+// SPDX-License-Identifier: GPL-2.0-or-later
+
/***************************************************************************
* Copyright (C) 2013 by Paul Fertser, fercerpav@gmail.com *
* *
* Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
* Based on at91rm9200.c (c) Anders Larsen *
* and RPi GPIO examples by Gert van Loo & Dom *
- * *
- * This program is free software; you can redistribute it and/or modify *
- * it under the terms of the GNU General Public License as published by *
- * the Free Software Foundation; either version 2 of the License, or *
- * (at your option) any later version. *
- * *
- * This program is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU General Public License for more details. *
- * *
- * You should have received a copy of the GNU General Public License *
- * along with this program; if not, write to the *
- * Free Software Foundation, Inc., *
- * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
+#include <jtag/adapter.h>
#include <jtag/interface.h>
+#include <transport/transport.h>
#include "bitbang.h"
#include <sys/mman.h>
-#define BCM2835_PERI_BASE 0x20000000
-#define BCM2835_GPIO_BASE (BCM2835_PERI_BASE + 0x200000) /* GPIO controller */
+static char *bcm2835_peri_mem_dev;
+static off_t bcm2835_peri_base = 0x20000000;
+#define BCM2835_GPIO_BASE (bcm2835_peri_base + 0x200000) /* GPIO controller */
-#define BCM2835_PADS_GPIO_0_27 (BCM2835_PERI_BASE + 0x100000)
+#define BCM2835_PADS_GPIO_0_27 (bcm2835_peri_base + 0x100000)
#define BCM2835_PADS_GPIO_0_27_OFFSET (0x2c / 4)
+/* See "GPIO Function Select Registers (GPFSELn)" in "Broadcom BCM2835 ARM Peripherals" datasheet. */
+#define BCM2835_GPIO_MODE_INPUT 0
+#define BCM2835_GPIO_MODE_OUTPUT 1
+
/* GPIO setup macros */
#define MODE_GPIO(g) (*(pio_base+((g)/10))>>(((g)%10)*3) & 7)
#define INP_GPIO(g) do { *(pio_base+((g)/10)) &= ~(7<<(((g)%10)*3)); } while (0)
#define SET_MODE_GPIO(g, m) do { /* clear the mode bits first, then set as necessary */ \
INP_GPIO(g); \
*(pio_base+((g)/10)) |= ((m)<<(((g)%10)*3)); } while (0)
-#define OUT_GPIO(g) SET_MODE_GPIO(g, 1)
+#define OUT_GPIO(g) SET_MODE_GPIO(g, BCM2835_GPIO_MODE_OUTPUT)
#define GPIO_SET (*(pio_base+7)) /* sets bits which are 1, ignores bits which are 0 */
#define GPIO_CLR (*(pio_base+10)) /* clears bits which are 1, ignores bits which are 0 */
#define GPIO_LEV (*(pio_base+13)) /* current level of the pin */
static int dev_mem_fd;
-static volatile uint32_t *pio_base;
-
-static int bcm2835gpio_read(void);
-static void bcm2835gpio_write(int tck, int tms, int tdi);
-static void bcm2835gpio_reset(int trst, int srst);
-
-static int bcm2835gpio_init(void);
-static int bcm2835gpio_quit(void);
-
-static struct bitbang_interface bcm2835gpio_bitbang = {
- .read = bcm2835gpio_read,
- .write = bcm2835gpio_write,
- .reset = bcm2835gpio_reset,
- .blink = NULL
-};
-
-/* GPIO numbers for each signal. Negative values are invalid */
-static int tck_gpio = -1;
-static int tck_gpio_mode;
-static int tms_gpio = -1;
-static int tms_gpio_mode;
-static int tdi_gpio = -1;
-static int tdi_gpio_mode;
-static int tdo_gpio = -1;
-static int tdo_gpio_mode;
-static int trst_gpio = -1;
-static int trst_gpio_mode;
-static int srst_gpio = -1;
-static int srst_gpio_mode;
+static volatile uint32_t *pio_base = MAP_FAILED;
+static volatile uint32_t *pads_base = MAP_FAILED;
/* Transition delay coefficients */
static int speed_coeff = 113714;
