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@ -0,0 +1,733 @@
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/***************************************************************************
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* Copyright (C) 2022 by Steve Marple, stevemarple@googlemail.com *
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* *
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* Based on bcm2835gpio.c and linuxgpiod.c *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <jtag/interface.h>
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#include <transport/transport.h>
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#include "bitbang.h"
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#include <sys/mman.h>
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/*
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* GPIO register base addresses. Values taken from "AM335x and AMIC110 Sitara
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* Processors Technical Reference Manual", Chapter 2 Memory Map.
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*/
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#define AM335XGPIO_NUM_GPIO_PORTS 4
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#define AM335XGPIO_GPIO0_HW_ADDR 0x44E07000
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#define AM335XGPIO_GPIO1_HW_ADDR 0x4804C000
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#define AM335XGPIO_GPIO2_HW_ADDR 0x481AC000
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#define AM335XGPIO_GPIO3_HW_ADDR 0x481AE000
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/* 32-bit offsets from GPIO port base address. Values taken from "AM335x and
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* AMIC110 Sitara Processors Technical Reference Manual", Chapter 25
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* General-Purpose Input/Output.
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*/
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#define AM335XGPIO_GPIO_OE_OFFSET (0x134 / 4)
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#define AM335XGPIO_GPIO_DATAIN_OFFSET (0x138 / 4)
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#define AM335XGPIO_GPIO_DATAOUT_OFFSET (0x13C / 4) /* DATAOUT register uses 0 for output, 1 for input */
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#define AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET (0x190 / 4)
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#define AM335XGPIO_GPIO_SETDATAOUT_OFFSET (0x194 / 4)
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/* GPIOs are integer values; need to map to a port module, and the pin within
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* that module. GPIOs 0 to 31 map to GPIO0, 32 to 63 to GPIO1 etc. This scheme
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* matches that used by Linux on the BeagleBone.
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*/
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#define AM335XGPIO_PORT_NUM(gpio_num) ((gpio_num) / 32)
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#define AM335XGPIO_BIT_NUM(gpio_num) ((gpio_num) % 32)
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#define AM335XGPIO_BIT_MASK(gpio_num) BIT(AM335XGPIO_BIT_NUM(gpio_num))
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#define AM335XGPIO_READ_REG(gpio_num, offset) \
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(*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)))
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#define AM335XGPIO_WRITE_REG(gpio_num, offset, value) \
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(*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) = (value))
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#define AM335XGPIO_SET_REG_BITS(gpio_num, offset, bit_mask) \
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(*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) |= (bit_mask))
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#define AM335XGPIO_CLEAR_REG_BITS(gpio_num, offset, bit_mask) \
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(*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) &= ~(bit_mask))
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enum amx335gpio_gpio_mode {
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AM335XGPIO_GPIO_MODE_INPUT,
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AM335XGPIO_GPIO_MODE_OUTPUT, /* To set output mode but not state */
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AM335XGPIO_GPIO_MODE_OUTPUT_LOW,
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AM335XGPIO_GPIO_MODE_OUTPUT_HIGH,
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};
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static const uint32_t am335xgpio_gpio_port_hw_addr[AM335XGPIO_NUM_GPIO_PORTS] = {
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AM335XGPIO_GPIO0_HW_ADDR,
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AM335XGPIO_GPIO1_HW_ADDR,
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AM335XGPIO_GPIO2_HW_ADDR,
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AM335XGPIO_GPIO3_HW_ADDR,
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};
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/* Memory-mapped address pointers */
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static volatile uint32_t *am335xgpio_gpio_port_mmap_addr[AM335XGPIO_NUM_GPIO_PORTS];
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static int dev_mem_fd;
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/* GPIO numbers for each signal. Negative values are invalid */
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static int tck_gpio = -1;
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static enum amx335gpio_gpio_mode tck_gpio_mode;
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static int tms_gpio = -1;
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static enum amx335gpio_gpio_mode tms_gpio_mode;
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static int tdi_gpio = -1;
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static enum amx335gpio_gpio_mode tdi_gpio_mode;
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static int tdo_gpio = -1;
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static enum amx335gpio_gpio_mode tdo_gpio_mode;
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static int trst_gpio = -1;
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static enum amx335gpio_gpio_mode trst_gpio_mode;
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static int srst_gpio = -1;
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static enum amx335gpio_gpio_mode srst_gpio_mode;
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static int swclk_gpio = -1;
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static enum amx335gpio_gpio_mode swclk_gpio_mode;
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static int swdio_gpio = -1;
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static enum amx335gpio_gpio_mode swdio_gpio_mode;
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static int swdio_dir_gpio = -1;
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static enum amx335gpio_gpio_mode swdio_dir_gpio_mode;
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static int led_gpio = -1;
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static enum amx335gpio_gpio_mode led_gpio_mode = -1;
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static bool swdio_dir_is_active_high = true; /* Active state means output */
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static bool led_is_active_high = true;
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/* Transition delay coefficients */
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static int speed_coeff = 600000;
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static int speed_offset = 575;
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static unsigned int jtag_delay;
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static int is_gpio_valid(int gpio_num)
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{
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return gpio_num >= 0 && gpio_num < (32 * AM335XGPIO_NUM_GPIO_PORTS);
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}
