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 gpiochip = -1;
  31
  32 static struct gpiod_chip *gpiod_chip;
  33 static struct gpiod_line *gpiod_tck;
  34 static struct gpiod_line *gpiod_tms;
  35 static struct gpiod_line *gpiod_tdi;
  36 static struct gpiod_line *gpiod_tdo;
  37 static struct gpiod_line *gpiod_trst;
  38 static struct gpiod_line *gpiod_swclk;
  39 static struct gpiod_line *gpiod_swdio;
  40 static struct gpiod_line *gpiod_srst;
  41
  42 static int last_swclk;
  43 static int last_swdio;
  44 static bool last_stored;
  45 static bool swdio_input;
  46
  47 /* Bitbang interface read of TDO */
  48 static bb_value_t linuxgpiod_read(void)
  49 {
  50         int retval;
  51
  52         retval = gpiod_line_get_value(gpiod_tdo);
  53         if (retval < 0) {
  54                 LOG_WARNING("reading tdo failed");
  55                 return 0;
  56         }
  57
  58         return retval ? BB_HIGH : BB_LOW;
  59 }
  60
  61 /*
  62  * Bitbang interface write of TCK, TMS, TDI
  63  *
  64  * Seeing as this is the only function where the outputs are changed,
  65  * we can cache the old value to avoid needlessly writing it.
  66  */
  67 static int linuxgpiod_write(int tck, int tms, int tdi)
  68 {
  69         static int last_tck;
  70         static int last_tms;
  71         static int last_tdi;
  72
  73         static int first_time;
  74
  75         int retval;
  76
  77         if (!first_time) {
  78                 last_tck = !tck;
  79                 last_tms = !tms;
  80                 last_tdi = !tdi;
  81                 first_time = 1;
  82         }
  83
  84         if (tdi != last_tdi) {
  85                 retval = gpiod_line_set_value(gpiod_tdi, tdi);
  86                 if (retval < 0)
  87                         LOG_WARNING("writing tdi failed");
  88         }
  89
  90         if (tms != last_tms) {
  91                 retval = gpiod_line_set_value(gpiod_tms, tms);
  92                 if (retval < 0)
  93                         LOG_WARNING("writing tms failed");
  94         }
  95
  96         /* write clk last */
  97         if (tck != last_tck) {
  98                 retval = gpiod_line_set_value(gpiod_tck, tck);
  99                 if (retval < 0)
 100                         LOG_WARNING("writing tck failed");
 101         }
 102
 103         last_tdi = tdi;
 104         last_tms = tms;
 105         last_tck = tck;
 106
 107         return ERROR_OK;
 108 }
 109
 110 static int linuxgpiod_swdio_read(void)
 111 {
 112         int retval;
 113
 114         retval = gpiod_line_get_value(gpiod_swdio);
 115         if (retval < 0) {
 116                 LOG_WARNING("Fail read swdio");
 117                 return 0;
 118         }
 119
 120         return retval;
 121 }
 122
 123 static void linuxgpiod_swdio_drive(bool is_output)
 124 {
 125         int retval;
 126
 127         /*
 128          * FIXME: change direction requires release and re-require the line
 129          * https://stackoverflow.com/questions/58735140/
 130          * this would change in future libgpiod
 131          */
 132         gpiod_line_release(gpiod_swdio);
 133
 134         if (is_output) {
 135                 retval = gpiod_line_request_output(gpiod_swdio, "OpenOCD", 1);
 136                 if (retval < 0)
 137                         LOG_WARNING("Fail request_output line swdio");
 138         } else {
 139                 retval = gpiod_line_request_input(gpiod_swdio, "OpenOCD");
 140                 if (retval < 0)
 141                         LOG_WARNING("Fail request_input line swdio");
 142         }
 143
 144         last_stored = false;
 145         swdio_input = !is_output;
 146 }
 147
 148 static int linuxgpiod_swd_write(int swclk, int swdio)
 149 {
 150         int retval;
 151
 152         if (!swdio_input) {
 153                 if (!last_stored || (swdio != last_swdio)) {