static int speed_offset = 28;
static unsigned int jtag_delay;
-static int bcm2835gpio_read(void)
+static const struct adapter_gpio_config *adapter_gpio_config;
+static struct initial_gpio_state {
+ unsigned int mode;
+ unsigned int output_level;
+} initial_gpio_state[ADAPTER_GPIO_IDX_NUM];
+static uint32_t initial_drive_strength_etc;
+
+static inline const char *bcm2835_get_mem_dev(void)
{
- return !!(GPIO_LEV & 1<<tdo_gpio);
+ if (bcm2835_peri_mem_dev)
+ return bcm2835_peri_mem_dev;
+
+ return "/dev/gpiomem";
}
-static void bcm2835gpio_write(int tck, int tms, int tdi)
+static inline void bcm2835_gpio_synchronize(void)
{
- uint32_t set = tck<<tck_gpio | tms<<tms_gpio | tdi<<tdi_gpio;
- uint32_t clear = !tck<<tck_gpio | !tms<<tms_gpio | !tdi<<tdi_gpio;
-
- GPIO_SET = set;
- GPIO_CLR = clear;
+ /* Ensure that previous writes to GPIO registers are flushed out of
+ * the inner shareable domain to prevent pipelined writes to the
+ * same address being merged.
+ */
+ __sync_synchronize();
+}
+static inline void bcm2835_delay(void)
+{
for (unsigned int i = 0; i < jtag_delay; i++)
asm volatile ("");
}
-/* (1) assert or (0) deassert reset lines */
-static void bcm2835gpio_reset(int trst, int srst)
+static bool is_gpio_config_valid(enum adapter_gpio_config_index idx)
{
- uint32_t set = 0;
- uint32_t clear = 0;
+ /* Only chip 0 is supported, accept unset value (-1) too */
+ return adapter_gpio_config[idx].gpio_num <= 31;
+}
- if (trst_gpio > 0) {
- set |= !trst<<trst_gpio;
- clear |= trst<<trst_gpio;
+static void set_gpio_value(const struct adapter_gpio_config *gpio_config, int value)
+{
+ value = value ^ (gpio_config->active_low ? 1 : 0);
+ switch (gpio_config->drive) {
+ case ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL:
+ if (value)
+ GPIO_SET = 1 << gpio_config->gpio_num;
+ else
+ GPIO_CLR = 1 << gpio_config->gpio_num;
+ /* 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) {
+ INP_GPIO(gpio_config->gpio_num);
+ } else {
+ GPIO_CLR = 1 << gpio_config->gpio_num;
+ OUT_GPIO(gpio_config->gpio_num);
+ }
+ break;
+ case ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE:
+ if (value) {
+ GPIO_SET = 1 << gpio_config->gpio_num;
+ OUT_GPIO(gpio_config->gpio_num);
+ } else {
+ INP_GPIO(gpio_config->gpio_num);
+ }
+ break;
}
+ bcm2835_gpio_synchronize();
+}
- if (srst_gpio > 0) {
- set |= !srst<<srst_gpio;
- clear |= srst<<srst_gpio;
+static void restore_gpio(enum adapter_gpio_config_index idx)
+{
+ if (is_gpio_config_valid(idx)) {
+ SET_MODE_GPIO(adapter_gpio_config[idx].gpio_num, initial_gpio_state[idx].mode);
+ if (initial_gpio_state[idx].mode == BCM2835_GPIO_MODE_OUTPUT) {
+ if (initial_gpio_state[idx].output_level)
+ GPIO_SET = 1 << adapter_gpio_config[idx].gpio_num;
+ else
+ GPIO_CLR = 1 << adapter_gpio_config[idx].gpio_num;
+ }
}
-
- GPIO_SET = set;
- GPIO_CLR = clear;
+ bcm2835_gpio_synchronize();
}
-static int bcm2835gpio_khz(int khz, int *jtag_speed)
+static void initialize_gpio(enum adapter_gpio_config_index idx)
{
- if (!khz) {
- LOG_DEBUG("RCLK not supported");
- return ERROR_FAIL;
+ if (!is_gpio_config_valid(idx))
+ return;
+
+ initial_gpio_state[idx].mode = MODE_GPIO(adapter_gpio_config[idx].gpio_num);
+ unsigned int shift = adapter_gpio_config[idx].gpio_num;
+ initial_gpio_state[idx].output_level = (GPIO_LEV >> shift) & 1;
+ LOG_DEBUG("saved GPIO mode for %s (GPIO %d %d): %d",
