src/jtag/drivers/linuxgpiod.c

   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2 /*
   3  * Bitbang driver for Linux GPIO descriptors through libgpiod
   4  * Copyright (C) 2020 Antonio Borneo <borneo.antonio@gmail.com>
   5  *
   6  * Largely based on sysfsgpio driver
   7  * Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au
   8  * Copyright (C) 2014 by Jean-Christian de Rivaz <jc@eclis.ch>
   9  * Copyright (C) 2014 by Paul Fertser <fercerpav@gmail.com>
  10  */
  11
  12 #ifdef HAVE_CONFIG_H
  13 #include "config.h"
  14 #endif
  15
  16 #include <gpiod.h>
  17 #include <jtag/interface.h>
  18 #include <transport/transport.h>
  19 #include "bitbang.h"
  20
  21 /* gpio numbers for each gpio. Negative values are invalid */
  22 static int tck_gpio = -1;
  23 static int tms_gpio = -1;
  24 static int tdi_gpio = -1;
  25 static int tdo_gpio = -1;
  26 static int trst_gpio = -1;
  27 static int srst_gpio = -1;
  28 static int swclk_gpio = -1;
  29 static int swdio_gpio = -1;
  30 static int swdio_dir_gpio = -1;
  31 static int led_gpio = -1;
  32 static int gpiochip = -1;
  33 static int tck_gpiochip = -1;
  34 static int tms_gpiochip = -1;
  35 static int tdi_gpiochip = -1;
  36 static int tdo_gpiochip = -1;
  37 static int trst_gpiochip = -1;
  38 static int srst_gpiochip = -1;
  39 static int swclk_gpiochip = -1;
  40 static int swdio_gpiochip = -1;
  41 static int swdio_dir_gpiochip = -1;
  42 static int led_gpiochip = -1;
  43
  44 static struct gpiod_chip *gpiod_chip_tck;
  45 static struct gpiod_chip *gpiod_chip_tms;
  46 static struct gpiod_chip *gpiod_chip_tdi;
  47 static struct gpiod_chip *gpiod_chip_tdo;
  48 static struct gpiod_chip *gpiod_chip_trst;
  49 static struct gpiod_chip *gpiod_chip_srst;
  50 static struct gpiod_chip *gpiod_chip_swclk;
  51 static struct gpiod_chip *gpiod_chip_swdio;
  52 static struct gpiod_chip *gpiod_chip_swdio_dir;
  53 static struct gpiod_chip *gpiod_chip_led;
  54
  55 static struct gpiod_line *gpiod_tck;
  56 static struct gpiod_line *gpiod_tms;
  57 static struct gpiod_line *gpiod_tdi;
  58 static struct gpiod_line *gpiod_tdo;
  59 static struct gpiod_line *gpiod_trst;
  60 static struct gpiod_line *gpiod_swclk;
  61 static struct gpiod_line *gpiod_swdio;
  62 static struct gpiod_line *gpiod_swdio_dir;
  63 static struct gpiod_line *gpiod_srst;
  64 static struct gpiod_line *gpiod_led;
  65
  66 static int last_swclk;
  67 static int last_swdio;
  68 static bool last_stored;
  69 static bool swdio_input;
  70 static bool swdio_dir_is_active_high = true;
  71
  72 /* Bitbang interface read of TDO */
  73 static bb_value_t linuxgpiod_read(void)
  74 {
  75         int retval;
  76
  77         retval = gpiod_line_get_value(gpiod_tdo);
  78         if (retval < 0) {
  79                 LOG_WARNING("reading tdo failed");
  80                 return 0;
  81         }
  82
  83         return retval ? BB_HIGH : BB_LOW;
  84 }
  85
  86 /*
  87  * Bitbang interface write of TCK, TMS, TDI
  88  *
  89  * Seeing as this is the only function where the outputs are changed,
  90  * we can cache the old value to avoid needlessly writing it.
