src/jtag/drivers/bcm2835gpio.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2
   3 /***************************************************************************
   4  *   Copyright (C) 2013 by Paul Fertser, fercerpav@gmail.com               *
   5  *                                                                         *
   6  *   Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
   7  *   Based on at91rm9200.c (c) Anders Larsen                               *
   8  *   and RPi GPIO examples by Gert van Loo & Dom                           *
   9  ***************************************************************************/
  10
  11 #ifdef HAVE_CONFIG_H
  12 #include "config.h"
  13 #endif
  14
  15 #include <jtag/adapter.h>
  16 #include <jtag/interface.h>
  17 #include <transport/transport.h>
  18 #include "bitbang.h"
  19
  20 #include <sys/mman.h>
  21
  22 uint32_t bcm2835_peri_base = 0x20000000;
  23 #define BCM2835_GPIO_BASE       (bcm2835_peri_base + 0x200000) /* GPIO controller */
  24
  25 #define BCM2835_PADS_GPIO_0_27          (bcm2835_peri_base + 0x100000)
  26 #define BCM2835_PADS_GPIO_0_27_OFFSET   (0x2c / 4)
  27
  28 /* See "GPIO Function Select Registers (GPFSELn)" in "Broadcom BCM2835 ARM Peripherals" datasheet. */
  29 #define BCM2835_GPIO_MODE_INPUT 0
  30 #define BCM2835_GPIO_MODE_OUTPUT 1
  31
  32 /* GPIO setup macros */
  33 #define MODE_GPIO(g) (*(pio_base+((g)/10))>>(((g)%10)*3) & 7)
  34 #define INP_GPIO(g) do { *(pio_base+((g)/10)) &= ~(7<<(((g)%10)*3)); } while (0)
  35 #define SET_MODE_GPIO(g, m) do { /* clear the mode bits first, then set as necessary */ \
  36                 INP_GPIO(g);                                            \
  37                 *(pio_base+((g)/10)) |=  ((m)<<(((g)%10)*3)); } while (0)
  38 #define OUT_GPIO(g) SET_MODE_GPIO(g, BCM2835_GPIO_MODE_OUTPUT)
  39
  40 #define GPIO_SET (*(pio_base+7))  /* sets   bits which are 1, ignores bits which are 0 */
  41 #define GPIO_CLR (*(pio_base+10)) /* clears bits which are 1, ignores bits which are 0 */
  42 #define GPIO_LEV (*(pio_base+13)) /* current level of the pin */
  43
  44 static int dev_mem_fd;
  45 static volatile uint32_t *pio_base = MAP_FAILED;
  46 static volatile uint32_t *pads_base = MAP_FAILED;
  47
  48 /* Transition delay coefficients */
  49 static int speed_coeff = 113714;
  50 static int speed_offset = 28;
  51 static unsigned int jtag_delay;
  52
  53 static const struct adapter_gpio_config *adapter_gpio_config;
  54 static struct initial_gpio_state {
  55         unsigned int mode;
  56         unsigned int output_level;
  57 } initial_gpio_state[ADAPTER_GPIO_IDX_NUM];
  58 static uint32_t initial_drive_strength_etc;
  59
  60 static inline void bcm2835_gpio_synchronize(void)
  61 {
  62         /* Ensure that previous writes to GPIO registers are flushed out of
  63          * the inner shareable domain to prevent pipelined writes to the
  64          * same address being merged.
  65          */
  66         __sync_synchronize();
  67 }
  68
  69 static bool is_gpio_config_valid(enum adapter_gpio_config_index idx)
  70 {
  71         /* Only chip 0 is supported, accept unset value (-1) too */
  72         return adapter_gpio_config[idx].chip_num >= -1
  73                 && adapter_gpio_config[idx].chip_num <= 0
  74                 && adapter_gpio_config[idx].gpio_num >= 0
  75                 && adapter_gpio_config[idx].gpio_num <= 31;
  76 }
  77
  78 static void set_gpio_value(const struct adapter_gpio_config *gpio_config, int value)
  79 {
  80         value = value ^ (gpio_config->active_low ? 1 : 0);
  81         switch (gpio_config->drive) {
  82         case ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL:
  83                 if (value)
  84                         GPIO_SET = 1 << gpio_config->gpio_num;
  85                 else
  86                         GPIO_CLR = 1 << gpio_config->gpio_num;
  87                 /* For performance reasons assume the GPIO is already set as an output
  88                  * and therefore the call can be omitted here.