+ adapter_gpio_get_name(idx), adapter_gpio_config[idx].chip_num, adapter_gpio_config[idx].gpio_num,
+ initial_gpio_state[idx].mode);
+
+ if (adapter_gpio_config[idx].pull != ADAPTER_GPIO_PULL_NONE) {
+ LOG_WARNING("BCM2835 GPIO does not support pull-up or pull-down settings (signal %s)",
+ adapter_gpio_get_name(idx));
}
- *jtag_speed = speed_coeff/khz - speed_offset;
- if (*jtag_speed < 0)
- *jtag_speed = 0;
- return ERROR_OK;
+
+ 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:
+ INP_GPIO(adapter_gpio_config[idx].gpio_num);
+ 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)
+ OUT_GPIO(adapter_gpio_config[idx].gpio_num);
+ bcm2835_gpio_synchronize();
}
-static int bcm2835gpio_speed_div(int speed, int *khz)
+static bb_value_t bcm2835gpio_read(void)
{
- *khz = speed_coeff/(speed + speed_offset);
- return ERROR_OK;
+ unsigned int shift = adapter_gpio_config[ADAPTER_GPIO_IDX_TDO].gpio_num;
+ uint32_t value = (GPIO_LEV >> shift) & 1;
+ return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_TDO].active_low ? BB_HIGH : BB_LOW);
+
}
-static int bcm2835gpio_speed(int speed)
+static int bcm2835gpio_write(int tck, int tms, int tdi)
{
- jtag_delay = speed;
+ uint32_t set = tck << adapter_gpio_config[ADAPTER_GPIO_IDX_TCK].gpio_num |
+ tms << adapter_gpio_config[ADAPTER_GPIO_IDX_TMS].gpio_num |
+ tdi << adapter_gpio_config[ADAPTER_GPIO_IDX_TDI].gpio_num;
+ uint32_t clear = !tck << adapter_gpio_config[ADAPTER_GPIO_IDX_TCK].gpio_num |
+ !tms << adapter_gpio_config[ADAPTER_GPIO_IDX_TMS].gpio_num |
+ !tdi << adapter_gpio_config[ADAPTER_GPIO_IDX_TDI].gpio_num;
+
+ GPIO_SET = set;
+ GPIO_CLR = clear;
+ bcm2835_gpio_synchronize();
+
+ bcm2835_delay();
+
return ERROR_OK;
}
-static int is_gpio_valid(int gpio)
+/* Requires push-pull drive mode for swclk and swdio */
+static int bcm2835gpio_swd_write_fast(int swclk, int swdio)
{
- return gpio >= 0 && gpio <= 53;
-}
+ swclk = swclk ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].active_low ? 1 : 0);
+ swdio = swdio ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].active_low ? 1 : 0);
-COMMAND_HANDLER(bcm2835gpio_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;
- }
+ uint32_t set = swclk << adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].gpio_num |
+ swdio << adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
+ uint32_t clear = !swclk << adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].gpio_num |
+ !swdio << adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
+
+ GPIO_SET = set;
+ GPIO_CLR = clear;
+ bcm2835_gpio_synchronize();
- command_print(CMD_CTX,
- "BCM2835 GPIO config: tck = %d, tms = %d, tdi = %d, tdi = %d",
- tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
+ bcm2835_delay();
return ERROR_OK;
}
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tck)
+/* Generic mode that works for open-drain/open-source drive modes, but slower */
+static int bcm2835gpio_swd_write_generic(int swclk, int swdio)
{
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
+ 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 */
+
+ bcm2835_delay();
- command_print(CMD_CTX, "BCM2835 GPIO config: tck = %d", tck_gpio);
return ERROR_OK;
}
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tms)
+/* (1) assert or (0) deassert reset lines */
+static int bcm2835gpio_reset(int trst, int srst)
{
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
-
