X-Git-Url: https://review.openocd.org/gitweb?a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fam335xgpio.c;h=e641a4fae6713ddffc2620ba643edc82b5bdaf2d;hb=382148e4dd437978997d668f6ec715ddcec1c46e;hp=62e276737d64c42084b54f67e7727bc8b5ec51b1;hpb=eb56509fa47378cdd697e043066f576cb0dc508a;p=openocd.git diff --git a/src/jtag/drivers/am335xgpio.c b/src/jtag/drivers/am335xgpio.c index 62e276737d..e641a4fae6 100644 --- a/src/jtag/drivers/am335xgpio.c +++ b/src/jtag/drivers/am335xgpio.c @@ -1,4 +1,4 @@ -/* SPDX-License-Identifier: GPL-2.0-or-later */ +// SPDX-License-Identifier: GPL-2.0-or-later /*************************************************************************** * Copyright (C) 2022 by Steve Marple, stevemarple@googlemail.com * @@ -10,23 +10,24 @@ #include "config.h" #endif +#include #include #include #include "bitbang.h" #include -/* - * GPIO register base addresses. Values taken from "AM335x and AMIC110 Sitara +/* 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_NUM_GPIO_PER_CHIP 32 +#define AM335XGPIO_NUM_GPIO_CHIPS 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 +/* 32-bit offsets from GPIO chip base address. Values taken from "AM335x and * AMIC110 Sitara Processors Technical Reference Manual", Chapter 25 * General-Purpose Input/Output. */ @@ -36,34 +37,34 @@ #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(chip_num, offset) \ + (*(am335xgpio_gpio_chip_mmap_addr[(chip_num)] + (offset))) -#define AM335XGPIO_READ_REG(gpio_num, offset) \ - (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset))) +#define AM335XGPIO_WRITE_REG(chip_num, offset, value) \ + (*(am335xgpio_gpio_chip_mmap_addr[(chip_num)] + (offset)) = (value)) -#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(chip_num, offset, bit_mask) \ + (*(am335xgpio_gpio_chip_mmap_addr[(chip_num)] + (offset)) |= (bit_mask)) -#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(chip_num, offset, bit_mask) \ + (*(am335xgpio_gpio_chip_mmap_addr[(chip_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)) +#define AM335XGPIO_SET_INPUT(gpio_config) \ + AM335XGPIO_SET_REG_BITS((gpio_config)->chip_num, AM335XGPIO_GPIO_OE_OFFSET, BIT((gpio_config)->gpio_num)) +#define AM335XGPIO_SET_OUTPUT(gpio_config) \ + AM335XGPIO_CLEAR_REG_BITS((gpio_config)->chip_num, AM335XGPIO_GPIO_OE_OFFSET, BIT((gpio_config)->gpio_num)) +#define AM335XGPIO_SET_HIGH(gpio_config) \ + AM335XGPIO_WRITE_REG((gpio_config)->chip_num, AM335XGPIO_GPIO_SETDATAOUT_OFFSET, BIT((gpio_config)->gpio_num)) +#define AM335XGPIO_SET_LOW(gpio_config) \ + AM335XGPIO_WRITE_REG((gpio_config)->chip_num, AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET, BIT((gpio_config)->gpio_num)) -enum amx335gpio_gpio_mode { +enum amx335gpio_initial_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] = { +static const uint32_t am335xgpio_gpio_chip_hw_addr[AM335XGPIO_NUM_GPIO_CHIPS] = { AM335XGPIO_GPIO0_HW_ADDR, AM335XGPIO_GPIO1_HW_ADDR, AM335XGPIO_GPIO2_HW_ADDR, @@ -71,117 +72,151 @@ static const uint32_t am335xgpio_gpio_port_hw_addr[AM335XGPIO_NUM_GPIO_PORTS] = }; /* Memory-mapped address pointers */ -static volatile uint32_t *am335xgpio_gpio_port_mmap_addr[AM335XGPIO_NUM_GPIO_PORTS]; +static volatile uint32_t *am335xgpio_gpio_chip_mmap_addr[AM335XGPIO_NUM_GPIO_CHIPS]; 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; +static enum amx335gpio_initial_gpio_mode initial_gpio_mode[ADAPTER_GPIO_IDX_NUM]; /* 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 const struct adapter_gpio_config *adapter_gpio_config; -static int get_gpio_value(int gpio_num) +static bool is_gpio_config_valid(const struct adapter_gpio_config *gpio_config) { - unsigned int shift = AM335XGPIO_BIT_NUM(gpio_num); - return (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAIN_OFFSET) >> shift) & 1; + return gpio_config->chip_num >= 0 + && gpio_config->chip_num < AM335XGPIO_NUM_GPIO_CHIPS + && gpio_config->gpio_num >= 0 + && gpio_config->gpio_num < AM335XGPIO_NUM_GPIO_PER_CHIP; } -static void set_gpio_value(int gpio_num, int value) +static int get_gpio_value(const struct adapter_gpio_config *gpio_config) { - 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)); + unsigned int shift = gpio_config->gpio_num; + uint32_t value = AM335XGPIO_READ_REG(gpio_config->chip_num, AM335XGPIO_GPIO_DATAIN_OFFSET); + value = (value >> shift) & 1; + return value ^ (gpio_config->active_low ? 