  91  */
  92 static int linuxgpiod_write(int tck, int tms, int tdi)
  93 {
  94         static int last_tck;
  95         static int last_tms;
  96         static int last_tdi;
  97
  98         static int first_time;
  99
 100         int retval;
 101
 102         if (!first_time) {
 103                 last_tck = !tck;
 104                 last_tms = !tms;
 105                 last_tdi = !tdi;
 106                 first_time = 1;
 107         }
 108
 109         if (tdi != last_tdi) {
 110                 retval = gpiod_line_set_value(gpiod_tdi, tdi);
 111                 if (retval < 0)
 112                         LOG_WARNING("writing tdi failed");
 113         }
 114
 115         if (tms != last_tms) {
 116                 retval = gpiod_line_set_value(gpiod_tms, tms);
 117                 if (retval < 0)
 118                         LOG_WARNING("writing tms failed");
 119         }
 120
 121         /* write clk last */
 122         if (tck != last_tck) {
 123                 retval = gpiod_line_set_value(gpiod_tck, tck);
 124                 if (retval < 0)
 125                         LOG_WARNING("writing tck failed");
 126         }
 127
 128         last_tdi = tdi;
 129         last_tms = tms;
 130         last_tck = tck;
 131
 132         return ERROR_OK;
 133 }
 134
 135 static int linuxgpiod_swdio_read(void)
 136 {
 137         int retval;
 138
 139         retval = gpiod_line_get_value(gpiod_swdio);
 140         if (retval < 0) {
 141                 LOG_WARNING("Fail read swdio");
 142                 return 0;
 143         }
 144
 145         return retval;
 146 }
 147
 148 static void linuxgpiod_swdio_drive(bool is_output)
 149 {
 150         int retval;
 151
 152         /*
 153          * FIXME: change direction requires release and re-require the line
 154          * https://stackoverflow.com/questions/58735140/
 155          * this would change in future libgpiod
 156          */
 157         gpiod_line_release(gpiod_swdio);
 158
 159         if (is_output) {
 160                 if (gpiod_swdio_dir) {
 161                         retval = gpiod_line_set_value(gpiod_swdio_dir, swdio_dir_is_active_high ? 1 : 0);
 162                         if (retval < 0)
 163                                 LOG_WARNING("Fail set swdio_dir");
 164                 }
 165                 retval = gpiod_line_request_output(gpiod_swdio, "OpenOCD", 1);
 166                 if (retval < 0)
 167                         LOG_WARNING("Fail request_output line swdio");
 168         } else {
 169                 retval = gpiod_line_request_input(gpiod_swdio, "OpenOCD");
 170                 if (retval < 0)
 171                         LOG_WARNING("Fail request_input line swdio");
 172                 if (gpiod_swdio_dir) {
 173                         retval = gpiod_line_set_value(gpiod_swdio_dir, swdio_dir_is_active_high ? 0 : 1);
 174                         if (retval < 0)
 175                                 LOG_WARNING("Fail set swdio_dir");
 176                 }
 177         }
 178
 179         last_stored = false;
 180         swdio_input = !is_output;
 181 }
 182
 183 static int linuxgpiod_swd_write(int swclk, int swdio)
 184 {
 185         int retval;
 186
 187         if (!swdio_input) {
 188                 if (!last_stored || (swdio != last_swdio)) {
 189                         retval = gpiod_line_set_value(gpiod_swdio, swdio);
 190                         if (retval < 0)
 191                                 LOG_WARNING("Fail set swdio");
 192                 }
 193         }
 194
 195         /* write swclk last */
 196         if (!last_stored || (swclk != last_swclk)) {
 197                 retval = gpiod_line_set_value(gpiod_swclk, swclk);
 198                 if (retval < 0)
 199                         LOG_WARNING("Fail set swclk");
 200         }
 201
 202         last_swdio = swdio;
 203         last_swclk = swclk;
 204         last_stored = true;
 205
 206         return ERROR_OK;
 207 }
 208
 209 static int linuxgpiod_blink(int on)
 210 {
 211         int retval;
 212
 213         if (!gpiod_led)
 214                 return ERROR_OK;
 215
 216         retval = gpiod_line_set_value(gpiod_led, on);
 217         if (retval < 0)
 218                 LOG_WARNING("Fail set led");
 219         return retval;
 220 }
 221
 222 static struct bitbang_interface linuxgpiod_bitbang = {
 223         .read = linuxgpiod_read,
 224         .write = linuxgpiod_write,
 225         .swdio_read = linuxgpiod_swdio_read,
 226         .swdio_drive = linuxgpiod_swdio_drive,