- command_print(CMD_CTX, "BCM2835 GPIO config: tms = %d", tms_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_IDX_SRST))
+ set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SRST], srst);
+
+ if (is_gpio_config_valid(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;
}
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdo)
+static void bcm2835_swdio_drive(bool is_output)
{
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
-
- command_print(CMD_CTX, "BCM2835 GPIO config: tdo = %d", tdo_gpio);
- return ERROR_OK;
+ if (is_output) {
+ if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO_DIR))
+ set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 1);
+ OUT_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
+ } else {
+ INP_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
+ if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO_DIR))
+ set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 0);
+ }
+ bcm2835_gpio_synchronize();
}
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdi)
+static int bcm2835_swdio_read(void)
{
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
+ unsigned int shift = adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
+ uint32_t value = (GPIO_LEV >> shift) & 1;
+ return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].active_low ? 1 : 0);
+}
- command_print(CMD_CTX, "BCM2835 GPIO config: tdi = %d", tdi_gpio);
+static int bcm2835gpio_khz(int khz, int *jtag_speed)
+{
+ if (!khz) {
+ LOG_DEBUG("BCM2835 GPIO: RCLK not supported");
+ return ERROR_FAIL;
+ }
+ *jtag_speed = DIV_ROUND_UP(speed_coeff, khz) - speed_offset;
+ LOG_DEBUG("jtag_delay %d", *jtag_speed);
+ if (*jtag_speed < 0)
+ *jtag_speed = 0;
return ERROR_OK;
}
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_srst)
+static int bcm2835gpio_speed_div(int speed, int *khz)
{
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
-
- command_print(CMD_CTX, "BCM2835 GPIO config: srst = %d", srst_gpio);
+ int divisor = speed + speed_offset;
+ /* divide with roundig to the closest */
+ *khz = (speed_coeff + divisor / 2) / divisor;
return ERROR_OK;
}
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_trst)
+static int bcm2835gpio_speed(int speed)
{
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
-
- command_print(CMD_CTX, "BCM2835 GPIO config: trst = %d", trst_gpio);
+ jtag_delay = speed;
return ERROR_OK;
}
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
}
+
+ command_print(CMD, "BCM2835 GPIO: speed_coeffs = %d, speed_offset = %d",
+ speed_coeff, speed_offset);
return ERROR_OK;
}
-static const struct command_registration bcm2835gpio_command_handlers[] = {
- {
- .name = "bcm2835gpio_jtag_nums",
- .handler = &bcm2835gpio_handle_jtag_gpionums,
- .mode = COMMAND_CONFIG,
- .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
- .usage = "(tck tms tdi tdo)* ",
- },
- {
- .name = "bcm2835gpio_tck_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tck,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for tck.",
- },
- {
- .name = "bcm2835gpio_tms_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tms,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for tms.",
- },
- {
- .name = "bcm2835gpio_tdo_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tdo,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for tdo.",
- },
+COMMAND_HANDLER(bcm2835gpio_handle_peripheral_mem_dev)
+{
+ if (CMD_ARGC == 1) {
+ free(bcm2835_peri_mem_dev);
