pio_base = MAP_FAILED; static volatile uint32_t *pads_base = MAP_FAILED; -static bb_value_t bcm2835gpio_read(void); -static int bcm2835gpio_write(int tck, int tms, int tdi); - -static int bcm2835_swdio_read(void); -static void bcm2835_swdio_drive(bool is_output); -static int bcm2835gpio_swd_write(int swclk, int swdio); - -static int bcm2835gpio_init(void); -static int bcm2835gpio_quit(void); - -static struct bitbang_interface bcm2835gpio_bitbang = { - .read = bcm2835gpio_read, - .write = bcm2835gpio_write, - .swdio_read = bcm2835_swdio_read, - .swdio_drive = bcm2835_swdio_drive, - .swd_write = bcm2835gpio_swd_write, - .blink = NULL -}; - -/* GPIO numbers for each signal. Negative values are invalid */ -static int tck_gpio = -1; -static int tck_gpio_mode; -static int tms_gpio = -1; -static int tms_gpio_mode; -static int tdi_gpio = -1; -static int tdi_gpio_mode; -static int tdo_gpio = -1; -static int tdo_gpio_mode; -static int trst_gpio = -1; -static int trst_gpio_mode; -static int srst_gpio = -1; -static int srst_gpio_mode; -static int swclk_gpio = -1; -static int swclk_gpio_mode; -static int swdio_gpio = -1; -static int swdio_gpio_mode; -static int swdio_dir_gpio = -1; -static int swdio_dir_gpio_mode; - /* Transition delay coefficients */ static int speed_coeff = 113714; static int speed_offset = 28; static unsigned int jtag_delay; -static int is_gpio_valid(int gpio) +static const struct adapter_gpio_config *adapter_gpio_config; +static int initial_gpio_mode[ADAPTER_GPIO_IDX_NUM]; + +static bool is_gpio_config_valid(enum adapter_gpio_config_index idx) { - return gpio >= 0 && gpio <= 31; + /* Only chip 0 is supported, accept unset value (-1) too */ + return adapter_gpio_config[idx].chip_num >= -1 + && adapter_gpio_config[idx].chip_num <= 0 + && adapter_gpio_config[idx].gpio_num >= 0 + && adapter_gpio_config[idx].gpio_num <= 31; +} + +static void set_gpio_value(const struct adapter_gpio_config *gpio_config, int value) +{ + value = value ^ (gpio_config->active_low ? 1 : 0); + switch (gpio_config->drive) { + case ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL: + if (value) + GPIO_SET = 1 << gpio_config->gpio_num; + else + GPIO_CLR = 1 << gpio_config->gpio_num; + /* For performance reasons assume the GPIO is already set as an output + * and therefore the call can be omitted here. + */ + break; + case ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN: + if (value) { + INP_GPIO(gpio_config->gpio_num); + } else { + GPIO_CLR = 1 << gpio_config->gpio_num; + OUT_GPIO(gpio_config->gpio_num); + } + break; + case ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE: + if (value) { + GPIO_SET = 1 << gpio_config->gpio_num; + OUT_GPIO(gpio_config->gpio_num); + } else { + INP_GPIO(gpio_config->gpio_num); + } + break; + } +} + +static void restore_gpio(enum adapter_gpio_config_index idx) +{ + if (is_gpio_config_valid(idx)) + SET_MODE_GPIO(adapter_gpio_config[idx].gpio_num, initial_gpio_mode[idx]); +} + +static void initialize_gpio(enum adapter_gpio_config_index idx) +{ + if (!is_gpio_config_valid(idx)) + return; + + initial_gpio_mode[idx] = MODE_GPIO(adapter_gpio_config[idx].gpio_num); + LOG_DEBUG("saved GPIO mode for %s (GPIO %d %d): %d", + adapter_gpio_get_name(idx), adapter_gpio_config[idx].chip_num, adapter_gpio_config[idx].gpio_num, + initial_gpio_mode[idx]); + + if (adapter_gpio_config[idx].pull != ADAPTER_GPIO_PULL_NONE) { + LOG_WARNING("BCM2835 GPIO does not support pull-up or pull-down settings (signal %s)", + adapter_gpio_get_name(idx)); + } + + switch (adapter_gpio_config[idx].init_state) { + case ADAPTER_GPIO_INIT_STATE_INACTIVE: + set_gpio_value(&adapter_gpio_config[idx], 0); + break; + case ADAPTER_GPIO_INIT_STATE_ACTIVE: + set_gpio_value(&adapter_gpio_config[idx], 1); + break; + case ADAPTER_GPIO_INIT_STATE_INPUT: + INP_GPIO(adapter_gpio_config[idx].gpio_num); + break; + } + + /* Direction for non push-pull is already set by set_gpio_value() */ + if (adapter_gpio_config[idx].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL) + OUT_GPIO(adapter_gpio_config[idx].gpio_num); } static bb_value_t bcm2835gpio_read(void) { - return (GPIO_LEV & 1<> shift) & 1; + return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_TDO].active_low ? BB_HIGH : BB_LOW); + } static int bcm2835gpio_write(int tck, int tms, int tdi) { - uint32_t set = tck<> shift) & 1; + return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].active_low ? 