  89                  */
  90                 break;
  91         case ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN:
  92                 if (value) {
  93                         INP_GPIO(gpio_config->gpio_num);
  94                 } else {
  95                         GPIO_CLR = 1 << gpio_config->gpio_num;
  96                         OUT_GPIO(gpio_config->gpio_num);
  97                 }
  98                 break;
  99         case ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE:
 100                 if (value) {
 101                         GPIO_SET = 1 << gpio_config->gpio_num;
 102                         OUT_GPIO(gpio_config->gpio_num);
 103                 } else {
 104                         INP_GPIO(gpio_config->gpio_num);
 105                 }
 106                 break;
 107         }
 108         bcm2835_gpio_synchronize();
 109 }
 110
 111 static void restore_gpio(enum adapter_gpio_config_index idx)
 112 {
 113         if (is_gpio_config_valid(idx)) {
 114                 SET_MODE_GPIO(adapter_gpio_config[idx].gpio_num, initial_gpio_state[idx].mode);
 115                 if (initial_gpio_state[idx].mode == BCM2835_GPIO_MODE_OUTPUT) {
 116                         if (initial_gpio_state[idx].output_level)
 117                                 GPIO_SET = 1 << adapter_gpio_config[idx].gpio_num;
 118                         else
 119                                 GPIO_CLR = 1 << adapter_gpio_config[idx].gpio_num;
 120                 }
 121         }
 122         bcm2835_gpio_synchronize();
 123 }
 124
 125 static void initialize_gpio(enum adapter_gpio_config_index idx)
 126 {
 127         if (!is_gpio_config_valid(idx))
 128                 return;
 129
 130         initial_gpio_state[idx].mode = MODE_GPIO(adapter_gpio_config[idx].gpio_num);
 131         unsigned int shift = adapter_gpio_config[idx].gpio_num;
 132         initial_gpio_state[idx].output_level = (GPIO_LEV >> shift) & 1;
 133         LOG_DEBUG("saved GPIO mode for %s (GPIO %d %d): %d",
 134                         adapter_gpio_get_name(idx), adapter_gpio_config[idx].chip_num, adapter_gpio_config[idx].gpio_num,
 135                         initial_gpio_state[idx].mode);
 136
 137         if (adapter_gpio_config[idx].pull != ADAPTER_GPIO_PULL_NONE) {
 138                 LOG_WARNING("BCM2835 GPIO does not support pull-up or pull-down settings (signal %s)",
 139                         adapter_gpio_get_name(idx));
 140         }
 141
 142         switch (adapter_gpio_config[idx].init_state) {
 143         case ADAPTER_GPIO_INIT_STATE_INACTIVE:
 144                 set_gpio_value(&adapter_gpio_config[idx], 0);
 145                 break;
 146         case ADAPTER_GPIO_INIT_STATE_ACTIVE:
 147                 set_gpio_value(&adapter_gpio_config[idx], 1);
 148                 break;
 149         case ADAPTER_GPIO_INIT_STATE_INPUT:
 150                 INP_GPIO(adapter_gpio_config[idx].gpio_num);
 151                 break;
 152         }
 153
 154         /* Direction for non push-pull is already set by set_gpio_value() */
 155         if (adapter_gpio_config[idx].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL)
 156                 OUT_GPIO(adapter_gpio_config[idx].gpio_num);
 157         bcm2835_gpio_synchronize();
 158 }
 159
 160 static bb_value_t bcm2835gpio_read(void)
 161 {
 162         unsigned int shift = adapter_gpio_config[ADAPTER_GPIO_IDX_TDO].gpio_num;
 163         uint32_t value = (GPIO_LEV >> shift) & 1;
 164         return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_TDO].active_low ? BB_HIGH : BB_LOW);
 165
 166 }
 167
 168 static int bcm2835gpio_write(int tck, int tms, int tdi)
 169 {
 170         uint32_t set = tck << adapter_gpio_config[ADAPTER_GPIO_IDX_TCK].gpio_num |
 171                         tms << adapter_gpio_config[ADAPTER_GPIO_IDX_TMS].gpio_num |
 172                         tdi << adapter_gpio_config[ADAPTER_GPIO_IDX_TDI].gpio_num;
 173         uint32_t clear = !tck << adapter_gpio_config[ADAPTER_GPIO_IDX_TCK].gpio_num |
 174                         !tms << adapter_gpio_config[ADAPTER_GPIO_IDX_TMS].gpio_num |
 175                         !tdi << adapter_gpio_config[ADAPTER_GPIO_IDX_TDI].gpio_num;
 176
 177         GPIO_SET = set;
 178         GPIO_CLR = clear;
 179         bcm2835_gpio_synchronize();
 180
 181         for (unsigned int i = 0; i < jtag_delay; i++)
 182                 asm volatile ("");
 183
 184         return ERROR_OK;
 185 }
 186
 187 /* Requires push-pull drive mode for swclk and swdio */
 188 static int bcm2835gpio_swd_write_fast(int swclk, int swdio)
 189 {
 190         swclk = swclk ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].active_low ? 1 : 0);
 191         swdio = swdio ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].active_low ? 1 : 0);
 192
 193         uint32_t set = swclk << adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].gpio_num |
 194                                         swdio << adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
