-/* 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 *
#include "config.h"
#endif
+#include <jtag/adapter.h>
#include <jtag/interface.h>
#include <transport/transport.h>
#include "bitbang.h"
#include <sys/mman.h>
-/*
- * GPIO register base addresses. Values taken from "AM335x and AMIC110 Sitara
+/* 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.
*/
#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,
};
/* 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 < AM335XGPIO_NUM_GPIO_CHIPS
+ && 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
+ && adapter_gpio_config[idx].init_state != ADAPTER_GPIO_INIT_STATE_INPUT)
+ 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 ("");
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 ("");
/* (1) assert or (0) deassert reset lines */
static int am335xgpio_reset(int trst, int srst)
{
- /* assume active low */
- if (is_gpio_valid(srst_gpio)) {
- if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
- set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
- else
- set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
- }
-
- /* assume active low */
- if (is_gpio_valid(trst_gpio)) {
- if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
- set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
- else
- set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
- }
-
- LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d (%s), srst_gpio: %d (%s)",
- trst, srst,
- trst_gpio, get_gpio_mode_name(get_gpio_mode(trst_gpio)),
- srst_gpio, get_gpio_mode_name(get_gpio_mode(srst_gpio)));
+ /* 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);
+
+ 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("trst %d gpio: %d %d, srst %d gpio: %d %d",
+ trst,
+ (int)adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].chip_num,
+ (int)adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].gpio_num,
+ srst,
+ (int)adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].chip_num,
+ (int)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;
}
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) {
}
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,
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;
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;
}
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