--- /dev/null
+/***************************************************************************
+ * Copyright (C) 2022 by Steve Marple, stevemarple@googlemail.com *
+ * *
+ * Based on bcm2835gpio.c and linuxgpiod.c *
+ * *
+ * This program is free software; you can redistribute it and/or modify *
+ * it under the terms of the GNU General Public License as published by *
+ * the Free Software Foundation; either version 2 of the License, or *
+ * (at your option) any later version. *
+ * *
+ * This program is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
+ * GNU General Public License for more details. *
+ * *
+ * You should have received a copy of the GNU General Public License *
+ * along with this program. If not, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <jtag/interface.h>
+#include <transport/transport.h>
+#include "bitbang.h"
+
+#include <sys/mman.h>
+
+/*
+ * GPIO register base addresses. Values taken from "AM335x and AMIC110 Sitara
+ * Processors Technical Reference Manual", Chapter 2 Memory Map.
+ */
+#define AM335XGPIO_NUM_GPIO_PORTS 4
+#define AM335XGPIO_GPIO0_HW_ADDR 0x44E07000
+#define AM335XGPIO_GPIO1_HW_ADDR 0x4804C000
+#define AM335XGPIO_GPIO2_HW_ADDR 0x481AC000
+#define AM335XGPIO_GPIO3_HW_ADDR 0x481AE000
+
+/* 32-bit offsets from GPIO port base address. Values taken from "AM335x and
+ * AMIC110 Sitara Processors Technical Reference Manual", Chapter 25
+ * General-Purpose Input/Output.
+ */
+#define AM335XGPIO_GPIO_OE_OFFSET (0x134 / 4)
+#define AM335XGPIO_GPIO_DATAIN_OFFSET (0x138 / 4)
+#define AM335XGPIO_GPIO_DATAOUT_OFFSET (0x13C / 4) /* DATAOUT register uses 0 for output, 1 for input */
+#define AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET (0x190 / 4)
+#define AM335XGPIO_GPIO_SETDATAOUT_OFFSET (0x194 / 4)
+
+/* GPIOs are integer values; need to map to a port module, and the pin within
+ * that module. GPIOs 0 to 31 map to GPIO0, 32 to 63 to GPIO1 etc. This scheme
+ * matches that used by Linux on the BeagleBone.
+ */
+#define AM335XGPIO_PORT_NUM(gpio_num) ((gpio_num) / 32)
+#define AM335XGPIO_BIT_NUM(gpio_num) ((gpio_num) % 32)
+#define AM335XGPIO_BIT_MASK(gpio_num) BIT(AM335XGPIO_BIT_NUM(gpio_num))
+
+#define AM335XGPIO_READ_REG(gpio_num, offset) \
+ (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)))
+
+#define AM335XGPIO_WRITE_REG(gpio_num, offset, value) \
+ (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) = (value))
+
+#define AM335XGPIO_SET_REG_BITS(gpio_num, offset, bit_mask) \
+ (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) |= (bit_mask))
+
+#define AM335XGPIO_CLEAR_REG_BITS(gpio_num, offset, bit_mask) \
+ (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) &= ~(bit_mask))
+
+enum amx335gpio_gpio_mode {
+ AM335XGPIO_GPIO_MODE_INPUT,
+ AM335XGPIO_GPIO_MODE_OUTPUT, /* To set output mode but not state */
+ AM335XGPIO_GPIO_MODE_OUTPUT_LOW,
+ AM335XGPIO_GPIO_MODE_OUTPUT_HIGH,
+};
+
+static const uint32_t am335xgpio_gpio_port_hw_addr[AM335XGPIO_NUM_GPIO_PORTS] = {
+ AM335XGPIO_GPIO0_HW_ADDR,
+ AM335XGPIO_GPIO1_HW_ADDR,
+ AM335XGPIO_GPIO2_HW_ADDR,
+ AM335XGPIO_GPIO3_HW_ADDR,
+};
+
+/* Memory-mapped address pointers */
+static volatile uint32_t *am335xgpio_gpio_port_mmap_addr[AM335XGPIO_NUM_GPIO_PORTS];
+
+static int dev_mem_fd;
+
+/* GPIO numbers for each signal. Negative values are invalid */
+static int tck_gpio = -1;
+static enum amx335gpio_gpio_mode tck_gpio_mode;
+static int tms_gpio = -1;
+static enum amx335gpio_gpio_mode tms_gpio_mode;
