1 /***************************************************************************
2 * Copyright (C) 2022 by Steve Marple, stevemarple@googlemail.com *
4 * Based on bcm2835gpio.c and linuxgpiod.c *
6 * This program is free software; you can redistribute it and/or modify *
7 * it under the terms of the GNU General Public License as published by *
8 * the Free Software Foundation; either version 2 of the License, or *
9 * (at your option) any later version. *
11 * This program is distributed in the hope that it will be useful, *
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
14 * GNU General Public License for more details. *
16 * You should have received a copy of the GNU General Public License *
17 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
18 ***************************************************************************/
24 #include <jtag/interface.h>
25 #include <transport/transport.h>
31 * GPIO register base addresses. Values taken from "AM335x and AMIC110 Sitara
32 * Processors Technical Reference Manual", Chapter 2 Memory Map.
34 #define AM335XGPIO_NUM_GPIO_PORTS 4
35 #define AM335XGPIO_GPIO0_HW_ADDR 0x44E07000
36 #define AM335XGPIO_GPIO1_HW_ADDR 0x4804C000
37 #define AM335XGPIO_GPIO2_HW_ADDR 0x481AC000
38 #define AM335XGPIO_GPIO3_HW_ADDR 0x481AE000
40 /* 32-bit offsets from GPIO port base address. Values taken from "AM335x and
41 * AMIC110 Sitara Processors Technical Reference Manual", Chapter 25
42 * General-Purpose Input/Output.
44 #define AM335XGPIO_GPIO_OE_OFFSET (0x134 / 4)
45 #define AM335XGPIO_GPIO_DATAIN_OFFSET (0x138 / 4)
46 #define AM335XGPIO_GPIO_DATAOUT_OFFSET (0x13C / 4) /* DATAOUT register uses 0 for output, 1 for input */
47 #define AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET (0x190 / 4)
48 #define AM335XGPIO_GPIO_SETDATAOUT_OFFSET (0x194 / 4)
50 /* GPIOs are integer values; need to map to a port module, and the pin within
51 * that module. GPIOs 0 to 31 map to GPIO0, 32 to 63 to GPIO1 etc. This scheme
52 * matches that used by Linux on the BeagleBone.
54 #define AM335XGPIO_PORT_NUM(gpio_num) ((gpio_num) / 32)
55 #define AM335XGPIO_BIT_NUM(gpio_num) ((gpio_num) % 32)
56 #define AM335XGPIO_BIT_MASK(gpio_num) BIT(AM335XGPIO_BIT_NUM(gpio_num))
58 #define AM335XGPIO_READ_REG(gpio_num, offset) \
59 (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)))
61 #define AM335XGPIO_WRITE_REG(gpio_num, offset, value) \
62 (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) = (value))
64 #define AM335XGPIO_SET_REG_BITS(gpio_num, offset, bit_mask) \
65 (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) |= (bit_mask))
67 #define AM335XGPIO_CLEAR_REG_BITS(gpio_num, offset, bit_mask) \
68 (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) &= ~(bit_mask))
70 enum amx335gpio_gpio_mode {
71 AM335XGPIO_GPIO_MODE_INPUT,
72 AM335XGPIO_GPIO_MODE_OUTPUT, /* To set output mode but not state */
73 AM335XGPIO_GPIO_MODE_OUTPUT_LOW,
74 AM335XGPIO_GPIO_MODE_OUTPUT_HIGH,
77 static const uint32_t am335xgpio_gpio_port_hw_addr[AM335XGPIO_NUM_GPIO_PORTS] = {
78 AM335XGPIO_GPIO0_HW_ADDR,
79 AM335XGPIO_GPIO1_HW_ADDR,
80 AM335XGPIO_GPIO2_HW_ADDR,
81 AM335XGPIO_GPIO3_HW_ADDR,
84 /* Memory-mapped address pointers */
85 static volatile uint32_t *am335xgpio_gpio_port_mmap_addr[AM335XGPIO_NUM_GPIO_PORTS];
87 static int dev_mem_fd;
89 /* GPIO numbers for each signal. Negative values are invalid */
90 static int tck_gpio = -1;