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static int get_gpio_value(int gpio_num)
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{
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unsigned int shift = AM335XGPIO_BIT_NUM(gpio_num);
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return (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAIN_OFFSET) >> shift) & 1;
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}
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static void set_gpio_value(int gpio_num, int value)
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{
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if (value)
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AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_SETDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
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else
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AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
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}
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static enum amx335gpio_gpio_mode get_gpio_mode(int gpio_num)
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{
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if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_OE_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num)) {
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return AM335XGPIO_GPIO_MODE_INPUT;
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} else {
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/* Return output level too so that pin mode can be fully restored */
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if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAOUT_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num))
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return AM335XGPIO_GPIO_MODE_OUTPUT_HIGH;
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else
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return AM335XGPIO_GPIO_MODE_OUTPUT_LOW;
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}
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}
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static void set_gpio_mode(int gpio_num, enum amx335gpio_gpio_mode gpio_mode)
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{
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if (gpio_mode == AM335XGPIO_GPIO_MODE_INPUT) {
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AM335XGPIO_SET_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
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return;
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}
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if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW)
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set_gpio_value(gpio_num, 0);
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if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH)
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set_gpio_value(gpio_num, 1);
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if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT ||
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gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW ||
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gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH) {
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AM335XGPIO_CLEAR_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
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}
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}
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static const char *get_gpio_mode_name(enum amx335gpio_gpio_mode gpio_mode)
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{
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switch (gpio_mode) {
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case AM335XGPIO_GPIO_MODE_INPUT:
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return "input";
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case AM335XGPIO_GPIO_MODE_OUTPUT:
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return "output";
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case AM335XGPIO_GPIO_MODE_OUTPUT_LOW:
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return "output (low)";
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case AM335XGPIO_GPIO_MODE_OUTPUT_HIGH:
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return "output (high)";
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default:
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return "unknown";
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}
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}
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static bb_value_t am335xgpio_read(void)
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{
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return get_gpio_value(tdo_gpio) ? BB_HIGH : BB_LOW;
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}
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static int am335xgpio_write(int tck, int tms, int tdi)
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{
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set_gpio_value(tdi_gpio, tdi);
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set_gpio_value(tms_gpio, tms);
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set_gpio_value(tck_gpio, tck); /* Write clock last */
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for (unsigned int i = 0; i < jtag_delay; ++i)
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asm volatile ("");
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return ERROR_OK;
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}
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static int am335xgpio_swd_write(int swclk, int swdio)
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{
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set_gpio_value(swdio_gpio, swdio);
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set_gpio_value(swclk_gpio, swclk); /* Write clock last */
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for (unsigned int i = 0; i < jtag_delay; ++i)
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asm volatile ("");
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return ERROR_OK;
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}
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/* (1) assert or (0) deassert reset lines */
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static int am335xgpio_reset(int trst, int srst)
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{
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/* assume active low */
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if (is_gpio_valid(srst_gpio)) {
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if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
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set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
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else
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set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
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}
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/* assume active low */
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if (is_gpio_valid(trst_gpio)) {
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if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
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set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
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else
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set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
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}
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LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d (%s), srst_gpio: %d (%s)",
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trst, srst,
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trst_gpio, get_gpio_mode_name(get_gpio_mode(trst_gpio)),
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srst_gpio, get_gpio_mode_name(get_gpio_mode(srst_gpio)));
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return ERROR_OK;
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}