 227         .swd_write = linuxgpiod_swd_write,
 228         .blink = linuxgpiod_blink,
 229 };
 230
 231 /*
 232  * Bitbang interface to manipulate reset lines SRST and TRST
 233  *
 234  * (1) assert or (0) deassert reset lines
 235  */
 236 static int linuxgpiod_reset(int trst, int srst)
 237 {
 238         int retval1 = 0, retval2 = 0;
 239
 240         LOG_DEBUG("linuxgpiod_reset");
 241
 242         /* assume active low */
 243         if (gpiod_srst) {
 244                 retval1 = gpiod_line_set_value(gpiod_srst, srst ? 0 : 1);
 245                 if (retval1 < 0)
 246                         LOG_WARNING("set srst value failed");
 247         }
 248
 249         /* assume active low */
 250         if (gpiod_trst) {
 251                 retval2 = gpiod_line_set_value(gpiod_trst, trst ? 0 : 1);
 252                 if (retval2 < 0)
 253                         LOG_WARNING("set trst value failed");
 254         }
 255
 256         return ((retval1 < 0) || (retval2 < 0)) ? ERROR_FAIL : ERROR_OK;
 257 }
 258
 259 /*
 260  * Helper function to determine if gpio number is valid
 261  *
 262  * Assume here that there will be less than 10000 gpios per gpiochip
 263  */
 264 static bool is_gpio_valid(int gpio)
 265 {
 266         return gpio >= 0 && gpio < 10000;
 267 }
 268
 269 static bool linuxgpiod_jtag_mode_possible(void)
 270 {
 271         if (!is_gpio_valid(tck_gpio))
 272                 return false;
 273         if (!is_gpio_valid(tms_gpio))
 274                 return false;
 275         if (!is_gpio_valid(tdi_gpio))
 276                 return false;
 277         if (!is_gpio_valid(tdo_gpio))
 278                 return false;
 279         return true;
 280 }
 281
 282 static bool linuxgpiod_swd_mode_possible(void)
 283 {
 284         if (!is_gpio_valid(swclk_gpio))
 285                 return false;
 286         if (!is_gpio_valid(swdio_gpio))
 287                 return false;
 288         return true;
 289 }
 290
 291 static inline void helper_release(struct gpiod_line *line)
 292 {
 293         if (line)
 294                 gpiod_line_release(line);
 295 }
 296
 297 static int linuxgpiod_quit(void)
 298 {
 299         helper_release(gpiod_led);
 300         helper_release(gpiod_srst);
 301         helper_release(gpiod_swdio);
 302         helper_release(gpiod_swdio_dir);
 303         helper_release(gpiod_swclk);
 304         helper_release(gpiod_trst);
 305         helper_release(gpiod_tms);
 306         helper_release(gpiod_tck);
 307         helper_release(gpiod_tdi);
 308         helper_release(gpiod_tdo);
 309
 310         if (gpiod_chip_led != NULL)
 311                 gpiod_chip_close(gpiod_chip_led);
 312         if (gpiod_chip_srst != NULL)
 313                 gpiod_chip_close(gpiod_chip_srst);
 314         if (gpiod_chip_swdio != NULL)
 315                 gpiod_chip_close(gpiod_chip_swdio);
 316         if (gpiod_chip_swdio_dir != NULL)
 317                 gpiod_chip_close(gpiod_chip_swdio_dir);
 318         if (gpiod_chip_swclk != NULL)
 319                 gpiod_chip_close(gpiod_chip_swclk);
 320         if (gpiod_chip_trst != NULL)
 321                 gpiod_chip_close(gpiod_chip_trst);
 322         if (gpiod_chip_tms != NULL)
 323                 gpiod_chip_close(gpiod_chip_tms);
 324         if (gpiod_chip_tck != NULL)
 325                 gpiod_chip_close(gpiod_chip_tck);
 326         if (gpiod_chip_tdi != NULL)
 327                 gpiod_chip_close(gpiod_chip_tdi);
 328         if (gpiod_chip_tdo != NULL)
 329                 gpiod_chip_close(gpiod_chip_tdo);
 330
 331         return ERROR_OK;
 332 }
 333
 334 static struct gpiod_line *helper_get_line(const char *label,
 335                 struct gpiod_chip *gpiod_chip, unsigned int offset,
 336                 int val, int dir, int flags)
 337 {
 338         struct gpiod_line *line;
 339         int retval;
 340
 341         line = gpiod_chip_get_line(gpiod_chip, offset);
 342         if (!line) {
 343                 LOG_ERROR("Error get line %s", label);
 344                 return NULL;
 345         }
 346
 347         struct gpiod_line_request_config config = {
 348                 .consumer = "OpenOCD",
 349                 .request_type = dir,
 350                 .flags = flags,
 351         };
 352
 353         retval = gpiod_line_request(line, &config, val);
 354         if (retval < 0) {
 355                 LOG_ERROR("Error requesting gpio line %s", label);
 356                 return NULL;
 357         }
 358
 359         return line;
 360 }
 361