91 static enum amx335gpio_gpio_mode tck_gpio_mode;
92 static int tms_gpio = -1;
93 static enum amx335gpio_gpio_mode tms_gpio_mode;
94 static int tdi_gpio = -1;
95 static enum amx335gpio_gpio_mode tdi_gpio_mode;
96 static int tdo_gpio = -1;
97 static enum amx335gpio_gpio_mode tdo_gpio_mode;
98 static int trst_gpio = -1;
99 static enum amx335gpio_gpio_mode trst_gpio_mode;
100 static int srst_gpio = -1;
101 static enum amx335gpio_gpio_mode srst_gpio_mode;
102 static int swclk_gpio = -1;
103 static enum amx335gpio_gpio_mode swclk_gpio_mode;
104 static int swdio_gpio = -1;
105 static enum amx335gpio_gpio_mode swdio_gpio_mode;
106 static int swdio_dir_gpio = -1;
107 static enum amx335gpio_gpio_mode swdio_dir_gpio_mode;
108 static int led_gpio = -1;
109 static enum amx335gpio_gpio_mode led_gpio_mode = -1;
111 static bool swdio_dir_is_active_high = true; /* Active state means output */
112 static bool led_is_active_high = true;
114 /* Transition delay coefficients */
115 static int speed_coeff = 600000;
116 static int speed_offset = 575;
117 static unsigned int jtag_delay;
119 static int is_gpio_valid(int gpio_num)
121 return gpio_num >= 0 && gpio_num < (32 * AM335XGPIO_NUM_GPIO_PORTS);
124 static int get_gpio_value(int gpio_num)
126 unsigned int shift = AM335XGPIO_BIT_NUM(gpio_num);
127 return (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAIN_OFFSET) >> shift) & 1;
130 static void set_gpio_value(int gpio_num, int value)
133 AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_SETDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
135 AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
138 static enum amx335gpio_gpio_mode get_gpio_mode(int gpio_num)
140 if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_OE_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num)) {
141 return AM335XGPIO_GPIO_MODE_INPUT;
143 /* Return output level too so that pin mode can be fully restored */
144 if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAOUT_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num))
145 return AM335XGPIO_GPIO_MODE_OUTPUT_HIGH;
147 return AM335XGPIO_GPIO_MODE_OUTPUT_LOW;
151 static void set_gpio_mode(int gpio_num, enum amx335gpio_gpio_mode gpio_mode)
153 if (gpio_mode == AM335XGPIO_GPIO_MODE_INPUT) {
154 AM335XGPIO_SET_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
158 if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW)
159 set_gpio_value(gpio_num, 0);
160 if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH)
161 set_gpio_value(gpio_num, 1);
163 if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT ||
164 gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW ||
165 gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH) {
166 AM335XGPIO_CLEAR_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
170 static const char *get_gpio_mode_name(enum amx335gpio_gpio_mode gpio_mode)
173 case AM335XGPIO_GPIO_MODE_INPUT:
175 case AM335XGPIO_GPIO_MODE_OUTPUT:
177 case AM335XGPIO_GPIO_MODE_OUTPUT_LOW:
178 return "output (low)";
179 case AM335XGPIO_GPIO_MODE_OUTPUT_HIGH:
180 return "output (high)";
186 static bb_value_t am335xgpio_read(void)
188 return get_gpio_value(tdo_gpio) ? BB_HIGH : BB_LOW;
191 static int am335xgpio_write(int tck, int tms, int tdi)
193 set_gpio_value(tdi_gpio, tdi);
194 set_gpio_value(tms_gpio, tms);
195 set_gpio_value(tck_gpio, tck); /* Write clock last */
197 for (unsigned int i = 0; i < jtag_delay; ++i)