1 : 0); } static int bcm2835gpio_khz(int khz, int *jtag_speed) { if (!khz) { - LOG_DEBUG("RCLK not supported"); + LOG_DEBUG("BCM2835 GPIO: RCLK not supported"); return ERROR_FAIL; } *jtag_speed = speed_coeff/khz - speed_offset; @@ -191,121 +254,6 @@ static int bcm2835gpio_speed(int speed) return ERROR_OK; } -COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionums) -{ - if (CMD_ARGC == 4) { - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio); - COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio); - COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio); - COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio); - } else if (CMD_ARGC != 0) { - return ERROR_COMMAND_SYNTAX_ERROR; - } - - command_print(CMD, - "BCM2835 GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %d", - tck_gpio, tms_gpio, tdi_gpio, tdo_gpio); - - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tck) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio); - - command_print(CMD, "BCM2835 GPIO config: tck = %d", tck_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tms) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio); - - command_print(CMD, "BCM2835 GPIO config: tms = %d", tms_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdo) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio); - - command_print(CMD, "BCM2835 GPIO config: tdo = %d", tdo_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdi) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio); - - command_print(CMD, "BCM2835 GPIO config: tdi = %d", tdi_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_srst) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio); - - command_print(CMD, "BCM2835 GPIO config: srst = %d", srst_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_trst) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio); - - command_print(CMD, "BCM2835 GPIO config: trst = %d", trst_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionums) -{ - if (CMD_ARGC == 2) { - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio); - COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio); - } else if (CMD_ARGC != 0) { - return ERROR_COMMAND_SYNTAX_ERROR; - } - - command_print(CMD, - "BCM2835 GPIO nums: swclk = %d, swdio = %d", - swclk_gpio, swdio_gpio); - - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swclk) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio); - - command_print(CMD, "BCM2835 num: swclk = %d", swclk_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swdio) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio); - - command_print(CMD, "BCM2835 num: swdio = %d", swdio_gpio); - return ERROR_OK; -} - -COMMAND_HANDLER(bcm2835gpio_handle_swd_dir_gpionum_swdio) -{ - if (CMD_ARGC == 1) - COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_dir_gpio); - - command_print(CMD, "BCM2835 num: swdio_dir = %d", swdio_dir_gpio); - return ERROR_OK; -} - COMMAND_HANDLER(bcm2835gpio_handle_speed_coeffs) { if (CMD_ARGC == 2) { @@ -329,83 +277,6 @@ COMMAND_HANDLER(bcm2835gpio_handle_peripheral_base) } static const struct command_registration bcm2835gpio_subcommand_handlers[] = { - { - .name = "jtag_nums", - .handler = &bcm2835gpio_handle_jtag_gpionums, - .mode = COMMAND_CONFIG, - .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)", - .usage = "[tck tms tdi tdo]", - }, - { - .name = "tck_num", - .handler = &bcm2835gpio_handle_jtag_gpionum_tck, - .mode = COMMAND_CONFIG, - .help = "gpio number for tck.", - .usage = "[tck]", - }, - { - .name = "tms_num", - .handler = &bcm2835gpio_handle_jtag_gpionum_tms, - .mode = COMMAND_CONFIG, - .help = "gpio number for tms.", - .usage = "[tms]", - }, - { - .name = "tdo_num", - .handler = &bcm2835gpio_handle_jtag_gpionum_tdo, - .mode = COMMAND_CONFIG, - .help = "gpio number for tdo.", - .usage = "[tdo]", - }, - { - .name = "tdi_num", - .handler = &bcm2835gpio_handle_jtag_gpionum_tdi, - .mode = COMMAND_CONFIG, - .help = "gpio number for tdi.", - .usage = "[tdi]", - }, - { - .name = "swd_nums", - .handler = &bcm2835gpio_handle_swd_gpionums, - .mode = COMMAND_CONFIG, - .help = "gpio numbers for swclk, swdio. (in that order)", - .usage = "[swclk swdio]", - }, - { - .name = "swclk_num", - .handler = &bcm2835gpio_handle_swd_gpionum_swclk, - .mode = COMMAND_CONFIG, - .help = "gpio number for swclk.", - .usage = "[swclk]", - }, - { - .name = "swdio_num", - .handler = &bcm2835gpio_handle_swd_gpionum_swdio, - .mode = COMMAND_CONFIG, - .help = "gpio number for swdio.", - .usage = "[swdio]", - }, - { - .name = "swdio_dir_num", - .handler = &bcm2835gpio_handle_swd_dir_gpionum_swdio, - .mode = COMMAND_CONFIG, - .help = "gpio number for swdio direction control pin (set=output mode, clear=input mode)", - .usage = "[swdio_dir]", - }, - { - .name = "srst_num", - .handler = &bcm2835gpio_handle_jtag_gpionum_srst, - .mode = COMMAND_CONFIG, - .help = "gpio number for srst.", - .usage = "[srst]", - }, - { - .name = "trst_num", - .handler = &bcm2835gpio_handle_jtag_gpionum_trst, - .mode = COMMAND_CONFIG, - .help = "gpio number for trst.", - .usage = "[trst]", - }, { .name = "speed_coeffs", .handler = &bcm2835gpio_handle_speed_coeffs, @@ -435,49 +306,26 @@ static const struct command_registration bcm2835gpio_command_handlers[] = { COMMAND_REGISTRATION_DONE }; -static const char * const bcm2835_transports[] = { "jtag", "swd", NULL }; - -static struct jtag_interface bcm2835gpio_interface = { - .supported = DEBUG_CAP_TMS_SEQ, - .execute_queue = bitbang_execute_queue, -}; - -struct adapter_driver bcm2835gpio_adapter_driver = { - .name = "bcm2835gpio", - .transports = bcm2835_transports, - .commands = bcm2835gpio_command_handlers, - - .init = bcm2835gpio_init, - .quit = bcm2835gpio_quit, - .reset = bcm2835gpio_reset, - .speed = bcm2835gpio_speed, - .khz = bcm2835gpio_khz, - .speed_div = bcm2835gpio_speed_div, - - .jtag_ops = &bcm2835gpio_interface, - .swd_ops = &bitbang_swd, -}; - static bool bcm2835gpio_jtag_mode_possible(void) { - if (!is_gpio_valid(tck_gpio)) - return 0; - if (!is_gpio_valid(tms_gpio)) - return 0; - if (!is_gpio_valid(tdi_gpio)) - return 0; - if (!is_gpio_valid(tdo_gpio)) - return 0; - return 1; + if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TCK)) + return false; + if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TMS)) + return false; + if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDI)) + return false; + if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDO)) + return false; + return true; } static bool bcm2835gpio_swd_mode_possible(void) { - if (!is_gpio_valid(swclk_gpio)) - return 0; - if (!is_gpio_valid(swdio_gpio)) - return 0; - return 1; + if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWCLK)) + return false; + if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO)) + return false; + return true; } static void bcm2835gpio_munmap(void) @@ -493,12 +341,22 @@ static void bcm2835gpio_munmap(void) } } +static struct bitbang_interface bcm2835gpio_bitbang = { + .read = bcm2835gpio_read, + .write = bcm2835gpio_write, + .swdio_read = bcm2835_swdio_read, + .swdio_drive = bcm2835_swdio_drive, + .swd_write = bcm2835gpio_swd_write_generic, + .blink = NULL +}; + static int bcm2835gpio_init(void) { - bitbang_interface = &bcm2835gpio_bitbang; - LOG_INFO("BCM2835 GPIO JTAG/SWD bitbang driver"); + bitbang_interface = &bcm2835gpio_bitbang; + adapter_gpio_config = adapter_gpio_get_config(); + if (transport_is_jtag() && !bcm2835gpio_jtag_mode_possible()) { LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode"); return ERROR_JTAG_INIT_FAILED; @@ -543,58 +401,45 @@ static int bcm2835gpio_init(void) /* set 4mA drive strength, slew rate limited, hysteresis on */ pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5a000008 + 1; - /* - * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST - * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high. + /* Configure JTAG/SWD signals. Default directions and initial states are handled + * by adapter.c and "adapter gpio" command. */ if (transport_is_jtag()) { - tdo_gpio_mode = MODE_GPIO(tdo_gpio); - tdi_gpio_mode = MODE_GPIO(tdi_gpio); - tck_gpio_mode = MODE_GPIO(tck_gpio); - tms_gpio_mode = MODE_GPIO(tms_gpio); - - INP_GPIO(tdo_gpio); - - GPIO_CLR = 1<