+ bcm2835_peri_mem_dev = strdup(CMD_ARGV[0]);
+ }
+
+ command_print(CMD, "BCM2835 GPIO: peripheral_mem_dev = %s",
+ bcm2835_get_mem_dev());
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(bcm2835gpio_handle_peripheral_base)
+{
+ uint64_t tmp_base;
+ if (CMD_ARGC == 1) {
+ COMMAND_PARSE_NUMBER(u64, CMD_ARGV[0], tmp_base);
+ bcm2835_peri_base = (off_t)tmp_base;
+ }
+
+ tmp_base = bcm2835_peri_base;
+ command_print(CMD, "BCM2835 GPIO: peripheral_base = 0x%08" PRIx64,
+ tmp_base);
+ return ERROR_OK;
+}
+
+static const struct command_registration bcm2835gpio_subcommand_handlers[] = {
{
- .name = "bcm2835gpio_tdi_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tdi,
+ .name = "speed_coeffs",
+ .handler = &bcm2835gpio_handle_speed_coeffs,
.mode = COMMAND_CONFIG,
- .help = "gpio number for tdi.",
+ .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
+ .usage = "[SPEED_COEFF SPEED_OFFSET]",
},
{
- .name = "bcm2835gpio_srst_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_srst,
+ .name = "peripheral_mem_dev",
+ .handler = &bcm2835gpio_handle_peripheral_mem_dev,
.mode = COMMAND_CONFIG,
- .help = "gpio number for srst.",
+ .help = "device to map memory mapped GPIOs from.",
+ .usage = "[device]",
},
{
- .name = "bcm2835gpio_trst_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_trst,
+ .name = "peripheral_base",
+ .handler = &bcm2835gpio_handle_peripheral_base,
.mode = COMMAND_CONFIG,
- .help = "gpio number for trst.",
+ .help = "peripheral base to access GPIOs, not needed with /dev/gpiomem.",
+ .usage = "[base]",
},
+
+ COMMAND_REGISTRATION_DONE
+};
+
+static const struct command_registration bcm2835gpio_command_handlers[] = {
{
- .name = "bcm2835gpio_speed_coeffs",
- .handler = &bcm2835gpio_handle_speed_coeffs,
- .mode = COMMAND_CONFIG,
- .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
+ .name = "bcm2835gpio",
+ .mode = COMMAND_ANY,
+ .help = "perform bcm2835gpio management",
+ .chain = bcm2835gpio_subcommand_handlers,
+ .usage = "",
},
COMMAND_REGISTRATION_DONE
};
-struct jtag_interface bcm2835gpio_interface = {
- .name = "bcm2835gpio",
- .supported = DEBUG_CAP_TMS_SEQ,
- .execute_queue = bitbang_execute_queue,
- .transports = jtag_only,
- .speed = bcm2835gpio_speed,
- .khz = bcm2835gpio_khz,
- .speed_div = bcm2835gpio_speed_div,
- .commands = bcm2835gpio_command_handlers,
- .init = bcm2835gpio_init,
- .quit = bcm2835gpio_quit,
+static bool bcm2835gpio_jtag_mode_possible(void)
+{
+ if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TCK))
+ return false;
+ if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TMS))
+ return false;
+ if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDI))
+ return false;
+ if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDO))
+ return false;
+ return true;
+}
+
+static bool bcm2835gpio_swd_mode_possible(void)
+{
+ if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWCLK))
+ return false;
+ if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO))
+ return false;
+ return true;
+}
+
+static void bcm2835gpio_munmap(void)
+{
+ if (pio_base != MAP_FAILED) {
+ munmap((void *)pio_base, sysconf(_SC_PAGE_SIZE));
+ pio_base = MAP_FAILED;
+ }
+
+ if (pads_base != MAP_FAILED) {
+ munmap((void *)pads_base, sysconf(_SC_PAGE_SIZE));
+ pads_base = MAP_FAILED;
+ }
+}
+
+static int bcm2835gpio_blink(int on)
+{
+ if (is_gpio_config_valid(ADAPTER_GPIO_IDX_LED))