+static int tdi_gpio = -1;
+static enum amx335gpio_gpio_mode tdi_gpio_mode;
+static int tdo_gpio = -1;
+static enum amx335gpio_gpio_mode tdo_gpio_mode;
+static int trst_gpio = -1;
+static enum amx335gpio_gpio_mode trst_gpio_mode;
+static int srst_gpio = -1;
+static enum amx335gpio_gpio_mode srst_gpio_mode;
+static int swclk_gpio = -1;
+static enum amx335gpio_gpio_mode swclk_gpio_mode;
+static int swdio_gpio = -1;
+static enum amx335gpio_gpio_mode swdio_gpio_mode;
+static int swdio_dir_gpio = -1;
+static enum amx335gpio_gpio_mode swdio_dir_gpio_mode;
+static int led_gpio = -1;
+static enum amx335gpio_gpio_mode led_gpio_mode = -1;
+
+static bool swdio_dir_is_active_high = true; /* Active state means output */
+static bool led_is_active_high = true;
+
+/* Transition delay coefficients */
+static int speed_coeff = 600000;
+static int speed_offset = 575;
+static unsigned int jtag_delay;
+
+static int is_gpio_valid(int gpio_num)
+{
+ return gpio_num >= 0 && gpio_num < (32 * AM335XGPIO_NUM_GPIO_PORTS);
+}
+
+static int get_gpio_value(int gpio_num)
+{
+ unsigned int shift = AM335XGPIO_BIT_NUM(gpio_num);
+ return (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAIN_OFFSET) >> shift) & 1;
+}
+
+static void set_gpio_value(int gpio_num, int value)
+{
+ if (value)
+ AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_SETDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
+ else
+ AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
+}
+
+static enum amx335gpio_gpio_mode get_gpio_mode(int gpio_num)
+{
+ if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_OE_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num)) {
+ return AM335XGPIO_GPIO_MODE_INPUT;
+ } else {
+ /* Return output level too so that pin mode can be fully restored */
+ if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAOUT_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num))
+ return AM335XGPIO_GPIO_MODE_OUTPUT_HIGH;
+ else
+ return AM335XGPIO_GPIO_MODE_OUTPUT_LOW;
+ }
+}
+
+static void set_gpio_mode(int gpio_num, enum amx335gpio_gpio_mode gpio_mode)
+{
+ if (gpio_mode == AM335XGPIO_GPIO_MODE_INPUT) {
+ AM335XGPIO_SET_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
+ return;
+ }
+
+ if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW)
+ set_gpio_value(gpio_num, 0);
+ if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH)
+ set_gpio_value(gpio_num, 1);
+
+ if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT ||
+ gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW ||
+ gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH) {
+ AM335XGPIO_CLEAR_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
+ }
+}
+
+static const char *get_gpio_mode_name(enum amx335gpio_gpio_mode gpio_mode)
+{
+ switch (gpio_mode) {
+ case AM335XGPIO_GPIO_MODE_INPUT:
+ return "input";
+ case AM335XGPIO_GPIO_MODE_OUTPUT:
+ return "output";
+ case AM335XGPIO_GPIO_MODE_OUTPUT_LOW:
+ return "output (low)";
+ case AM335XGPIO_GPIO_MODE_OUTPUT_HIGH:
+ return "output (high)";
+ default:
+ return "unknown";
+ }
+}
+
+static bb_value_t am335xgpio_read(void)
+{
+ return get_gpio_value(tdo_gpio) ? BB_HIGH : BB_LOW;
+}
+
+static int am335xgpio_write(int tck, int tms, int tdi)
+{
+ set_gpio_value(tdi_gpio, tdi);
+ set_gpio_value(tms_gpio, tms);
+ set_gpio_value(tck_gpio, tck); /* Write clock last */
+
+ for (unsigned int i = 0; i < jtag_delay; ++i)
+ asm volatile ("");
+
+ return ERROR_OK;
+}
+
+static int am335xgpio_swd_write(int swclk, int swdio)
+{