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static void am335xgpio_swdio_drive(bool is_output)
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{
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if (is_output) {
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set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 1 : 0);
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set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_OUTPUT);
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} else {
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set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_INPUT);
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set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 0 : 1);
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}
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}
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static int am335xgpio_swdio_read(void)
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{
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return get_gpio_value(swdio_gpio);
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}
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static int am335xgpio_blink(int on)
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{
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if (is_gpio_valid(led_gpio))
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set_gpio_value(led_gpio, (!on ^ led_is_active_high) ? 1 : 0);
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return ERROR_OK;
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}
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static struct bitbang_interface am335xgpio_bitbang = {
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.read = am335xgpio_read,
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.write = am335xgpio_write,
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.swdio_read = am335xgpio_swdio_read,
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.swdio_drive = am335xgpio_swdio_drive,
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.swd_write = am335xgpio_swd_write,
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.blink = am335xgpio_blink
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};
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static int am335xgpio_khz(int khz, int *jtag_speed)
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{
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if (!khz) {
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LOG_DEBUG("RCLK not supported");
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return ERROR_FAIL;
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}
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*jtag_speed = speed_coeff / khz - speed_offset;
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if (*jtag_speed < 0)
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*jtag_speed = 0;
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return ERROR_OK;
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}
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static int am335xgpio_speed_div(int speed, int *khz)
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{
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*khz = speed_coeff / (speed + speed_offset);
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return ERROR_OK;
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}
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static int am335xgpio_speed(int speed)
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{
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jtag_delay = speed;
|
|
|
|
|
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) {
|
|
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
|
|
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
command_print(CMD, "AM335x GPIO config: speed_coeffs = %d, speed_offset = %d",
|
|
|
|
|
speed_coeff, speed_offset);
|
|
|
|
|
return ERROR_OK;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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,
|
|
|
|
|
.mode = COMMAND_CONFIG,
|
|
|
|
|
.help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
|
|
|
|
|
.usage = "[SPEED_COEFF SPEED_OFFSET]",
|
|
|
|
|
},
|
|
|
|
|
COMMAND_REGISTRATION_DONE
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
static const struct command_registration am335xgpio_command_handlers[] = {
|
|
|
|
|
{
|
|
|
|
|
.name = "am335xgpio",
|
|
|
|
|
.mode = COMMAND_ANY,
|
|
|
|
|
.help = "perform am335xgpio management",
|
|
|
|
|
.chain = am335xgpio_subcommand_handlers,
|
|
|
|
|
.usage = "",
|
|
|
|
|
},
|
|
|
|
|
COMMAND_REGISTRATION_DONE
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
static const char * const am335xgpio_transports[] = { "jtag", "swd", NULL };
|
|
|
|
|
|
|
|
|
|
static struct jtag_interface am335xgpio_interface = {
|
|
|
|
|
.supported = DEBUG_CAP_TMS_SEQ,
|
|
|
|
|
.execute_queue = bitbang_execute_queue,
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
static bool am335xgpio_jtag_mode_possible(void)
|
|
|
|
|
{
|
|
|
|
|
if (!is_gpio_valid(tck_gpio))
|
|
|
|
|
return false;
|
|
|
|
|
if (!is_gpio_valid(tms_gpio))
|
|
|
|
|
return false;
|
|
|
|
|
if (!is_gpio_valid(tdi_gpio))
|
|
|
|
|
return false;
|
|
|
|
|
if (!is_gpio_valid(tdo_gpio))
|
|
|
|
|
return false;
|
|
|
|
|
return true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static bool am335xgpio_swd_mode_possible(void)
|
|
|
|
|
{
|
|
|
|
|
if (!is_gpio_valid(swclk_gpio))
|
|
|
|
|
return false;
|
|
|
|
|
if (!is_gpio_valid(swdio_gpio))
|
|
|
|
|
return false;
|
|
|
|
|
return true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static int am335xgpio_init(void)
|
|
|
|
|
{
|
|
|
|
|
bitbang_interface = &am335xgpio_bitbang;
|
|
|
|
|
|
|
|
|
|
LOG_INFO("AM335x GPIO JTAG/SWD bitbang driver");
|
|
|
|
|
|
|
|
|
|
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;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (transport_is_swd() && !am335xgpio_swd_mode_possible()) {
|
|
|
|
|
LOG_ERROR("Require swclk and swdio gpio for SWD mode");
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|
|
|
|
return ERROR_JTAG_INIT_FAILED;
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|
|
|
|
}
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|
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|
|
|
|
|
|
|
dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
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|
|
|
|
if (dev_mem_fd < 0) {
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|
|
|
LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
|
|
|
|
|
dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
|
|
|
|
|
}
|
|
|
|
|
if (dev_mem_fd < 0) {
|
|
|
|
|
LOG_ERROR("open: %s", strerror(errno));
|
|
|
|
|
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]);
|
|
|
|
|
|
|
|
|
|
if (am335xgpio_gpio_port_mmap_addr[i] == MAP_FAILED) {
|
|
|
|
|
LOG_ERROR("mmap: %s", strerror(errno));
|
|
|
|
|
close(dev_mem_fd);
|
|
|
|
|
return ERROR_JTAG_INIT_FAILED;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST as outputs.
|
|
|
|
|
* Drive TDI and TCK low, and TMS high.
|
|
|
|
|
*/
|
|
|
|
|
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));
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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);
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
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));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/* 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);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (is_gpio_valid(srst_gpio))
|
|
|
|
|
set_gpio_mode(srst_gpio, srst_gpio_mode);
|
|
|
|
|
|
|
|
|
|
if (is_gpio_valid(led_gpio))
|
|
|
|
|
set_gpio_mode(led_gpio, led_gpio_mode);
|
|
|
|
|
|
|
|
|
|
return ERROR_OK;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
struct adapter_driver am335xgpio_adapter_driver = {
|
|
|
|
|
.name = "am335xgpio",
|
|
|
|
|
.transports = am335xgpio_transports,
|
|
|
|
|
.commands = am335xgpio_command_handlers,
|
|
|
|
|
|
|
|
|
|
.init = am335xgpio_init,
|
|
|
|
|
.quit = am335xgpio_quit,
|
|
|
|
|
.reset = am335xgpio_reset,
|
|
|
|
|
.speed = am335xgpio_speed,
|
|
|
|
|
.khz = am335xgpio_khz,
|
|
|
|
|
.speed_div = am335xgpio_speed_div,
|
|
|
|
|
|
|
|
|
|
.jtag_ops = &am335xgpio_interface,
|
|
|
|
|
.swd_ops = &bitbang_swd,
|
|
|
|
|
};
|
Steve Marple
Antonio Borneo