203 static int am335xgpio_swd_write(int swclk, int swdio)
205 set_gpio_value(swdio_gpio, swdio);
206 set_gpio_value(swclk_gpio, swclk); /* Write clock last */
208 for (unsigned int i = 0; i < jtag_delay; ++i)
214 /* (1) assert or (0) deassert reset lines */
215 static int am335xgpio_reset(int trst, int srst)
217 /* assume active low */
218 if (is_gpio_valid(srst_gpio)) {
219 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
220 set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
222 set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
225 /* assume active low */
226 if (is_gpio_valid(trst_gpio)) {
227 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
228 set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
230 set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
233 LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d (%s), srst_gpio: %d (%s)",
235 trst_gpio, get_gpio_mode_name(get_gpio_mode(trst_gpio)),
236 srst_gpio, get_gpio_mode_name(get_gpio_mode(srst_gpio)));
240 static void am335xgpio_swdio_drive(bool is_output)
243 set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 1 : 0);
244 set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_OUTPUT);
246 set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_INPUT);
247 set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 0 : 1);
251 static int am335xgpio_swdio_read(void)
253 return get_gpio_value(swdio_gpio);
256 static int am335xgpio_blink(int on)
258 if (is_gpio_valid(led_gpio))
259 set_gpio_value(led_gpio, (!on ^ led_is_active_high) ? 1 : 0);
264 static struct bitbang_interface am335xgpio_bitbang = {
265 .read = am335xgpio_read,
266 .write = am335xgpio_write,
267 .swdio_read = am335xgpio_swdio_read,
268 .swdio_drive = am335xgpio_swdio_drive,
269 .swd_write = am335xgpio_swd_write,
270 .blink = am335xgpio_blink
273 static int am335xgpio_khz(int khz, int *jtag_speed)
276 LOG_DEBUG("RCLK not supported");
279 *jtag_speed = speed_coeff / khz - speed_offset;
285 static int am335xgpio_speed_div(int speed, int *khz)
287 *khz = speed_coeff / (speed + speed_offset);
291 static int am335xgpio_speed(int speed)
297 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionums)
300 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
301 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
302 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
303 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
304 } else if (CMD_ARGC != 0) {
305 return ERROR_COMMAND_SYNTAX_ERROR;
308 command_print(CMD, "AM335x GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %d",
309 tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
313 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tck)
316 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
318 command_print(CMD, "AM335x GPIO config: tck = %d", tck_gpio);
322 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tms)
325 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
327 command_print(CMD, "AM335x GPIO config: tms = %d", tms_gpio);
331 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tdo)
334 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
336 command_print(CMD, "AM335x GPIO config: tdo = %d", tdo_gpio);
340 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tdi)
343 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
345 command_print(CMD, "AM335x GPIO config: tdi = %d", tdi_gpio);