+ set_gpio_value(swdio_gpio, swdio);
+ set_gpio_value(swclk_gpio, swclk); /* Write clock last */
+
+ for (unsigned int i = 0; i < jtag_delay; ++i)
+ asm volatile ("");
+
+ return ERROR_OK;
+}
+
+/* (1) assert or (0) deassert reset lines */
+static int am335xgpio_reset(int trst, int srst)
+{
+ /* assume active low */
+ if (is_gpio_valid(srst_gpio)) {
+ if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
+ set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
+ else
+ set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
+ }
+
+ /* assume active low */
+ if (is_gpio_valid(trst_gpio)) {
+ if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
+ set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
+ else
+ set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
+ }
+
+ LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d (%s), srst_gpio: %d (%s)",
+ trst, srst,
+ trst_gpio, get_gpio_mode_name(get_gpio_mode(trst_gpio)),
+ srst_gpio, get_gpio_mode_name(get_gpio_mode(srst_gpio)));
+ return ERROR_OK;
+}
+
+static void am335xgpio_swdio_drive(bool is_output)
+{
+ if (is_output) {
+ set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 1 : 0);
+ set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_OUTPUT);
+ } else {
+ set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_INPUT);
+ set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 0 : 1);
+ }
+}
+
+static int am335xgpio_swdio_read(void)
+{
+ return get_gpio_value(swdio_gpio);
+}
+
+static int am335xgpio_blink(int on)
+{
+ if (is_gpio_valid(led_gpio))
+ set_gpio_value(led_gpio, (!on ^ led_is_active_high) ? 1 : 0);
+
+ return ERROR_OK;
+}
+
+static struct bitbang_interface am335xgpio_bitbang = {
+ .read = am335xgpio_read,
+ .write = am335xgpio_write,
+ .swdio_read = am335xgpio_swdio_read,
+ .swdio_drive = am335xgpio_swdio_drive,
+ .swd_write = am335xgpio_swd_write,
+ .blink = am335xgpio_blink
+};
+
+static int am335xgpio_khz(int khz, int *jtag_speed)
+{
+ if (!khz) {
+ LOG_DEBUG("RCLK not supported");
+ return ERROR_FAIL;
+ }
+ *jtag_speed = speed_coeff / khz - speed_offset;
+ if (*jtag_speed < 0)
+ *jtag_speed = 0;
+ return ERROR_OK;
+}
+
+static int am335xgpio_speed_div(int speed, int *khz)
+{
+ *khz = speed_coeff / (speed + speed_offset);
+ return ERROR_OK;
+}
+
+static int am335xgpio_speed(int speed)
+{
+ jtag_delay = speed;
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_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, "AM335x GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %d",
+ tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tck)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
+
+ command_print(CMD, "AM335x GPIO config: tck = %d", tck_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tms)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
+
+ command_print(CMD, "AM335x GPIO config: tms = %d", tms_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tdo)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
+
+ command_print(CMD, "AM335x GPIO config: tdo = %d", tdo_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tdi)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
+
+ command_print(CMD, "AM335x GPIO config: tdi = %d", tdi_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_srst)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
+
+ command_print(CMD, "AM335x GPIO config: srst = %d", srst_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_trst)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