 154                         retval = gpiod_line_set_value(gpiod_swdio, swdio);
 155                         if (retval < 0)
 156                                 LOG_WARNING("Fail set swdio");
 157                 }
 158         }
 159
 160         /* write swclk last */
 161         if (!last_stored || (swclk != last_swclk)) {
 162                 retval = gpiod_line_set_value(gpiod_swclk, swclk);
 163                 if (retval < 0)
 164                         LOG_WARNING("Fail set swclk");
 165         }
 166
 167         last_swdio = swdio;
 168         last_swclk = swclk;
 169         last_stored = true;
 170
 171         return ERROR_OK;
 172 }
 173
 174 static struct bitbang_interface linuxgpiod_bitbang = {
 175         .read = linuxgpiod_read,
 176         .write = linuxgpiod_write,
 177         .swdio_read = linuxgpiod_swdio_read,
 178         .swdio_drive = linuxgpiod_swdio_drive,
 179         .swd_write = linuxgpiod_swd_write,
 180         .blink = NULL,
 181 };
 182
 183 /*
 184  * Bitbang interface to manipulate reset lines SRST and TRST
 185  *
 186  * (1) assert or (0) deassert reset lines
 187  */
 188 static int linuxgpiod_reset(int trst, int srst)
 189 {
 190         int retval1 = 0, retval2 = 0;
 191
 192         LOG_DEBUG("linuxgpiod_reset");
 193
 194         /* assume active low */
 195         if (gpiod_srst != NULL) {
 196                 retval1 = gpiod_line_set_value(gpiod_srst, srst ? 0 : 1);
 197                 if (retval1 < 0)
 198                         LOG_WARNING("set srst value failed");
 199         }
 200
 201         /* assume active low */
 202         if (gpiod_trst != NULL) {
 203                 retval2 = gpiod_line_set_value(gpiod_trst, trst ? 0 : 1);
 204                 if (retval2 < 0)
 205                         LOG_WARNING("set trst value failed");
 206         }
 207
 208         return ((retval1 < 0) || (retval2 < 0)) ? ERROR_FAIL : ERROR_OK;
 209 }
 210
 211 /*
 212  * Helper function to determine if gpio number is valid
 213  *
 214  * Assume here that there will be less than 10000 gpios per gpiochip
 215  */
 216 static bool is_gpio_valid(int gpio)
 217 {
 218         return gpio >= 0 && gpio < 10000;
 219 }
 220
 221 static bool linuxgpiod_jtag_mode_possible(void)
 222 {
 223         if (!is_gpio_valid(tck_gpio))
 224                 return false;
 225         if (!is_gpio_valid(tms_gpio))
 226                 return false;
 227         if (!is_gpio_valid(tdi_gpio))
 228                 return false;
 229         if (!is_gpio_valid(tdo_gpio))
 230                 return false;
 231         return true;
 232 }
 233
 234 static bool linuxgpiod_swd_mode_possible(void)
 235 {
 236         if (!is_gpio_valid(swclk_gpio))
 237                 return false;
 238         if (!is_gpio_valid(swdio_gpio))
 239                 return false;
 240         return true;
 241 }
 242
 243 static inline void helper_release(struct gpiod_line *line)
 244 {
 245         if (line)
 246                 gpiod_line_release(line);
 247 }
 248
 249 static int linuxgpiod_quit(void)
 250 {
 251         helper_release(gpiod_srst);
 252         helper_release(gpiod_swdio);
 253         helper_release(gpiod_swclk);
 254         helper_release(gpiod_trst);
 255         helper_release(gpiod_tms);
 256         helper_release(gpiod_tck);
 257         helper_release(gpiod_tdi);
 258         helper_release(gpiod_tdo);
 259
 260         gpiod_chip_close(gpiod_chip);
 261
 262         return ERROR_OK;
 263 }
 264
 265 static struct gpiod_line *helper_get_input_line(const char *label, unsigned int offset)
 266 {
 267         struct gpiod_line *line;
 268         int retval;
 269
 270         line = gpiod_chip_get_line(gpiod_chip, offset);
 271         if (line == NULL) {
 272                 LOG_ERROR("Error get line %s", label);
 273                 return NULL;
 274         }
 275
 276         retval = gpiod_line_request_input(line, "OpenOCD");
 277         if (retval < 0) {