1 : 0); } -static enum amx335gpio_gpio_mode get_gpio_mode(int gpio_num) +static void set_gpio_value(const struct adapter_gpio_config *gpio_config, int value) { - 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; + value = value ^ (gpio_config->active_low ? 1 : 0); + switch (gpio_config->drive) { + case ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL: + if (value) + AM335XGPIO_SET_HIGH(gpio_config); else - return AM335XGPIO_GPIO_MODE_OUTPUT_LOW; + AM335XGPIO_SET_LOW(gpio_config); + /* 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) { + AM335XGPIO_SET_INPUT(gpio_config); + } else { + AM335XGPIO_SET_LOW(gpio_config); + AM335XGPIO_SET_OUTPUT(gpio_config); + } + break; + case ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE: + if (value) { + AM335XGPIO_SET_HIGH(gpio_config); + AM335XGPIO_SET_OUTPUT(gpio_config); + } else { + AM335XGPIO_SET_INPUT(gpio_config); + } + break; } } -static void set_gpio_mode(int gpio_num, enum amx335gpio_gpio_mode gpio_mode) +static enum amx335gpio_initial_gpio_mode get_gpio_mode(const struct adapter_gpio_config *gpio_config) { - 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 (AM335XGPIO_READ_REG(gpio_config->chip_num, AM335XGPIO_GPIO_OE_OFFSET) & BIT(gpio_config->gpio_num)) + return AM335XGPIO_GPIO_MODE_INPUT; - 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)); - } + /* Return output level too so that pin mode can be fully restored */ + if (AM335XGPIO_READ_REG(gpio_config->chip_num, AM335XGPIO_GPIO_DATAOUT_OFFSET) & BIT(gpio_config->gpio_num)) + return AM335XGPIO_GPIO_MODE_OUTPUT_HIGH; + return AM335XGPIO_GPIO_MODE_OUTPUT_LOW; } -static const char *get_gpio_mode_name(enum amx335gpio_gpio_mode gpio_mode) +static const char *get_gpio_mode_name(enum amx335gpio_initial_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"; + } + return "unknown"; +} + +static void initialize_gpio(enum adapter_gpio_config_index idx) +{ + if (!is_gpio_config_valid(&adapter_gpio_config[idx])) + return; + + initial_gpio_mode[idx] = get_gpio_mode(&adapter_gpio_config[idx]); + LOG_DEBUG("saved GPIO mode for %s (GPIO %d %d): %s", + adapter_gpio_get_name(idx), adapter_gpio_config[idx].chip_num, adapter_gpio_config[idx].gpio_num, + get_gpio_mode_name(initial_gpio_mode[idx])); + + if (adapter_gpio_config[idx].pull != ADAPTER_GPIO_PULL_NONE) { + LOG_WARNING("am335xgpio 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: + AM335XGPIO_SET_INPUT(&adapter_gpio_config[idx]); + 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) + AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[idx]); +} + +static void restore_gpio(enum adapter_gpio_config_index idx) +{ + if (is_gpio_config_valid(&adapter_gpio_config[idx])) { + switch (initial_gpio_mode[idx]) { + case AM335XGPIO_GPIO_MODE_INPUT: + AM335XGPIO_SET_INPUT(&adapter_gpio_config[idx]); + break; + case AM335XGPIO_GPIO_MODE_OUTPUT_LOW: + AM335XGPIO_SET_LOW(&adapter_gpio_config[idx]); + AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[idx]); + break; + case AM335XGPIO_GPIO_MODE_OUTPUT_HIGH: + AM335XGPIO_SET_HIGH(&adapter_gpio_config[idx]); + AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[idx]); + break; + } } } static bb_value_t am335xgpio_read(void) { - return get_gpio_value(tdo_gpio) ? BB_HIGH : BB_LOW; + return get_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDO]) ? 