 362 static struct gpiod_line *helper_get_input_line(const char *label,
 363                 struct gpiod_chip *gpiod_chip, unsigned int offset)
 364 {
 365         return helper_get_line(label, gpiod_chip, offset, 0,
 366                         GPIOD_LINE_REQUEST_DIRECTION_INPUT, 0);
 367 }
 368
 369 static struct gpiod_line *helper_get_output_line(const char *label,
 370                 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
 371 {
 372         return helper_get_line(label, gpiod_chip, offset, val,
 373                         GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, 0);
 374 }
 375
 376 static struct gpiod_line *helper_get_open_drain_output_line(const char *label,
 377                 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
 378 {
 379         return helper_get_line(label, gpiod_chip, offset, val,
 380                         GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, GPIOD_LINE_REQUEST_FLAG_OPEN_DRAIN);
 381 }
 382
 383 static int linuxgpiod_init(void)
 384 {
 385         LOG_INFO("Linux GPIOD JTAG/SWD bitbang driver");
 386
 387         bitbang_interface = &linuxgpiod_bitbang;
 388
 389         /*
 390          * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
 391          * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
 392          * For SWD, SWCLK and SWDIO are configures as output high.
 393          */
 394
 395         if (transport_is_jtag()) {
 396                 if (!linuxgpiod_jtag_mode_possible()) {
 397                         LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 398                         goto out_error;
 399                 }
 400
 401                 gpiod_chip_tdo = gpiod_chip_open_by_number(tdo_gpiochip);
 402                 if (!gpiod_chip_tdo) {
 403                         LOG_ERROR("Cannot open LinuxGPIOD tdo_gpiochip %d", tdo_gpiochip);
 404                         goto out_error;
 405                 }
 406                 gpiod_chip_tdi = gpiod_chip_open_by_number(tdi_gpiochip);
 407                 if (!gpiod_chip_tdi) {
 408                         LOG_ERROR("Cannot open LinuxGPIOD tdi_gpiochip %d", tdi_gpiochip);
 409                         goto out_error;
 410                 }
 411                 gpiod_chip_tck = gpiod_chip_open_by_number(tck_gpiochip);
 412                 if (!gpiod_chip_tck) {
 413                         LOG_ERROR("Cannot open LinuxGPIOD tck_gpiochip %d", tck_gpiochip);
 414                         goto out_error;
 415                 }
 416                 gpiod_chip_tms = gpiod_chip_open_by_number(tms_gpiochip);
 417                 if (!gpiod_chip_tms) {
 418                         LOG_ERROR("Cannot open LinuxGPIOD tms_gpiochip %d", tms_gpiochip);
 419                         goto out_error;
 420                 }
 421
 422                 gpiod_tdo = helper_get_input_line("tdo", gpiod_chip_tdo, tdo_gpio);
 423                 if (!gpiod_tdo)
 424                         goto out_error;
 425
 426                 gpiod_tdi = helper_get_output_line("tdi", gpiod_chip_tdi, tdi_gpio, 0);
 427                 if (!gpiod_tdi)
 428                         goto out_error;
 429
 430                 gpiod_tck = helper_get_output_line("tck", gpiod_chip_tck, tck_gpio, 0);
 431                 if (!gpiod_tck)
 432                         goto out_error;
 433
 434                 gpiod_tms = helper_get_output_line("tms", gpiod_chip_tms, tms_gpio, 1);
 435                 if (!gpiod_tms)
 436                         goto out_error;
 437
 438                 if (is_gpio_valid(trst_gpio)) {
 439                         gpiod_chip_trst = gpiod_chip_open_by_number(trst_gpiochip);
 440                         if (!gpiod_chip_trst) {
 441                                 LOG_ERROR("Cannot open LinuxGPIOD trst_gpiochip %d", trst_gpiochip);
 442                                 goto out_error;
 443                         }
 444
 445                         if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 446                                 gpiod_trst = helper_get_open_drain_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
 447                         else
 448                                 gpiod_trst = helper_get_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
 449
 450                         if (!gpiod_trst)
 451                                 goto out_error;
 452                 }
 453         }
 454
 455         if (transport_is_swd()) {
 456                 if (!linuxgpiod_swd_mode_possible()) {