 195         uint32_t clear = !swclk << adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].gpio_num |
 196                                         !swdio << adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
 197
 198         GPIO_SET = set;
 199         GPIO_CLR = clear;
 200         bcm2835_gpio_synchronize();
 201
 202         for (unsigned int i = 0; i < jtag_delay; i++)
 203                 asm volatile ("");
 204
 205         return ERROR_OK;
 206 }
 207
 208 /* Generic mode that works for open-drain/open-source drive modes, but slower */
 209 static int bcm2835gpio_swd_write_generic(int swclk, int swdio)
 210 {
 211         set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO], swdio);
 212         set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK], swclk); /* Write clock last */
 213
 214         for (unsigned int i = 0; i < jtag_delay; ++i)
 215                 asm volatile ("");
 216
 217         return ERROR_OK;
 218 }
 219
 220 /* (1) assert or (0) deassert reset lines */
 221 static int bcm2835gpio_reset(int trst, int srst)
 222 {
 223         /* As the "adapter reset_config" command keeps the srst and trst gpio drive
 224          * mode settings in sync we can use our standard set_gpio_value() function
 225          * that honours drive mode and active low.
 226          */
 227         if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SRST))
 228                 set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SRST], srst);
 229
 230         if (is_gpio_config_valid(ADAPTER_GPIO_IDX_TRST))
 231                 set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TRST], trst);
 232
 233         LOG_DEBUG("BCM2835 GPIO: bcm2835gpio_reset(%d, %d), trst_gpio: %d %d, srst_gpio: %d %d",
 234                 trst, srst,
 235                 adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].gpio_num,
 236                 adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].gpio_num);
 237         return ERROR_OK;
 238 }
 239
 240 static void bcm2835_swdio_drive(bool is_output)
 241 {
 242         if (is_output) {
 243                 if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO_DIR))
 244                         set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 1);
 245                 OUT_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
 246         } else {
 247                 INP_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
 248                 if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO_DIR))
 249                         set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 0);
 250         }
 251         bcm2835_gpio_synchronize();
 252 }
 253
 254 static int bcm2835_swdio_read(void)
 255 {
 256         unsigned int shift = adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
 257         uint32_t value = (GPIO_LEV >> shift) & 1;
 258         return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].active_low ? 1 : 0);
 259 }
 260
 261 static int bcm2835gpio_khz(int khz, int *jtag_speed)
 262 {
 263         if (!khz) {
 264                 LOG_DEBUG("BCM2835 GPIO: RCLK not supported");
 265                 return ERROR_FAIL;
 266         }
 267         *jtag_speed = speed_coeff/khz - speed_offset;
 268         if (*jtag_speed < 0)
 269                 *jtag_speed = 0;
 270         return ERROR_OK;
 271 }
 272
 273 static int bcm2835gpio_speed_div(int speed, int *khz)
 274 {
 275         *khz = speed_coeff/(speed + speed_offset);
 276         return ERROR_OK;
 277 }
 278
 279 static int bcm2835gpio_speed(int speed)
 280 {
 281         jtag_delay = speed;
 282         return ERROR_OK;
 283 }
 284
 285 COMMAND_HANDLER(bcm2835gpio_handle_speed_coeffs)
 286 {
 287         if (CMD_ARGC == 2) {
 288                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
 289                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
 290         }
 291
 292         command_print(CMD, "BCM2835 GPIO: speed_coeffs = %d, speed_offset = %d",
 293                                   speed_coeff, speed_offset);
 294         return ERROR_OK;
 295 }
 296
 297 COMMAND_HANDLER(bcm2835gpio_handle_peripheral_base)
 298 {
 299         if (CMD_ARGC == 1)
 300                 COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], bcm2835_peri_base);
 301
 302         command_print(CMD, "BCM2835 GPIO: peripheral_base = 0x%08x",
 303                                   bcm2835_peri_base);
 304         return ERROR_OK;
 305 }
 306
 307 static const struct command_registration bcm2835gpio_subcommand_handlers[] = {
 308         {
 309                 .name = "speed_coeffs",
 310                 .handler = &bcm2835gpio_handle_speed_coeffs,
 311                 .mode = COMMAND_CONFIG,
 312                 .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
 313                 .usage = "[SPEED_COEFF SPEED_OFFSET]",
 314         },
 315         {