 278                 LOG_ERROR("Error request_input line %s", label);
 279                 return NULL;
 280         }
 281
 282         return line;
 283 }
 284
 285 static struct gpiod_line *helper_get_output_line(const char *label, unsigned int offset, int val)
 286 {
 287         struct gpiod_line *line;
 288         int retval;
 289
 290         line = gpiod_chip_get_line(gpiod_chip, offset);
 291         if (line == NULL) {
 292                 LOG_ERROR("Error get line %s", label);
 293                 return NULL;
 294         }
 295
 296         retval = gpiod_line_request_output(line, "OpenOCD", val);
 297         if (retval < 0) {
 298                 LOG_ERROR("Error request_output line %s", label);
 299                 return NULL;
 300         }
 301
 302         return line;
 303 }
 304
 305 static int linuxgpiod_init(void)
 306 {
 307         LOG_INFO("Linux GPIOD JTAG/SWD bitbang driver");
 308
 309         bitbang_interface = &linuxgpiod_bitbang;
 310
 311         gpiod_chip = gpiod_chip_open_by_number(gpiochip);
 312         if (gpiod_chip == NULL) {
 313                 LOG_ERROR("Cannot open LinuxGPIOD gpiochip %d", gpiochip);
 314                 return ERROR_JTAG_INIT_FAILED;
 315         }
 316
 317         /*
 318          * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
 319          * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
 320          * For SWD, SWCLK and SWDIO are configures as output high.
 321          */
 322
 323         if (transport_is_jtag()) {
 324                 if (!linuxgpiod_jtag_mode_possible()) {
 325                         LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 326                         goto out_error;
 327                 }
 328
 329                 gpiod_tdo = helper_get_input_line("tdo", tdo_gpio);
 330                 if (gpiod_tdo == NULL)
 331                         goto out_error;
 332
 333                 gpiod_tdi = helper_get_output_line("tdi", tdi_gpio, 0);
 334                 if (gpiod_tdi == NULL)
 335                         goto out_error;
 336
 337                 gpiod_tck = helper_get_output_line("tck", tck_gpio, 0);
 338                 if (gpiod_tck == NULL)
 339                         goto out_error;
 340
 341                 gpiod_tms = helper_get_output_line("tms", tms_gpio, 1);
 342                 if (gpiod_tms == NULL)
 343                         goto out_error;
 344
 345                 if (is_gpio_valid(trst_gpio)) {
 346                         gpiod_trst = helper_get_output_line("trst", trst_gpio, 1);
 347                         if (gpiod_trst == NULL)
 348                                 goto out_error;
 349                 }
 350         }
 351
 352         if (transport_is_swd()) {
 353                 if (!linuxgpiod_swd_mode_possible()) {
 354                         LOG_ERROR("Require swclk and swdio gpio for SWD mode");
 355                         goto out_error;
 356                 }
 357
 358                 gpiod_swclk = helper_get_output_line("swclk", swclk_gpio, 1);
 359                 if (gpiod_swclk == NULL)
 360                         goto out_error;
 361
 362                 gpiod_swdio = helper_get_output_line("swdio", swdio_gpio, 1);
 363                 if (gpiod_swdio == NULL)
 364                         goto out_error;
 365         }
 366
 367         if (is_gpio_valid(srst_gpio)) {
 368                 gpiod_srst = helper_get_output_line("srst", srst_gpio, 1);
 369                 if (gpiod_srst == NULL)
 370                         goto out_error;
 371         }
 372
 373         return ERROR_OK;
 374
 375 out_error:
 376         linuxgpiod_quit();
 377
 378         return ERROR_JTAG_INIT_FAILED;
 379 }
 380
 381 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionums)
 382 {
 383         if (CMD_ARGC == 4) {
 384                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 385                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