349 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_srst)
352 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
354 command_print(CMD, "AM335x GPIO config: srst = %d", srst_gpio);
358 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_trst)
361 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
363 command_print(CMD, "AM335x GPIO config: trst = %d", trst_gpio);
367 COMMAND_HANDLER(am335xgpio_handle_swd_gpionums)
370 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
371 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
372 } else if (CMD_ARGC != 0) {
373 return ERROR_COMMAND_SYNTAX_ERROR;
376 command_print(CMD, "AM335x GPIO config: swclk = %d, swdio = %d", swclk_gpio, swdio_gpio);
381 COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swclk)
384 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
386 command_print(CMD, "AM335x GPIO config: swclk = %d", swclk_gpio);
390 COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swdio)
393 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
395 command_print(CMD, "AM335x GPIO config: swdio = %d", swdio_gpio);
399 COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swdio_dir)
402 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_dir_gpio);
404 command_print(CMD, "AM335x GPIO config: swdio_dir = %d", swdio_dir_gpio);
408 COMMAND_HANDLER(am335xgpio_handle_swd_dir_output_state)
411 COMMAND_PARSE_BOOL(CMD_ARGV[0], swdio_dir_is_active_high, "high", "low");
413 command_print(CMD, "AM335x GPIO config: swdio_dir_output_state = %s", swdio_dir_is_active_high ? "high" : "low");
417 COMMAND_HANDLER(am335xgpio_handle_gpionum_led)
420 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], led_gpio);
422 command_print(CMD, "AM335x GPIO config: led = %d", led_gpio);
426 COMMAND_HANDLER(am335xgpio_handle_led_on_state)
429 COMMAND_PARSE_BOOL(CMD_ARGV[0], led_is_active_high, "high", "low");
431 command_print(CMD, "AM335x GPIO config: led_on_state = %s", led_is_active_high ? "high" : "low");
435 COMMAND_HANDLER(am335xgpio_handle_speed_coeffs)
438 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
439 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
442 command_print(CMD, "AM335x GPIO config: speed_coeffs = %d, speed_offset = %d",
443 speed_coeff, speed_offset);
447 static const struct command_registration am335xgpio_subcommand_handlers[] = {
450 .handler = am335xgpio_handle_jtag_gpionums,
451 .mode = COMMAND_CONFIG,
452 .help = "gpio numbers for tck, tms, tdi, tdo (in that order).",
453 .usage = "[tck tms tdi tdo]",
457 .handler = am335xgpio_handle_jtag_gpionum_tck,
458 .mode = COMMAND_CONFIG,
459 .help = "gpio number for tck.",
464 .handler = am335xgpio_handle_jtag_gpionum_tms,
465 .mode = COMMAND_CONFIG,
466 .help = "gpio number for tms.",
471 .handler = am335xgpio_handle_jtag_gpionum_tdo,
472 .mode = COMMAND_CONFIG,
473 .help = "gpio number for tdo.",
478 .handler = am335xgpio_handle_jtag_gpionum_tdi,
479 .mode = COMMAND_CONFIG,
480 .help = "gpio number for tdi.",
485 .handler = am335xgpio_handle_swd_gpionums,
486 .mode = COMMAND_CONFIG,
487 .help = "gpio numbers for swclk, swdio (in that order).",
488 .usage = "[swclk swdio]",
492 .handler = am335xgpio_handle_swd_gpionum_swclk,
493 .mode = COMMAND_CONFIG,
494 .help = "gpio number for swclk.",
499 .handler = am335xgpio_handle_swd_gpionum_swdio,
500 .mode = COMMAND_CONFIG,
501 .help = "gpio number for swdio.",
505 .name = "swdio_dir_num",