+
+ command_print(CMD, "AM335x GPIO config: trst = %d", trst_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_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, "AM335x GPIO config: swclk = %d, swdio = %d", swclk_gpio, swdio_gpio);
+
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swclk)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
+
+ command_print(CMD, "AM335x GPIO config: swclk = %d", swclk_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swdio)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
+
+ command_print(CMD, "AM335x GPIO config: swdio = %d", swdio_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swdio_dir)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_dir_gpio);
+
+ command_print(CMD, "AM335x GPIO config: swdio_dir = %d", swdio_dir_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_swd_dir_output_state)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_BOOL(CMD_ARGV[0], swdio_dir_is_active_high, "high", "low");
+
+ command_print(CMD, "AM335x GPIO config: swdio_dir_output_state = %s", swdio_dir_is_active_high ? "high" : "low");
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_gpionum_led)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], led_gpio);
+
+ command_print(CMD, "AM335x GPIO config: led = %d", led_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_led_on_state)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_BOOL(CMD_ARGV[0], led_is_active_high, "high", "low");
+
+ command_print(CMD, "AM335x GPIO config: led_on_state = %s", led_is_active_high ? "high" : "low");
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(am335xgpio_handle_speed_coeffs)
+{
+ if (CMD_ARGC == 2) {
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
+ }
+
+ command_print(CMD, "AM335x GPIO config: speed_coeffs = %d, speed_offset = %d",
+ speed_coeff, speed_offset);
+ return ERROR_OK;
+}
+
+static const struct command_registration am335xgpio_subcommand_handlers[] = {
+ {
+ .name = "jtag_nums",
+ .handler = am335xgpio_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 = am335xgpio_handle_jtag_gpionum_tck,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for tck.",
+ .usage = "[tck]",
+ },
+ {
+ .name = "tms_num",
+ .handler = am335xgpio_handle_jtag_gpionum_tms,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for tms.",
+ .usage = "[tms]",
+ },
+ {
+ .name = "tdo_num",
+ .handler = am335xgpio_handle_jtag_gpionum_tdo,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for tdo.",
+ .usage = "[tdo]",
+ },
+ {
+ .name = "tdi_num",
+ .handler = am335xgpio_handle_jtag_gpionum_tdi,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for tdi.",
+ .usage = "[tdi]",
+ },
+ {
+ .name = "swd_nums",
+ .handler = am335xgpio_handle_swd_gpionums,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio numbers for swclk, swdio (in that order).",
+ .usage = "[swclk swdio]",
+ },
+ {
+ .name = "swclk_num",
+ .handler = am335xgpio_handle_swd_gpionum_swclk,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for swclk.",
+ .usage = "[swclk]",
+ },
+ {
+ .name = "swdio_num",
+ .handler = am335xgpio_handle_swd_gpionum_swdio,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for swdio.",
+ .usage = "[swdio]",
+ },
+ {
+ .name = "swdio_dir_num",
+ .handler = am335xgpio_handle_swd_gpionum_swdio_dir,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for swdio direction control pin.",
+ .usage = "[swdio_dir]",
+ },
+ {
+ .name = "swdio_dir_output_state",