 386                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
 387                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
 388         } else if (CMD_ARGC != 0) {
 389                 return ERROR_COMMAND_SYNTAX_ERROR;
 390         }
 391
 392         command_print(CMD,
 393                         "LinuxGPIOD nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
 394                         tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 395
 396         return ERROR_OK;
 397 }
 398
 399 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tck)
 400 {
 401         if (CMD_ARGC == 1)
 402                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 403
 404         command_print(CMD, "LinuxGPIOD num: tck = %d", tck_gpio);
 405         return ERROR_OK;
 406 }
 407
 408 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tms)
 409 {
 410         if (CMD_ARGC == 1)
 411                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
 412
 413         command_print(CMD, "LinuxGPIOD num: tms = %d", tms_gpio);
 414         return ERROR_OK;
 415 }
 416
 417 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdo)
 418 {
 419         if (CMD_ARGC == 1)
 420                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
 421
 422         command_print(CMD, "LinuxGPIOD num: tdo = %d", tdo_gpio);
 423         return ERROR_OK;
 424 }
 425
 426 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdi)
 427 {
 428         if (CMD_ARGC == 1)
 429                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
 430
 431         command_print(CMD, "LinuxGPIOD num: tdi = %d", tdi_gpio);
 432         return ERROR_OK;
 433 }
 434
 435 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_srst)
 436 {
 437         if (CMD_ARGC == 1)
 438                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
 439
 440         command_print(CMD, "LinuxGPIOD num: srst = %d", srst_gpio);
 441         return ERROR_OK;
 442 }
 443
 444 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_trst)
 445 {
 446         if (CMD_ARGC == 1)
 447                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
 448
 449         command_print(CMD, "LinuxGPIOD num: trst = %d", trst_gpio);
 450         return ERROR_OK;
 451 }
 452
 453 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionums)
 454 {
 455         if (CMD_ARGC == 2) {
 456                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 457                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
 458         } else if (CMD_ARGC != 0) {
 459                 return ERROR_COMMAND_SYNTAX_ERROR;
 460         }
 461
 462         command_print(CMD,
 463                         "LinuxGPIOD nums: swclk = %d, swdio = %d",
 464                         swclk_gpio, swdio_gpio);
 465
 466         return ERROR_OK;
 467 }
 468
 469 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swclk)
 470 {
 471         if (CMD_ARGC == 1)
 472                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 473
 474         command_print(CMD, "LinuxGPIOD num: swclk = %d", swclk_gpio);
 475         return ERROR_OK;
 476 }
 477
 478 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swdio)
 479 {
 480         if (CMD_ARGC == 1)
 481                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
 482
 483         command_print(CMD, "LinuxGPIOD num: swdio = %d", swdio_gpio);
 484         return ERROR_OK;
 485 }
 486
 487 COMMAND_HANDLER(linuxgpiod_handle_gpiochip)
 488 {
 489         if (CMD_ARGC == 1)
 490                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], gpiochip);
 491
 492         command_print(CMD, "LinuxGPIOD gpiochip = %d", gpiochip);
 493         return ERROR_OK;
 494 }
 495
 496 static const struct command_registration linuxgpiod_command_handlers[] = {
 497         {