 316                 .name = "peripheral_base",
 317                 .handler = &bcm2835gpio_handle_peripheral_base,
 318                 .mode = COMMAND_CONFIG,
 319                 .help = "peripheral base to access GPIOs (RPi1 0x20000000, RPi2 0x3F000000).",
 320                 .usage = "[base]",
 321         },
 322
 323         COMMAND_REGISTRATION_DONE
 324 };
 325
 326 static const struct command_registration bcm2835gpio_command_handlers[] = {
 327         {
 328                 .name = "bcm2835gpio",
 329                 .mode = COMMAND_ANY,
 330                 .help = "perform bcm2835gpio management",
 331                 .chain = bcm2835gpio_subcommand_handlers,
 332                 .usage = "",
 333         },
 334         COMMAND_REGISTRATION_DONE
 335 };
 336
 337 static bool bcm2835gpio_jtag_mode_possible(void)
 338 {
 339         if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TCK))
 340                 return false;
 341         if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TMS))
 342                 return false;
 343         if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDI))
 344                 return false;
 345         if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDO))
 346                 return false;
 347         return true;
 348 }
 349
 350 static bool bcm2835gpio_swd_mode_possible(void)
 351 {
 352         if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWCLK))
 353                 return false;
 354         if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO))
 355                 return false;
 356         return true;
 357 }
 358
 359 static void bcm2835gpio_munmap(void)
 360 {
 361         if (pio_base != MAP_FAILED) {
 362                 munmap((void *)pio_base, sysconf(_SC_PAGE_SIZE));
 363                 pio_base = MAP_FAILED;
 364         }
 365
 366         if (pads_base != MAP_FAILED) {
 367                 munmap((void *)pads_base, sysconf(_SC_PAGE_SIZE));
 368                 pads_base = MAP_FAILED;
 369         }
 370 }
 371
 372 static int bcm2835gpio_blink(int on)
 373 {
 374         if (is_gpio_config_valid(ADAPTER_GPIO_IDX_LED))
 375                 set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_LED], on);
 376
 377         return ERROR_OK;
 378 }
 379
 380 static struct bitbang_interface bcm2835gpio_bitbang = {
 381         .read = bcm2835gpio_read,
 382         .write = bcm2835gpio_write,
 383         .swdio_read = bcm2835_swdio_read,
 384         .swdio_drive = bcm2835_swdio_drive,
 385         .swd_write = bcm2835gpio_swd_write_generic,
 386         .blink = bcm2835gpio_blink,
 387 };
 388
 389 static int bcm2835gpio_init(void)
 390 {
 391         LOG_INFO("BCM2835 GPIO JTAG/SWD bitbang driver");
 392
 393         bitbang_interface = &bcm2835gpio_bitbang;
 394         adapter_gpio_config = adapter_gpio_get_config();
 395
 396         if (transport_is_jtag() && !bcm2835gpio_jtag_mode_possible()) {
 397                 LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 398                 return ERROR_JTAG_INIT_FAILED;
 399         }
 400
 401         if (transport_is_swd() && !bcm2835gpio_swd_mode_possible()) {
 402                 LOG_ERROR("Require swclk and swdio gpio for SWD mode");
 403                 return ERROR_JTAG_INIT_FAILED;
 404         }
 405
 406         dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
 407         if (dev_mem_fd < 0) {
 408                 LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
 409                 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
 410         }
 411         if (dev_mem_fd < 0) {
 412                 LOG_ERROR("open: %s", strerror(errno));
 413                 return ERROR_JTAG_INIT_FAILED;
 414         }
 415
 416         pio_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
 417                                 MAP_SHARED, dev_mem_fd, BCM2835_GPIO_BASE);
 418
 419         if (pio_base == MAP_FAILED) {
 420                 LOG_ERROR("mmap: %s", strerror(errno));
 421                 close(dev_mem_fd);
 422                 return ERROR_JTAG_INIT_FAILED;
 423         }
 424
 425         pads_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
 426                                 MAP_SHARED, dev_mem_fd, BCM2835_PADS_GPIO_0_27);
 427
 428         if (pads_base == MAP_FAILED) {
 429                 LOG_ERROR("mmap: %s", strerror(errno));
 430                 bcm2835gpio_munmap();
 431                 close(dev_mem_fd);
 432                 return ERROR_JTAG_INIT_FAILED;
 433         }
 434
 435         close(dev_mem_fd);
 436
 437         /* set 4mA drive strength, slew rate limited, hysteresis on */
 438         initial_drive_strength_etc = pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] & 0x1f;
 439         pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5a000008 + 1;
 440
 441         /* Configure JTAG/SWD signals. Default directions and initial states are handled
 442          * by adapter.c and "adapter gpio" command.