 457                         LOG_ERROR("Require swclk and swdio gpio for SWD mode");
 458                         goto out_error;
 459                 }
 460
 461                 gpiod_chip_swclk = gpiod_chip_open_by_number(swclk_gpiochip);
 462                 if (!gpiod_chip_swclk) {
 463                         LOG_ERROR("Cannot open LinuxGPIOD swclk_gpiochip %d", swclk_gpiochip);
 464                         goto out_error;
 465                 }
 466                 gpiod_chip_swdio = gpiod_chip_open_by_number(swdio_gpiochip);
 467                 if (!gpiod_chip_swdio) {
 468                         LOG_ERROR("Cannot open LinuxGPIOD swdio_gpiochip %d", swdio_gpiochip);
 469                         goto out_error;
 470                 }
 471
 472                 if (is_gpio_valid(swdio_dir_gpio)) {
 473                         gpiod_chip_swdio_dir = gpiod_chip_open_by_number(swdio_dir_gpiochip);
 474                         if (!gpiod_chip_swdio_dir) {
 475                                 LOG_ERROR("Cannot open LinuxGPIOD swdio_dir_gpiochip %d", swdio_dir_gpiochip);
 476                                 goto out_error;
 477                         }
 478                 }
 479
 480                 gpiod_swclk = helper_get_output_line("swclk", gpiod_chip_swclk, swclk_gpio, 1);
 481                 if (!gpiod_swclk)
 482                         goto out_error;
 483
 484                 /* Set buffer direction before making SWDIO an output */
 485                 if (is_gpio_valid(swdio_dir_gpio)) {
 486                         gpiod_swdio_dir = helper_get_output_line("swdio_dir", gpiod_chip_swdio_dir, swdio_dir_gpio,
 487                                         swdio_dir_is_active_high ? 1 : 0);
 488                         if (!gpiod_swdio_dir)
 489                                 goto out_error;
 490                 }
 491
 492                 gpiod_swdio = helper_get_output_line("swdio", gpiod_chip_swdio, swdio_gpio, 1);
 493                 if (!gpiod_swdio)
 494                         goto out_error;
 495         }
 496
 497         if (is_gpio_valid(srst_gpio)) {
 498                 gpiod_chip_srst = gpiod_chip_open_by_number(srst_gpiochip);
 499                 if (!gpiod_chip_srst) {
 500                         LOG_ERROR("Cannot open LinuxGPIOD srst_gpiochip %d", srst_gpiochip);
 501                         goto out_error;
 502                 }
 503
 504                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 505                         gpiod_srst = helper_get_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
 506                 else
 507                         gpiod_srst = helper_get_open_drain_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
 508
 509                 if (!gpiod_srst)
 510                         goto out_error;
 511         }
 512
 513         if (is_gpio_valid(led_gpio)) {
 514                 gpiod_chip_led = gpiod_chip_open_by_number(led_gpiochip);
 515                 if (!gpiod_chip_led) {
 516                         LOG_ERROR("Cannot open LinuxGPIOD led_gpiochip %d", led_gpiochip);
 517                         goto out_error;
 518                 }
 519
 520                 gpiod_led = helper_get_output_line("led", gpiod_chip_led, led_gpio, 0);
 521                 if (!gpiod_led)
 522                         goto out_error;
 523         }
 524
 525         return ERROR_OK;
 526
 527 out_error:
 528         linuxgpiod_quit();
 529
 530         return ERROR_JTAG_INIT_FAILED;
 531 }
 532
 533 COMMAND_HELPER(linuxgpiod_helper_gpionum, const char *name, int *chip, int *line)
 534 {
 535         int i = 0;
 536         if (CMD_ARGC > 2)
 537                 return ERROR_COMMAND_SYNTAX_ERROR;
 538         if (CMD_ARGC == 2) {
 539                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], *chip);
 540                 i = 1;
 541         }
 542         if (CMD_ARGC > 0)
 543                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[i], *line);
 544         command_print(CMD, "LinuxGPIOD %s: chip = %d, num = %d", name, *chip, *line);
 545         return ERROR_OK;
 546 }
 547
 548 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionums)
 549 {
 550         if (CMD_ARGC == 4) {
 551                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 552                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
 553                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
 554                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
 555         } else if (CMD_ARGC != 0) {
