Add SWD protocol support to sysfsgpio
Based on the initial work on bcm2835gpio.c by Paul Fertser with many additions. Modifications to the GPIO handling was minimal in this patch. A more big modification is required before cleanup the interface between bitbang and sysfsgpio. Change-Id: I54bf2a2aa2ca059368b0e0e105dff6084b73d624 Signed-off-by: Jean-Christian de Rivaz <jc@eclis.ch> Reviewed-on: http://openocd.zylin.com/2438 Tested-by: jenkins Reviewed-by: Spencer Oliver <spen@spen-soft.co.uk> Reviewed-by: Paul Fertser <fercerpav@gmail.com>
This commit is contained in:
Jean-Christian de Rivaz
Paul Fertser
parent
e971c7f423
commit
e290cb76c8
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@ -16,6 +16,10 @@
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* Free Software Foundation, Inc., *
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
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***************************************************************************/
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/* 2014-12: Addition of the SWD protocol support is based on the initial work
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* on bcm2835gpio.c by Paul Fertser and modifications by Jean-Christian de Rivaz. */
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/**
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* @file
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* This driver implements a bitbang jtag interface using gpio lines via
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@ -139,17 +143,26 @@ static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
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}
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snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio);
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if (is_output)
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ret = open(buf, O_WRONLY | O_NONBLOCK | O_SYNC);
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else
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ret = open(buf, O_RDONLY | O_NONBLOCK | O_SYNC);
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if (ret < 0)
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ret = open(buf, O_RDWR | O_NONBLOCK | O_SYNC);
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if (ret < 0) {
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LOG_ERROR("Couldn't open value for gpio %d", gpio);
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perror("sysfsgpio: ");
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unexport_sysfs_gpio(gpio);
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}
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return ret;
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}
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/* gpio numbers for each gpio. Negative values are invalid */
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static int tck_gpio = -1;
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static int tms_gpio = -1;
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static int tdi_gpio = -1;
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static int tdo_gpio = -1;
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static int trst_gpio = -1;
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static int srst_gpio = -1;
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static int swclk_gpio = -1;
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static int swdio_gpio = -1;
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/*
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* file descriptors for /sys/class/gpio/gpioXX/value
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* Set up during init.
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@ -160,6 +173,72 @@ static int tdi_fd = -1;
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static int tdo_fd = -1;
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static int trst_fd = -1;
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static int srst_fd = -1;
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static int swclk_fd = -1;
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static int swdio_fd = -1;
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static int last_swclk;
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static int last_swdio;
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static bool last_stored;
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static bool swdio_input;
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static void sysfsgpio_swdio_drive(bool is_output)
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{
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char buf[40];
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int ret;
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snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", swdio_gpio);
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ret = open_write_close(buf, is_output ? "high" : "in");
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if (ret < 0) {
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LOG_ERROR("Couldn't set direction for gpio %d", swdio_gpio);
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perror("sysfsgpio: ");
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}
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last_stored = false;
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swdio_input = !is_output;
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}
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static int sysfsgpio_swdio_read(void)
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{
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char buf[1];
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/* important to seek to signal sysfs of new read */
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lseek(swdio_fd, 0, SEEK_SET);
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int ret = read(swdio_fd, &buf, sizeof(buf));
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if (ret < 0) {
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LOG_WARNING("reading swdio failed");
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return 0;
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}
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return buf[0] == '1';
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}
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static void sysfsgpio_swdio_write(int swclk, int swdio)
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{
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const char one[] = "1";
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const char zero[] = "0";
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size_t bytes_written;
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if (!swdio_input) {
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if (!last_stored || (swdio != last_swdio)) {
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bytes_written = write(swdio_fd, swdio ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing swdio failed");
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}
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}
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/* write swclk last */
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if (!last_stored || (swclk != last_swclk)) {
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bytes_written = write(swclk_fd, swclk ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing swclk failed");
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}
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last_swdio = swdio;
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last_swclk = swclk;
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last_stored = true;
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}
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/*
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* Bitbang interface read of TDO
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@ -191,6 +270,11 @@ static int sysfsgpio_read(void)
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*/
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static void sysfsgpio_write(int tck, int tms, int tdi)
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{
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if (swd_mode) {
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sysfsgpio_swdio_write(tck, tdi);
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return;