+ .handler = am335xgpio_handle_swd_dir_output_state,
+ .mode = COMMAND_CONFIG,
+ .help = "required state for swdio_dir pin to select SWDIO buffer to be output.",
+ .usage = "['off'|'on']",
+ },
+ {
+ .name = "srst_num",
+ .handler = am335xgpio_handle_jtag_gpionum_srst,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for srst.",
+ .usage = "[srst]",
+ },
+ {
+ .name = "trst_num",
+ .handler = am335xgpio_handle_jtag_gpionum_trst,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for trst.",
+ .usage = "[trst]",
+ },
+ {
+ .name = "led_num",
+ .handler = am335xgpio_handle_gpionum_led,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for led.",
+ .usage = "[led]",
+ },
+ {
+ .name = "led_on_state",
+ .handler = am335xgpio_handle_led_on_state,
+ .mode = COMMAND_CONFIG,
+ .help = "required state for led pin to turn on LED.",
+ .usage = "['off'|'on']",
+ },
+ {
+ .name = "speed_coeffs",
+ .handler = am335xgpio_handle_speed_coeffs,
+ .mode = COMMAND_CONFIG,
+ .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
+ .usage = "[SPEED_COEFF SPEED_OFFSET]",
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static const struct command_registration am335xgpio_command_handlers[] = {
+ {
+ .name = "am335xgpio",
+ .mode = COMMAND_ANY,
+ .help = "perform am335xgpio management",
+ .chain = am335xgpio_subcommand_handlers,
+ .usage = "",
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static const char * const am335xgpio_transports[] = { "jtag", "swd", NULL };
+
+static struct jtag_interface am335xgpio_interface = {
+ .supported = DEBUG_CAP_TMS_SEQ,
+ .execute_queue = bitbang_execute_queue,
+};
+
+static bool am335xgpio_jtag_mode_possible(void)
+{
+ if (!is_gpio_valid(tck_gpio))
+ return false;
+ if (!is_gpio_valid(tms_gpio))
+ return false;
+ if (!is_gpio_valid(tdi_gpio))
+ return false;
+ if (!is_gpio_valid(tdo_gpio))
+ return false;
+ return true;
+}
+
+static bool am335xgpio_swd_mode_possible(void)
+{
+ if (!is_gpio_valid(swclk_gpio))
+ return false;
+ if (!is_gpio_valid(swdio_gpio))
+ return false;
+ return true;
+}
+
+static int am335xgpio_init(void)
+{
+ bitbang_interface = &am335xgpio_bitbang;
+
+ LOG_INFO("AM335x GPIO JTAG/SWD bitbang driver");
+
+ if (transport_is_jtag() && !am335xgpio_jtag_mode_possible()) {
+ LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
+ return ERROR_JTAG_INIT_FAILED;
+ }
+
+ if (transport_is_swd() && !am335xgpio_swd_mode_possible()) {
+ LOG_ERROR("Require swclk and swdio gpio for SWD mode");
+ return ERROR_JTAG_INIT_FAILED;
+ }
+
+ dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
+ if (dev_mem_fd < 0) {
+ LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
+ dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
+ }
+ if (dev_mem_fd < 0) {
+ LOG_ERROR("open: %s", strerror(errno));
+ return ERROR_JTAG_INIT_FAILED;
+ }
+
+ for (unsigned int i = 0; i < AM335XGPIO_NUM_GPIO_PORTS; ++i) {
+ am335xgpio_gpio_port_mmap_addr[i] = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
+ MAP_SHARED, dev_mem_fd, am335xgpio_gpio_port_hw_addr[i]);
+
+ if (am335xgpio_gpio_port_mmap_addr[i] == MAP_FAILED) {
+ LOG_ERROR("mmap: %s", strerror(errno));
+ close(dev_mem_fd);
+ return ERROR_JTAG_INIT_FAILED;
+ }
+ }
+
+ /*
+ * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST as outputs.
+ * Drive TDI and TCK low, and TMS high.
+ */
+ if (transport_is_jtag()) {
+ tdo_gpio_mode = get_gpio_mode(tdo_gpio);
+ tdi_gpio_mode = get_gpio_mode(tdi_gpio);
+ tck_gpio_mode = get_gpio_mode(tck_gpio);