 443          */
 444         if (transport_is_jtag()) {
 445                 initialize_gpio(ADAPTER_GPIO_IDX_TDO);
 446                 initialize_gpio(ADAPTER_GPIO_IDX_TDI);
 447                 initialize_gpio(ADAPTER_GPIO_IDX_TMS);
 448                 initialize_gpio(ADAPTER_GPIO_IDX_TCK);
 449                 initialize_gpio(ADAPTER_GPIO_IDX_TRST);
 450         }
 451
 452         if (transport_is_swd()) {
 453                 /* swdio and its buffer should be initialized in the order that prevents
 454                  * two outputs from being connected together. This will occur if the
 455                  * swdio GPIO of the AM335x is configured as an output while its
 456                  * external buffer is configured to send the swdio signal from the
 457                  * target to the AM335x.
 458                  */
 459                 if (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].init_state == ADAPTER_GPIO_INIT_STATE_INPUT) {
 460                         initialize_gpio(ADAPTER_GPIO_IDX_SWDIO);
 461                         initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
 462                 } else {
 463                         initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
 464                         initialize_gpio(ADAPTER_GPIO_IDX_SWDIO);
 465                 }
 466
 467                 initialize_gpio(ADAPTER_GPIO_IDX_SWCLK);
 468
 469                 if (adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL &&
 470                                 adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL) {
 471                         LOG_DEBUG("BCM2835 GPIO using fast mode for SWD write");
 472                         bcm2835gpio_bitbang.swd_write = bcm2835gpio_swd_write_fast;
 473                 } else {
 474                         LOG_DEBUG("BCM2835 GPIO using generic mode for SWD write");
 475                         bcm2835gpio_bitbang.swd_write = bcm2835gpio_swd_write_generic;
 476                 }
 477         }
 478
 479         initialize_gpio(ADAPTER_GPIO_IDX_SRST);
 480         initialize_gpio(ADAPTER_GPIO_IDX_LED);
 481
 482         return ERROR_OK;
 483 }
 484
 485 static int bcm2835gpio_quit(void)
 486 {
 487         if (transport_is_jtag()) {
 488                 restore_gpio(ADAPTER_GPIO_IDX_TDO);
 489                 restore_gpio(ADAPTER_GPIO_IDX_TDI);
 490                 restore_gpio(ADAPTER_GPIO_IDX_TCK);
 491                 restore_gpio(ADAPTER_GPIO_IDX_TMS);
 492                 restore_gpio(ADAPTER_GPIO_IDX_TRST);
 493         }
 494
 495         if (transport_is_swd()) {
 496                 /* Restore swdio/swdio_dir to their initial modes, even if that means
 497                  * connecting two outputs. Begin by making swdio an input so that the
 498                  * current and final states of swdio and swdio_dir do not have to be
 499                  * considered to calculate the safe restoration order.
 500                  */
 501                 INP_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
 502                 restore_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
 503                 restore_gpio(ADAPTER_GPIO_IDX_SWDIO);
 504                 restore_gpio(ADAPTER_GPIO_IDX_SWCLK);
 505         }
 506
 507         restore_gpio(ADAPTER_GPIO_IDX_SRST);
 508         restore_gpio(ADAPTER_GPIO_IDX_LED);
 509
 510         /* Restore drive strength. MSB is password ("5A") */
 511         pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5A000000 | initial_drive_strength_etc;
 512         bcm2835gpio_munmap();
 513
 514         return ERROR_OK;
 515 }
 516
 517
 518 static const char * const bcm2835_transports[] = { "jtag", "swd", NULL };
 519
 520 static struct jtag_interface bcm2835gpio_interface = {
 521         .supported = DEBUG_CAP_TMS_SEQ,
 522         .execute_queue = bitbang_execute_queue,
 523 };
 524 struct adapter_driver bcm2835gpio_adapter_driver = {
 525         .name = "bcm2835gpio",
 526         .transports = bcm2835_transports,
 527         .commands = bcm2835gpio_command_handlers,
 528
 529         .init = bcm2835gpio_init,
 530         .quit = bcm2835gpio_quit,
 531         .reset = bcm2835gpio_reset,
 532         .speed = bcm2835gpio_speed,
 533         .khz = bcm2835gpio_khz,
 534         .speed_div = bcm2835gpio_speed_div,
 535
 536         .jtag_ops = &bcm2835gpio_interface,
 537         .swd_ops = &bitbang_swd,
 538 };