+ set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_LED], on);
+
+ return ERROR_OK;
+}
+
+static struct bitbang_interface bcm2835gpio_bitbang = {
+ .read = bcm2835gpio_read,
+ .write = bcm2835gpio_write,
+ .swdio_read = bcm2835_swdio_read,
+ .swdio_drive = bcm2835_swdio_drive,
+ .swd_write = bcm2835gpio_swd_write_generic,
+ .blink = bcm2835gpio_blink,
};
static int bcm2835gpio_init(void)
{
+ LOG_INFO("BCM2835 GPIO JTAG/SWD bitbang driver");
+
bitbang_interface = &bcm2835gpio_bitbang;
+ adapter_gpio_config = adapter_gpio_get_config();
+
+ if (transport_is_jtag() && !bcm2835gpio_jtag_mode_possible()) {
+ LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
+ return ERROR_JTAG_INIT_FAILED;
+ }
- if (!is_gpio_valid(tdo_gpio) || !is_gpio_valid(tdi_gpio) ||
- !is_gpio_valid(tck_gpio) || !is_gpio_valid(tms_gpio) ||
- (trst_gpio != -1 && !is_gpio_valid(trst_gpio)) ||
- (srst_gpio != -1 && !is_gpio_valid(srst_gpio)))
+ if (transport_is_swd() && !bcm2835gpio_swd_mode_possible()) {
+ LOG_ERROR("Require swclk and swdio gpio for SWD mode");
return ERROR_JTAG_INIT_FAILED;
+ }
- dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
+ bool is_gpiomem = strcmp(bcm2835_get_mem_dev(), "/dev/gpiomem") == 0;
+ bool pad_mapping_possible = !is_gpiomem;
+
+ dev_mem_fd = open(bcm2835_get_mem_dev(), O_RDWR | O_SYNC);
if (dev_mem_fd < 0) {
- perror("open");
+ LOG_ERROR("open %s: %s", bcm2835_get_mem_dev(), strerror(errno));
+ /* TODO: add /dev/mem specific doc and refer to it
+ * if (!is_gpiomem && (errno == EACCES || errno == EPERM))
+ * LOG_INFO("Consult the user's guide chapter 4.? how to set permissions and capabilities");
+ */
return ERROR_JTAG_INIT_FAILED;
}
MAP_SHARED, dev_mem_fd, BCM2835_GPIO_BASE);
if (pio_base == MAP_FAILED) {
- perror("mmap");
+ LOG_ERROR("mmap: %s", strerror(errno));
close(dev_mem_fd);
return ERROR_JTAG_INIT_FAILED;
}
- static volatile uint32_t *pads_base;
- pads_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
+ /* TODO: move pads config to a separate utility */
+ if (pad_mapping_possible) {
+ pads_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
MAP_SHARED, dev_mem_fd, BCM2835_PADS_GPIO_0_27);
- if (pads_base == MAP_FAILED) {
- perror("mmap");
- close(dev_mem_fd);
- return ERROR_JTAG_INIT_FAILED;
+ if (pads_base == MAP_FAILED) {
+ LOG_ERROR("mmap pads: %s", strerror(errno));
+ LOG_WARNING("Continuing with unchanged GPIO pad settings (drive strength and slew rate)");
+ }
+ } else {
+ pads_base = MAP_FAILED;
}
- /* set 16mA drive strength */
- pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5a000018 + 7;
+ close(dev_mem_fd);
- tdo_gpio_mode = MODE_GPIO(tdo_gpio);
- tdi_gpio_mode = MODE_GPIO(tdi_gpio);
- tck_gpio_mode = MODE_GPIO(tck_gpio);
- tms_gpio_mode = MODE_GPIO(tms_gpio);
- /*
- * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
- * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
+ if (pads_base != MAP_FAILED) {
+ /* set 4mA drive strength, slew rate limited, hysteresis on */
+ initial_drive_strength_etc = pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] & 0x1f;
+LOG_INFO("initial pads conf %08x", pads_base[BCM2835_PADS_GPIO_0_27_OFFSET]);
+ pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5a000008 + 1;
+LOG_INFO("pads conf set to %08x", pads_base[BCM2835_PADS_GPIO_0_27_OFFSET]);
+ }
+
+ /* Configure JTAG/SWD signals. Default directions and initial states are handled
+ * by adapter.c and "adapter gpio" command.