 498                 .name = "linuxgpiod_jtag_nums",
 499                 .handler = linuxgpiod_handle_jtag_gpionums,
 500                 .mode = COMMAND_CONFIG,
 501                 .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
 502                 .usage = "tck tms tdi tdo",
 503         },
 504         {
 505                 .name = "linuxgpiod_tck_num",
 506                 .handler = linuxgpiod_handle_jtag_gpionum_tck,
 507                 .mode = COMMAND_CONFIG,
 508                 .help = "gpio number for tck.",
 509                 .usage = "tck",
 510         },
 511         {
 512                 .name = "linuxgpiod_tms_num",
 513                 .handler = linuxgpiod_handle_jtag_gpionum_tms,
 514                 .mode = COMMAND_CONFIG,
 515                 .help = "gpio number for tms.",
 516                 .usage = "tms",
 517         },
 518         {
 519                 .name = "linuxgpiod_tdo_num",
 520                 .handler = linuxgpiod_handle_jtag_gpionum_tdo,
 521                 .mode = COMMAND_CONFIG,
 522                 .help = "gpio number for tdo.",
 523                 .usage = "tdo",
 524         },
 525         {
 526                 .name = "linuxgpiod_tdi_num",
 527                 .handler = linuxgpiod_handle_jtag_gpionum_tdi,
 528                 .mode = COMMAND_CONFIG,
 529                 .help = "gpio number for tdi.",
 530                 .usage = "tdi",
 531         },
 532         {
 533                 .name = "linuxgpiod_srst_num",
 534                 .handler = linuxgpiod_handle_jtag_gpionum_srst,
 535                 .mode = COMMAND_CONFIG,
 536                 .help = "gpio number for srst.",
 537                 .usage = "srst",
 538         },
 539         {
 540                 .name = "linuxgpiod_trst_num",
 541                 .handler = linuxgpiod_handle_jtag_gpionum_trst,
 542                 .mode = COMMAND_CONFIG,
 543                 .help = "gpio number for trst.",
 544                 .usage = "trst",
 545         },
 546         {
 547                 .name = "linuxgpiod_swd_nums",
 548                 .handler = linuxgpiod_handle_swd_gpionums,
 549                 .mode = COMMAND_CONFIG,
 550                 .help = "gpio numbers for swclk, swdio. (in that order)",
 551                 .usage = "swclk swdio",
 552         },
 553         {
 554                 .name = "linuxgpiod_swclk_num",
 555                 .handler = linuxgpiod_handle_swd_gpionum_swclk,
 556                 .mode = COMMAND_CONFIG,
 557                 .help = "gpio number for swclk.",
 558                 .usage = "swclk",
 559         },
 560         {
 561                 .name = "linuxgpiod_swdio_num",
 562                 .handler = linuxgpiod_handle_swd_gpionum_swdio,
 563                 .mode = COMMAND_CONFIG,
 564                 .help = "gpio number for swdio.",
 565                 .usage = "swdio",
 566         },
 567         {
 568                 .name = "linuxgpiod_gpiochip",
 569                 .handler = linuxgpiod_handle_gpiochip,
 570                 .mode = COMMAND_CONFIG,
 571                 .help = "number of the gpiochip.",
 572                 .usage = "gpiochip",
 573         },
 574         COMMAND_REGISTRATION_DONE
 575 };
 576
 577 static const char *const linuxgpiod_transport[] = { "swd", "jtag", NULL };
 578
 579 static struct jtag_interface linuxgpiod_interface = {
 580         .supported = DEBUG_CAP_TMS_SEQ,
 581         .execute_queue = bitbang_execute_queue,
 582 };
 583
 584 struct adapter_driver linuxgpiod_adapter_driver = {
 585         .name = "linuxgpiod",
 586         .transports = linuxgpiod_transport,
 587         .commands = linuxgpiod_command_handlers,
 588
 589         .init = linuxgpiod_init,
 590         .quit = linuxgpiod_quit,
 591         .reset = linuxgpiod_reset,
 592
 593         .jtag_ops = &linuxgpiod_interface,
 594         .swd_ops = &bitbang_swd,
 595 };