506 .handler = am335xgpio_handle_swd_gpionum_swdio_dir,
507 .mode = COMMAND_CONFIG,
508 .help = "gpio number for swdio direction control pin.",
509 .usage = "[swdio_dir]",
512 .name = "swdio_dir_output_state",
513 .handler = am335xgpio_handle_swd_dir_output_state,
514 .mode = COMMAND_CONFIG,
515 .help = "required state for swdio_dir pin to select SWDIO buffer to be output.",
516 .usage = "['off'|'on']",
520 .handler = am335xgpio_handle_jtag_gpionum_srst,
521 .mode = COMMAND_CONFIG,
522 .help = "gpio number for srst.",
527 .handler = am335xgpio_handle_jtag_gpionum_trst,
528 .mode = COMMAND_CONFIG,
529 .help = "gpio number for trst.",
534 .handler = am335xgpio_handle_gpionum_led,
535 .mode = COMMAND_CONFIG,
536 .help = "gpio number for led.",
540 .name = "led_on_state",
541 .handler = am335xgpio_handle_led_on_state,
542 .mode = COMMAND_CONFIG,
543 .help = "required state for led pin to turn on LED.",
544 .usage = "['off'|'on']",
547 .name = "speed_coeffs",
548 .handler = am335xgpio_handle_speed_coeffs,
549 .mode = COMMAND_CONFIG,
550 .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
551 .usage = "[SPEED_COEFF SPEED_OFFSET]",
553 COMMAND_REGISTRATION_DONE
556 static const struct command_registration am335xgpio_command_handlers[] = {
558 .name = "am335xgpio",
560 .help = "perform am335xgpio management",
561 .chain = am335xgpio_subcommand_handlers,
564 COMMAND_REGISTRATION_DONE
567 static const char * const am335xgpio_transports[] = { "jtag", "swd", NULL };
569 static struct jtag_interface am335xgpio_interface = {
570 .supported = DEBUG_CAP_TMS_SEQ,
571 .execute_queue = bitbang_execute_queue,
574 static bool am335xgpio_jtag_mode_possible(void)
576 if (!is_gpio_valid(tck_gpio))
578 if (!is_gpio_valid(tms_gpio))
580 if (!is_gpio_valid(tdi_gpio))
582 if (!is_gpio_valid(tdo_gpio))
587 static bool am335xgpio_swd_mode_possible(void)
589 if (!is_gpio_valid(swclk_gpio))
591 if (!is_gpio_valid(swdio_gpio))
596 static int am335xgpio_init(void)
598 bitbang_interface = &am335xgpio_bitbang;
600 LOG_INFO("AM335x GPIO JTAG/SWD bitbang driver");
602 if (transport_is_jtag() && !am335xgpio_jtag_mode_possible()) {
603 LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
604 return ERROR_JTAG_INIT_FAILED;
607 if (transport_is_swd() && !am335xgpio_swd_mode_possible()) {
608 LOG_ERROR("Require swclk and swdio gpio for SWD mode");
609 return ERROR_JTAG_INIT_FAILED;
612 dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
613 if (dev_mem_fd < 0) {
614 LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
615 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
617 if (dev_mem_fd < 0) {
618 LOG_ERROR("open: %s", strerror(errno));
619 return ERROR_JTAG_INIT_FAILED;
622 for (unsigned int i = 0; i < AM335XGPIO_NUM_GPIO_PORTS; ++i) {
623 am335xgpio_gpio_port_mmap_addr[i] = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
624 MAP_SHARED, dev_mem_fd, am335xgpio_gpio_port_hw_addr[i]);
626 if (am335xgpio_gpio_port_mmap_addr[i] == MAP_FAILED) {
627 LOG_ERROR("mmap: %s", strerror(errno));
629 return ERROR_JTAG_INIT_FAILED;
634 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST as outputs.
635 * Drive TDI and TCK low, and TMS high.
637 if (transport_is_jtag()) {
638 tdo_gpio_mode = get_gpio_mode(tdo_gpio);
639 tdi_gpio_mode = get_gpio_mode(tdi_gpio);
640 tck_gpio_mode = get_gpio_mode(tck_gpio);
641 tms_gpio_mode = get_gpio_mode(tms_gpio);