+ tms_gpio_mode = get_gpio_mode(tms_gpio);
+ LOG_DEBUG("saved GPIO mode for tdo (GPIO #%d): %s", tdo_gpio, get_gpio_mode_name(tdo_gpio_mode));
+ LOG_DEBUG("saved GPIO mode for tdi (GPIO #%d): %s", tdi_gpio, get_gpio_mode_name(tdi_gpio_mode));
+ LOG_DEBUG("saved GPIO mode for tck (GPIO #%d): %s", tck_gpio, get_gpio_mode_name(tck_gpio_mode));
+ LOG_DEBUG("saved GPIO mode for tms (GPIO #%d): %s", tms_gpio, get_gpio_mode_name(tms_gpio_mode));
+
+ set_gpio_mode(tdo_gpio, AM335XGPIO_GPIO_MODE_INPUT);
+ set_gpio_mode(tdi_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
+ set_gpio_mode(tms_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
+ set_gpio_mode(tck_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
+
+ if (is_gpio_valid(trst_gpio)) {
+ trst_gpio_mode = get_gpio_mode(trst_gpio);
+ LOG_DEBUG("saved GPIO mode for trst (GPIO #%d): %s", trst_gpio, get_gpio_mode_name(trst_gpio_mode));
+ }
+ }
+
+ if (transport_is_swd()) {
+ swclk_gpio_mode = get_gpio_mode(swclk_gpio);
+ swdio_gpio_mode = get_gpio_mode(swdio_gpio);
+ LOG_DEBUG("saved GPIO mode for swclk (GPIO #%d): %s", swclk_gpio, get_gpio_mode_name(swclk_gpio_mode));
+ LOG_DEBUG("saved GPIO mode for swdio (GPIO #%d): %s", swdio_gpio, get_gpio_mode_name(swdio_gpio_mode));
+ if (is_gpio_valid(swdio_dir_gpio)) {
+ swdio_dir_gpio_mode = get_gpio_mode(swdio_dir_gpio);
+ LOG_DEBUG("saved GPIO mode for swdio_dir (GPIO #%d): %s",
+ swdio_dir_gpio, get_gpio_mode_name(swdio_dir_gpio_mode));
+ set_gpio_mode(swdio_dir_gpio,
+ swdio_dir_is_active_high ? AM335XGPIO_GPIO_MODE_OUTPUT_HIGH : AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
+
+ }
+ set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
+ set_gpio_mode(swclk_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
+ }
+
+ if (is_gpio_valid(srst_gpio)) {
+ srst_gpio_mode = get_gpio_mode(srst_gpio);
+ LOG_DEBUG("saved GPIO mode for srst (GPIO #%d): %s", srst_gpio, get_gpio_mode_name(srst_gpio_mode));
+ }
+
+ if (is_gpio_valid(led_gpio)) {
+ led_gpio_mode = get_gpio_mode(led_gpio);
+ LOG_DEBUG("saved GPIO mode for led (GPIO #%d): %s", led_gpio, get_gpio_mode_name(led_gpio_mode));
+ set_gpio_mode(led_gpio,
+ led_is_active_high ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
+ }
+
+ /* Set GPIO modes for TRST and SRST and make both inactive */
+ am335xgpio_reset(0, 0);
+ return ERROR_OK;
+}
+
+static int am335xgpio_quit(void)
+{
+ if (transport_is_jtag()) {
+ set_gpio_mode(tdo_gpio, tdo_gpio_mode);
+ set_gpio_mode(tdi_gpio, tdi_gpio_mode);
+ set_gpio_mode(tck_gpio, tck_gpio_mode);
+ set_gpio_mode(tms_gpio, tms_gpio_mode);
+ if (is_gpio_valid(trst_gpio))
+ set_gpio_mode(trst_gpio, trst_gpio_mode);
+ }
+
+ if (transport_is_swd()) {
+ set_gpio_mode(swclk_gpio, swclk_gpio_mode);
+ set_gpio_mode(swdio_gpio, swdio_gpio_mode);
+ if (is_gpio_valid(swdio_dir_gpio))
+ set_gpio_mode(swdio_dir_gpio, swdio_dir_gpio_mode);
+ }
+
+ if (is_gpio_valid(srst_gpio))
+ set_gpio_mode(srst_gpio, srst_gpio_mode);
+
+ if (is_gpio_valid(led_gpio))
+ set_gpio_mode(led_gpio, led_gpio_mode);
+
+ return ERROR_OK;
+}
+
+struct adapter_driver am335xgpio_adapter_driver = {
+ .name = "am335xgpio",
+ .transports = am335xgpio_transports,
+ .commands = am335xgpio_command_handlers,
+
+ .init = am335xgpio_init,
+ .quit = am335xgpio_quit,
+ .reset = am335xgpio_reset,
+ .speed = am335xgpio_speed,
+ .khz = am335xgpio_khz,
+ .speed_div = am335xgpio_speed_div,
+
+ .jtag_ops = &am335xgpio_interface,
+ .swd_ops = &bitbang_swd,
+};
projects / fw / openocd / commitdiff