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 */ + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDI], tdi); + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TMS], tms); + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TCK], tck); /* Write clock last */ for (unsigned int i = 0; i < jtag_delay; ++i) asm volatile (""); @@ -191,8 +226,8 @@ static int am335xgpio_write(int tck, int tms, int tdi) static int am335xgpio_swd_write(int swclk, int swdio) { - set_gpio_value(swdio_gpio, swdio); - set_gpio_value(swclk_gpio, swclk); /* Write clock last */ + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO], swdio); + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK], swclk); /* Write clock last */ for (unsigned int i = 0; i < jtag_delay; ++i) asm volatile (""); @@ -203,49 +238,45 @@ static int am335xgpio_swd_write(int swclk, int swdio) /* (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); - } + /* As the "adapter reset_config" command keeps the srst and trst gpio drive + * mode settings in sync we can use our standard set_gpio_value() function + * that honours drive mode and active low. + */ + if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SRST])) + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SRST], srst); - /* 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); - } + if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TRST])) + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TRST], trst); - LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d (%s), srst_gpio: %d (%s)", + LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d %d, srst_gpio: %d %d", trst, srst, - trst_gpio, get_gpio_mode_name(get_gpio_mode(trst_gpio)), - srst_gpio, get_gpio_mode_name(get_gpio_mode(srst_gpio))); + adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].gpio_num, + adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].gpio_num); 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); + if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR])) + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 1); + AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]); } else { - set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_INPUT); - set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 0 : 1); + AM335XGPIO_SET_INPUT(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]); + if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR])) + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 0); } } static int am335xgpio_swdio_read(void) { - return get_gpio_value(swdio_gpio); + return get_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]); } static int am335xgpio_blink(int on) { - if (is_gpio_valid(led_gpio)) - set_gpio_value(led_gpio, (!on ^ led_is_active_high) ? 1 : 0); + if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_LED])) + set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_LED], on); return ERROR_OK; } @@ -283,144 +314,6 @@ static int am335xgpio_speed(int 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) { @@ -434,104 +327,6 @@ COMMAND_HANDLER(am335xgpio_handle_speed_coeffs) } 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, @@ -562,32 +357,40 @@ static struct jtag_interface am335xgpio_interface = { static bool am335xgpio_jtag_mode_possible(void) { - if (!is_gpio_valid(tck_gpio)) + if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TCK])) return false; - if (!is_gpio_valid(tms_gpio)) + if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TMS])) return false; - if (!is_gpio_valid(tdi_gpio)) + if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDI])) return false; - if (!is_gpio_valid(tdo_gpio)) + if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDO])) return false; return true; } static bool am335xgpio_swd_mode_possible(void) { - if (!is_gpio_valid(swclk_gpio)) + if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK])) return