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}
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const char one[] = "1";
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const char zero[] = "0";
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@ -239,6 +323,7 @@ static void sysfsgpio_write(int tck, int tms, int tdi)
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*/
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static void sysfsgpio_reset(int trst, int srst)
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{
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LOG_DEBUG("sysfsgpio_reset");
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const char one[] = "1";
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const char zero[] = "0";
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size_t bytes_written;
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@ -258,14 +343,6 @@ static void sysfsgpio_reset(int trst, int srst)
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}
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}
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/* gpio numbers for each gpio. Negative values are invalid */
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static int tck_gpio = -1;
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static int tms_gpio = -1;
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static int tdi_gpio = -1;
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static int tdo_gpio = -1;
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static int trst_gpio = -1;
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static int srst_gpio = -1;
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionums)
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{
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if (CMD_ARGC == 4) {
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@ -338,6 +415,40 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_trst)
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_swd_gpionums)
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{
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if (CMD_ARGC == 2) {
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
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} else if (CMD_ARGC != 0) {
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return ERROR_COMMAND_SYNTAX_ERROR;
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}
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command_print(CMD_CTX,
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"SysfsGPIO nums: swclk = %d, swdio = %d",
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swclk_gpio, swdio_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swclk)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: swclk = %d", swclk_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swdio)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: swdio = %d", swdio_gpio);
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return ERROR_OK;
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}
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static const struct command_registration sysfsgpio_command_handlers[] = {
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{
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.name = "sysfsgpio_jtag_nums",
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@ -382,17 +493,39 @@ static const struct command_registration sysfsgpio_command_handlers[] = {
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.mode = COMMAND_CONFIG,
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.help = "gpio number for trst.",
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},
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{
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.name = "sysfsgpio_swd_nums",
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.handler = &sysfsgpio_handle_swd_gpionums,
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.mode = COMMAND_CONFIG,
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.help = "gpio numbers for swclk, swdio. (in that order)",
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.usage = "(swclk swdio)* ",
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},
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{
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.name = "sysfsgpio_swclk_num",
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.handler = &sysfsgpio_handle_swd_gpionum_swclk,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for swclk.",
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},
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{
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.name = "sysfsgpio_swdio_num",
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.handler = &sysfsgpio_handle_swd_gpionum_swdio,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for swdio.",
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},
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COMMAND_REGISTRATION_DONE
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};
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static int sysfsgpio_init(void);
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static int sysfsgpio_quit(void);
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static const char * const sysfsgpio_transports[] = { "jtag", "swd", NULL };
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struct jtag_interface sysfsgpio_interface = {
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.name = "sysfsgpio",
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.supported = DEBUG_CAP_TMS_SEQ,
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.execute_queue = bitbang_execute_queue,
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.transports = jtag_only,
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.transports = sysfsgpio_transports,
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.swd = &bitbang_swd,
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.commands = sysfsgpio_command_handlers,
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.init = sysfsgpio_init,
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.quit = sysfsgpio_quit,
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@ -402,6 +535,8 @@ static struct bitbang_interface sysfsgpio_bitbang = {
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.read = sysfsgpio_read,
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.write = sysfsgpio_write,
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.reset = sysfsgpio_reset,
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.swdio_read = sysfsgpio_swdio_read,
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.swdio_drive = sysfsgpio_swdio_drive,
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.blink = 0
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};
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@ -426,68 +561,113 @@ static void cleanup_all_fds(void)
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cleanup_fd(srst_fd, srst_gpio);
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}
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static bool sysfsgpio_jtag_mode_possible(void)
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{
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if (!is_gpio_valid(tck_gpio))
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return 0;
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if (!is_gpio_valid(tms_gpio))
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return 0;
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if (!is_gpio_valid(tdi_gpio))
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return 0;
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if (!is_gpio_valid(tdo_gpio))
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return 0;
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return 1;
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}
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static bool sysfsgpio_swd_mode_possible(void)
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{
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if (!is_gpio_valid(swclk_gpio))
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return 0;
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if (!is_gpio_valid(swdio_gpio))
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return 0;
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return 1;
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}
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static int sysfsgpio_init(void)