642 LOG_DEBUG("saved GPIO mode for tdo (GPIO #%d): %s", tdo_gpio, get_gpio_mode_name(tdo_gpio_mode));
643 LOG_DEBUG("saved GPIO mode for tdi (GPIO #%d): %s", tdi_gpio, get_gpio_mode_name(tdi_gpio_mode));
644 LOG_DEBUG("saved GPIO mode for tck (GPIO #%d): %s", tck_gpio, get_gpio_mode_name(tck_gpio_mode));
645 LOG_DEBUG("saved GPIO mode for tms (GPIO #%d): %s", tms_gpio, get_gpio_mode_name(tms_gpio_mode));
647 set_gpio_mode(tdo_gpio, AM335XGPIO_GPIO_MODE_INPUT);
648 set_gpio_mode(tdi_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
649 set_gpio_mode(tms_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
650 set_gpio_mode(tck_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
652 if (is_gpio_valid(trst_gpio)) {
653 trst_gpio_mode = get_gpio_mode(trst_gpio);
654 LOG_DEBUG("saved GPIO mode for trst (GPIO #%d): %s", trst_gpio, get_gpio_mode_name(trst_gpio_mode));
658 if (transport_is_swd()) {
659 swclk_gpio_mode = get_gpio_mode(swclk_gpio);
660 swdio_gpio_mode = get_gpio_mode(swdio_gpio);
661 LOG_DEBUG("saved GPIO mode for swclk (GPIO #%d): %s", swclk_gpio, get_gpio_mode_name(swclk_gpio_mode));
662 LOG_DEBUG("saved GPIO mode for swdio (GPIO #%d): %s", swdio_gpio, get_gpio_mode_name(swdio_gpio_mode));
663 if (is_gpio_valid(swdio_dir_gpio)) {
664 swdio_dir_gpio_mode = get_gpio_mode(swdio_dir_gpio);
665 LOG_DEBUG("saved GPIO mode for swdio_dir (GPIO #%d): %s",
666 swdio_dir_gpio, get_gpio_mode_name(swdio_dir_gpio_mode));
667 set_gpio_mode(swdio_dir_gpio,
668 swdio_dir_is_active_high ? AM335XGPIO_GPIO_MODE_OUTPUT_HIGH : AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
671 set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
672 set_gpio_mode(swclk_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
675 if (is_gpio_valid(srst_gpio)) {
676 srst_gpio_mode = get_gpio_mode(srst_gpio);
677 LOG_DEBUG("saved GPIO mode for srst (GPIO #%d): %s", srst_gpio, get_gpio_mode_name(srst_gpio_mode));
680 if (is_gpio_valid(led_gpio)) {
681 led_gpio_mode = get_gpio_mode(led_gpio);
682 LOG_DEBUG("saved GPIO mode for led (GPIO #%d): %s", led_gpio, get_gpio_mode_name(led_gpio_mode));
683 set_gpio_mode(led_gpio,
684 led_is_active_high ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
687 /* Set GPIO modes for TRST and SRST and make both inactive */
688 am335xgpio_reset(0, 0);
692 static int am335xgpio_quit(void)
694 if (transport_is_jtag()) {
695 set_gpio_mode(tdo_gpio, tdo_gpio_mode);
696 set_gpio_mode(tdi_gpio, tdi_gpio_mode);
697 set_gpio_mode(tck_gpio, tck_gpio_mode);
698 set_gpio_mode(tms_gpio, tms_gpio_mode);
699 if (is_gpio_valid(trst_gpio))
700 set_gpio_mode(trst_gpio, trst_gpio_mode);
703 if (transport_is_swd()) {
704 set_gpio_mode(swclk_gpio, swclk_gpio_mode);
705 set_gpio_mode(swdio_gpio, swdio_gpio_mode);
706 if (is_gpio_valid(swdio_dir_gpio))
707 set_gpio_mode(swdio_dir_gpio, swdio_dir_gpio_mode);
710 if (is_gpio_valid(srst_gpio))
711 set_gpio_mode(srst_gpio, srst_gpio_mode);
713 if (is_gpio_valid(led_gpio))
714 set_gpio_mode(led_gpio, led_gpio_mode);
719 struct adapter_driver am335xgpio_adapter_driver = {
720 .name = "am335xgpio",
721 .transports = am335xgpio_transports,
722 .commands = am335xgpio_command_handlers,
724 .init = am335xgpio_init,
725 .quit = am335xgpio_quit,
726 .reset = am335xgpio_reset,
727 .speed = am335xgpio_speed,
728 .khz = am335xgpio_khz,
729 .speed_div = am335xgpio_speed_div,
731 .jtag_ops = &am335xgpio_interface,
732 .swd_ops = &bitbang_swd,