*/
- INP_GPIO(tdo_gpio);
-
- GPIO_CLR = 1<<tdi_gpio | 1<<tck_gpio;
- GPIO_SET = 1<<tms_gpio;
-
- OUT_GPIO(tdi_gpio);
- OUT_GPIO(tck_gpio);
- OUT_GPIO(tms_gpio);
- if (trst_gpio != -1) {
- trst_gpio_mode = MODE_GPIO(trst_gpio);
- GPIO_SET = 1 << trst_gpio;
- OUT_GPIO(trst_gpio);
+ if (transport_is_jtag()) {
+ 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 (srst_gpio != -1) {
- srst_gpio_mode = MODE_GPIO(srst_gpio);
- GPIO_SET = 1 << srst_gpio;
- OUT_GPIO(srst_gpio);
+
+ if (transport_is_swd()) {
+ /* 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);
+ }
+
+ initialize_gpio(ADAPTER_GPIO_IDX_SWCLK);
+
+ if (adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL &&
+ adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL) {
+ LOG_DEBUG("BCM2835 GPIO using fast mode for SWD write");
+ bcm2835gpio_bitbang.swd_write = bcm2835gpio_swd_write_fast;
+ } else {
+ LOG_DEBUG("BCM2835 GPIO using generic mode for SWD write");
+ bcm2835gpio_bitbang.swd_write = bcm2835gpio_swd_write_generic;
+ }
}
- LOG_DEBUG("saved pinmux settings: tck %d tms %d tdi %d "
- "tdo %d trst %d srst %d", tck_gpio_mode, tms_gpio_mode,
- tdi_gpio_mode, tdo_gpio_mode, trst_gpio_mode, srst_gpio_mode);
+ initialize_gpio(ADAPTER_GPIO_IDX_SRST);
+ initialize_gpio(ADAPTER_GPIO_IDX_LED);
return ERROR_OK;
}
static int bcm2835gpio_quit(void)
{
- SET_MODE_GPIO(tdo_gpio, tdo_gpio_mode);
- SET_MODE_GPIO(tdi_gpio, tdi_gpio_mode);
- SET_MODE_GPIO(tck_gpio, tck_gpio_mode);
- SET_MODE_GPIO(tms_gpio, tms_gpio_mode);
- if (trst_gpio != -1)
- SET_MODE_GPIO(trst_gpio, trst_gpio_mode);
- if (srst_gpio != -1)
- SET_MODE_GPIO(srst_gpio, srst_gpio_mode);
+ if (transport_is_jtag()) {
+ restore_gpio(ADAPTER_GPIO_IDX_TDO);
+ restore_gpio(ADAPTER_GPIO_IDX_TDI);
+ restore_gpio(ADAPTER_GPIO_IDX_TCK);
+ restore_gpio(ADAPTER_GPIO_IDX_TMS);
+ restore_gpio(ADAPTER_GPIO_IDX_TRST);
+ }
+
+ if (transport_is_swd()) {
+ /* 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.
+ */
+ INP_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
+ restore_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
+ restore_gpio(ADAPTER_GPIO_IDX_SWDIO);
+ restore_gpio(ADAPTER_GPIO_IDX_SWCLK);
+ }
+
+ restore_gpio(ADAPTER_GPIO_IDX_SRST);
+ restore_gpio(ADAPTER_GPIO_IDX_LED);
+
+ if (pads_base != MAP_FAILED) {
+ /* Restore drive strength. MSB is password ("5A") */
+ pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5A000000 | initial_drive_strength_etc;
+ }
+ bcm2835gpio_munmap();
+ free(bcm2835_peri_mem_dev);
return ERROR_OK;
}
+
+
+static const char * const bcm2835_transports[] = { "jtag", "swd", NULL };
+
+static struct jtag_interface bcm2835gpio_interface = {
+ .supported = DEBUG_CAP_TMS_SEQ,
+ .execute_queue = bitbang_execute_queue,
+};
+struct adapter_driver bcm2835gpio_adapter_driver = {
+ .name = "bcm2835gpio",
+ .transports = bcm2835_transports,
+ .commands = bcm2835gpio_command_handlers,
+
+ .init = bcm2835gpio_init,
+ .quit = bcm2835gpio_quit,
+ .reset = bcm2835gpio_reset,
+ .speed = bcm2835gpio_speed,
+ .khz = bcm2835gpio_khz,
+ .speed_div = bcm2835gpio_speed_div,
+
+ .jtag_ops = &bcm2835gpio_interface,
+ .swd_ops = &bitbang_swd,
+};
Code Review / openocd.git / blobdiff