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{
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bitbang_interface = &sysfsgpio_bitbang;
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LOG_INFO("SysfsGPIO JTAG bitbang driver");
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LOG_INFO("SysfsGPIO JTAG/SWD bitbang driver");
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if (!(is_gpio_valid(tck_gpio)
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&& is_gpio_valid(tms_gpio)
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&& is_gpio_valid(tdi_gpio)
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&& is_gpio_valid(tdo_gpio))) {
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if (!is_gpio_valid(tck_gpio))
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LOG_ERROR("gpio num for tck is invalid");
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if (!is_gpio_valid(tms_gpio))
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LOG_ERROR("gpio num for tms is invalid");
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if (!is_gpio_valid(tdo_gpio))
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LOG_ERROR("gpio num for tdo is invalid");
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if (!is_gpio_valid(tdi_gpio))
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LOG_ERROR("gpio num for tdi is invalid");
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LOG_ERROR("Require tck, tms, tdi and tdo gpios to all be specified");
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if (sysfsgpio_jtag_mode_possible()) {
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if (sysfsgpio_swd_mode_possible())
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LOG_INFO("JTAG and SWD modes enabled");
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else
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LOG_INFO("JTAG only mode enabled (specify swclk and swdio gpio to add SWD mode)");
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if (!is_gpio_valid(trst_gpio) && !is_gpio_valid(srst_gpio)) {
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LOG_ERROR("Require at least one of trst or srst gpios to be specified");
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return ERROR_JTAG_INIT_FAILED;
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}
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} else if (sysfsgpio_swd_mode_possible()) {
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LOG_INFO("SWD only mode enabled (specify tck, tms, tdi and tdo gpios to add JTAG mode)");
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} else {
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LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode and/or swclk and swdio gpio for SWD mode");
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return ERROR_JTAG_INIT_FAILED;
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}
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if (!is_gpio_valid(trst_gpio) && !is_gpio_valid(srst_gpio)) {
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LOG_ERROR("Require at least one of trst or srst gpios to be specified");
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return ERROR_JTAG_INIT_FAILED;
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}
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/*
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* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
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* as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
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* For SWD, SWCLK and SWDIO are configures as output high.
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*/
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tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
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if (tck_fd < 0)
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goto out_error;
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if (tck_gpio >= 0) {
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tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
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if (tck_fd < 0)
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goto out_error;
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}
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tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
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if (tms_fd < 0)
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goto out_error;
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if (tms_gpio >= 0) {
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tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
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if (tms_fd < 0)
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goto out_error;
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}
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tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
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if (tdi_fd < 0)
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goto out_error;
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if (tdi_gpio >= 0) {
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tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
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if (tdi_fd < 0)
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goto out_error;
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}
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tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
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if (tdo_fd < 0)
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goto out_error;
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if (tdo_gpio >= 0) {
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tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
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if (tdo_fd < 0)
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goto out_error;
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}
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/* assume active low*/
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if (trst_gpio > 0) {
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if (trst_gpio >= 0) {
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trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1);
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if (trst_fd < 0)
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goto out_error;
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}
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/* assume active low*/
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if (srst_gpio > 0) {
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if (srst_gpio >= 0) {
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srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1);
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if (srst_fd < 0)
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goto out_error;
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}
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if (swclk_gpio >= 0) {
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swclk_fd = setup_sysfs_gpio(swclk_gpio, 1, 0);
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if (swclk_fd < 0)
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goto out_error;
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}
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if (swdio_gpio >= 0) {
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swdio_fd = setup_sysfs_gpio(swdio_gpio, 1, 0);
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if (swdio_fd < 0)
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goto out_error;
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}
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if (sysfsgpio_swd_mode_possible()) {
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if (swd_mode)
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bitbang_swd_switch_seq(NULL, JTAG_TO_SWD);
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else
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bitbang_swd_switch_seq(NULL, SWD_TO_JTAG);
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}
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return ERROR_OK;
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out_error:
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