 556                 return ERROR_COMMAND_SYNTAX_ERROR;
 557         }
 558
 559         command_print(CMD,
 560                         "LinuxGPIOD nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
 561                         tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 562
 563         return ERROR_OK;
 564 }
 565
 566 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tck)
 567 {
 568         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tck", &tck_gpiochip,
 569                         &tck_gpio);
 570 }
 571
 572 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tms)
 573 {
 574         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tms", &tms_gpiochip,
 575                         &tms_gpio);
 576 }
 577
 578 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdo)
 579 {
 580         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdo", &tdo_gpiochip,
 581                         &tdo_gpio);
 582 }
 583
 584 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdi)
 585 {
 586         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdi", &tdi_gpiochip,
 587                         &tdi_gpio);
 588 }
 589
 590 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_srst)
 591 {
 592         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "srst", &srst_gpiochip,
 593                         &srst_gpio);
 594 }
 595
 596 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_trst)
 597 {
 598         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "trst", &trst_gpiochip,
 599                         &trst_gpio);
 600 }
 601
 602 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionums)
 603 {
 604         if (CMD_ARGC == 2) {
 605                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 606                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
 607         } else if (CMD_ARGC != 0) {
 608                 return ERROR_COMMAND_SYNTAX_ERROR;
 609         }
 610
 611         command_print(CMD,
 612                         "LinuxGPIOD nums: swclk = %d, swdio = %d",
 613                         swclk_gpio, swdio_gpio);
 614
 615         return ERROR_OK;
 616 }
 617
 618 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swclk)
 619 {
 620         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swclk", &swclk_gpiochip,
 621                         &swclk_gpio);
 622 }
 623
 624 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swdio)
 625 {
 626         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swdio", &swdio_gpiochip,
 627                         &swdio_gpio);
 628 }
 629
 630 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swdio_dir)
 631 {
 632         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swdio_dir", &swdio_dir_gpiochip,
 633                         &swdio_dir_gpio);
 634 }
 635
 636 COMMAND_HANDLER(linuxgpiod_handle_gpionum_led)
 637 {
 638         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "led", &led_gpiochip,
 639                         &led_gpio);
 640 }
 641
 642 COMMAND_HANDLER(linuxgpiod_handle_gpiochip)
 643 {
 644         if (CMD_ARGC == 1) {
 645                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], gpiochip);
 646                 tck_gpiochip = gpiochip;
 647                 tms_gpiochip = gpiochip;
 648                 tdi_gpiochip = gpiochip;
 649                 tdo_gpiochip = gpiochip;
 650                 trst_gpiochip = gpiochip;
 651                 srst_gpiochip = gpiochip;
 652                 swclk_gpiochip = gpiochip;
 653                 swdio_gpiochip = gpiochip;
 654                 swdio_dir_gpiochip = gpiochip;
 655                 led_gpiochip = gpiochip;
 656         }
 657
 658         command_print(CMD, "LinuxGPIOD gpiochip = %d", gpiochip);
 659         return ERROR_OK;
 660 }
 661
 662 static const struct command_registration linuxgpiod_subcommand_handlers[] = {
 663         {
 664                 .name = "jtag_nums",
 665                 .handler = linuxgpiod_handle_jtag_gpionums,
 666                 .mode = COMMAND_CONFIG,
 667                 .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
 668                 .usage = "tck tms tdi tdo",
 669         },
 670         {
 671                 .name = "tck_num",
 672                 .handler = linuxgpiod_handle_jtag_gpionum_tck,
 673                 .mode = COMMAND_CONFIG,
 674                 .help = "gpio chip number (optional) and gpio number for tck.",
 675                 .usage = "[chip] tck",
 676         },
 677         {