false; - if (!is_gpio_valid(swdio_gpio)) + if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO])) return false; return true; } -static int am335xgpio_init(void) +static void am335xgpio_munmap(void) { - bitbang_interface = &am335xgpio_bitbang; + for (unsigned int i = 0; i < AM335XGPIO_NUM_GPIO_CHIPS && am335xgpio_gpio_chip_mmap_addr[i] != MAP_FAILED; ++i) + if (munmap((void *)am335xgpio_gpio_chip_mmap_addr[i], sysconf(_SC_PAGE_SIZE)) < 0) + LOG_ERROR("Cannot unmap GPIO memory for chip %d: %s", i, strerror(errno)); +} +static int am335xgpio_init(void) +{ LOG_INFO("AM335x GPIO JTAG/SWD bitbang driver"); + bitbang_interface = &am335xgpio_bitbang; + adapter_gpio_config = adapter_gpio_get_config(); + 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; @@ -608,99 +411,81 @@ static int am335xgpio_init(void) 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]); + for (unsigned int i = 0; i < AM335XGPIO_NUM_GPIO_CHIPS; ++i) { + am335xgpio_gpio_chip_mmap_addr[i] = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE, + MAP_SHARED, dev_mem_fd, am335xgpio_gpio_chip_hw_addr[i]); - if (am335xgpio_gpio_port_mmap_addr[i] == MAP_FAILED) { + if (am335xgpio_gpio_chip_mmap_addr[i] == MAP_FAILED) { LOG_ERROR("mmap: %s", strerror(errno)); + am335xgpio_munmap(); close(dev_mem_fd); return ERROR_JTAG_INIT_FAILED; } } + close(dev_mem_fd); - /* - * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST as outputs. - * Drive TDI and TCK low, and TMS 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 = 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)); - } + initialize_gpio(ADAPTER_GPIO_IDX_TDO); + initialize_gpio(ADAPTER_GPIO_IDX_TDI); + initialize_gpio(ADAPTER_GPIO_IDX_TMS); + initialize_gpio(ADAPTER_GPIO_IDX_TCK); + initialize_gpio(ADAPTER_GPIO_IDX_TRST); } 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); - + /* swdio and its buffer should be initialized in the order that prevents + * two outputs from being connected together. This will occur if the + * swdio GPIO of the AM335x is configured as an output while its + * external buffer is configured to send the swdio signal from the + * target to the AM335x. + */ + if (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].init_state == ADAPTER_GPIO_INIT_STATE_INPUT) { + initialize_gpio(ADAPTER_GPIO_IDX_SWDIO); + initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR); + } else { + initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR); + initialize_gpio(ADAPTER_GPIO_IDX_SWDIO); } - 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)); + initialize_gpio(ADAPTER_GPIO_IDX_SWCLK); } - 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); - } + initialize_gpio(ADAPTER_GPIO_IDX_SRST); + initialize_gpio(ADAPTER_GPIO_IDX_LED); - /* 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); + restore_gpio(ADAPTER_GPIO_IDX_TDO); + restore_gpio(ADAPTER_GPIO_IDX_TDI); + restore_gpio(ADAPTER_GPIO_IDX_TMS); + restore_gpio(ADAPTER_GPIO_IDX_TCK); + restore_gpio(ADAPTER_GPIO_IDX_TRST); } 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); + /* Restore swdio/swdio_dir to their initial modes, even if that means + * connecting two outputs. Begin by making swdio an input so that the + * current and final states of swdio and swdio_dir do not have to be + * considered to calculate the safe restoration order. + */ + AM335XGPIO_SET_INPUT(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]); + restore_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR); + restore_gpio(ADAPTER_GPIO_IDX_SWDIO); + + restore_gpio(ADAPTER_GPIO_IDX_SWCLK); } - if (is_gpio_valid(srst_gpio)) - set_gpio_mode(srst_gpio, srst_gpio_mode); + restore_gpio(ADAPTER_GPIO_IDX_SRST); + restore_gpio(ADAPTER_GPIO_IDX_LED); - if (is_gpio_valid(led_gpio)) - set_gpio_mode(led_gpio, led_gpio_mode); + am335xgpio_munmap(); return ERROR_OK; }