 678                 .name = "tms_num",
 679                 .handler = linuxgpiod_handle_jtag_gpionum_tms,
 680                 .mode = COMMAND_CONFIG,
 681                 .help = "gpio chip number (optional) and gpio number for tms.",
 682                 .usage = "[chip] tms",
 683         },
 684         {
 685                 .name = "tdo_num",
 686                 .handler = linuxgpiod_handle_jtag_gpionum_tdo,
 687                 .mode = COMMAND_CONFIG,
 688                 .help = "gpio chip number (optional) and gpio number for tdo.",
 689                 .usage = "[chip] tdo",
 690         },
 691         {
 692                 .name = "tdi_num",
 693                 .handler = linuxgpiod_handle_jtag_gpionum_tdi,
 694                 .mode = COMMAND_CONFIG,
 695                 .help = "gpio chip number (optional) and gpio number for tdi.",
 696                 .usage = "[chip] tdi",
 697         },
 698         {
 699                 .name = "srst_num",
 700                 .handler = linuxgpiod_handle_jtag_gpionum_srst,
 701                 .mode = COMMAND_CONFIG,
 702                 .help = "gpio chip number (optional) and gpio number for srst.",
 703                 .usage = "[chip] srst",
 704         },
 705         {
 706                 .name = "trst_num",
 707                 .handler = linuxgpiod_handle_jtag_gpionum_trst,
 708                 .mode = COMMAND_CONFIG,
 709                 .help = "gpio chip number (optional) and gpio number for trst.",
 710                 .usage = "[chip] trst",
 711         },
 712         {
 713                 .name = "swd_nums",
 714                 .handler = linuxgpiod_handle_swd_gpionums,
 715                 .mode = COMMAND_CONFIG,
 716                 .help = "gpio numbers for swclk, swdio. (in that order)",
 717                 .usage = "swclk swdio",
 718         },
 719         {
 720                 .name = "swclk_num",
 721                 .handler = linuxgpiod_handle_swd_gpionum_swclk,
 722                 .mode = COMMAND_CONFIG,
 723                 .help = "gpio chip number (optional) and gpio number for swclk.",
 724                 .usage = "[chip] swclk",
 725         },
 726         {
 727                 .name = "swdio_num",
 728                 .handler = linuxgpiod_handle_swd_gpionum_swdio,
 729                 .mode = COMMAND_CONFIG,
 730                 .help = "gpio chip number (optional) and gpio number for swdio.",
 731                 .usage = "[chip] swdio",
 732         },
 733         {
 734                 .name = "swdio_dir_num",
 735                 .handler = linuxgpiod_handle_swd_gpionum_swdio_dir,
 736                 .mode = COMMAND_CONFIG,
 737                 .help = "gpio chip number (optional) and gpio number for swdio_dir.",
 738                 .usage = "[chip] swdio_dir",
 739         },
 740         {
 741                 .name = "led_num",
 742                 .handler = linuxgpiod_handle_gpionum_led,
 743                 .mode = COMMAND_CONFIG,
 744                 .help = "gpio chip number (optional) and gpio number for LED.",
 745                 .usage = "[chip] led",
 746         },
 747         {
 748                 .name = "gpiochip",
 749                 .handler = linuxgpiod_handle_gpiochip,
 750                 .mode = COMMAND_CONFIG,
 751                 .help = "number of the gpiochip.",
 752                 .usage = "gpiochip",
 753         },
 754         COMMAND_REGISTRATION_DONE
 755 };
 756
 757 static const struct command_registration linuxgpiod_command_handlers[] = {
 758         {
 759                 .name = "linuxgpiod",
 760                 .mode = COMMAND_ANY,
 761                 .help = "perform linuxgpiod management",
 762                 .chain = linuxgpiod_subcommand_handlers,
 763                 .usage = "",
 764         },
 765         COMMAND_REGISTRATION_DONE
 766 };
 767
 768 static const char *const linuxgpiod_transport[] = { "swd", "jtag", NULL };
 769
 770 static struct jtag_interface linuxgpiod_interface = {
 771         .supported = DEBUG_CAP_TMS_SEQ,
 772         .execute_queue = bitbang_execute_queue,
 773 };
 774
 775 struct adapter_driver linuxgpiod_adapter_driver = {
 776         .name = "linuxgpiod",
 777         .transports = linuxgpiod_transport,
 778         .commands = linuxgpiod_command_handlers,
 779
 780         .init = linuxgpiod_init,
 781         .quit = linuxgpiod_quit,
 782         .reset = linuxgpiod_reset,
 783
 784         .jtag_ops = &linuxgpiod_interface,
 785         .swd_ops = &bitbang_swd,
 786 };