src/jtag/drivers/am335xgpio.c

   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2
   3 /***************************************************************************
   4  *   Copyright (C) 2022 by Steve Marple, stevemarple@googlemail.com        *
   5  *                                                                         *
   6  *   Based on bcm2835gpio.c and linuxgpiod.c                               *
   7  ***************************************************************************/
   8
   9 #ifdef HAVE_CONFIG_H
  10 #include "config.h"
  11 #endif
  12
  13 #include <jtag/interface.h>
  14 #include <transport/transport.h>
  15 #include "bitbang.h"
  16
  17 #include <sys/mman.h>
  18
  19 /*
  20  * GPIO register base addresses. Values taken from "AM335x and AMIC110 Sitara
  21  * Processors Technical Reference Manual", Chapter 2 Memory Map.
  22  */
  23 #define AM335XGPIO_NUM_GPIO_PORTS 4
  24 #define AM335XGPIO_GPIO0_HW_ADDR 0x44E07000
  25 #define AM335XGPIO_GPIO1_HW_ADDR 0x4804C000
  26 #define AM335XGPIO_GPIO2_HW_ADDR 0x481AC000
  27 #define AM335XGPIO_GPIO3_HW_ADDR 0x481AE000
  28
  29 /* 32-bit offsets from GPIO port base address. Values taken from "AM335x and
  30  * AMIC110 Sitara Processors Technical Reference Manual", Chapter 25
  31  * General-Purpose Input/Output.
  32  */
  33 #define AM335XGPIO_GPIO_OE_OFFSET (0x134 / 4)
  34 #define AM335XGPIO_GPIO_DATAIN_OFFSET (0x138 / 4)
  35 #define AM335XGPIO_GPIO_DATAOUT_OFFSET (0x13C / 4)  /* DATAOUT register uses 0 for output, 1 for input */
  36 #define AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET (0x190 / 4)
  37 #define AM335XGPIO_GPIO_SETDATAOUT_OFFSET (0x194 / 4)
  38
  39 /* GPIOs are integer values; need to map to a port module, and the pin within
  40  * that module. GPIOs 0 to 31 map to GPIO0, 32 to 63 to GPIO1 etc. This scheme
  41  * matches that used by Linux on the BeagleBone.
  42  */
  43 #define AM335XGPIO_PORT_NUM(gpio_num) ((gpio_num) / 32)
  44 #define AM335XGPIO_BIT_NUM(gpio_num) ((gpio_num) % 32)
  45 #define AM335XGPIO_BIT_MASK(gpio_num) BIT(AM335XGPIO_BIT_NUM(gpio_num))
  46
  47 #define AM335XGPIO_READ_REG(gpio_num, offset) \
  48         (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)))
  49
  50 #define AM335XGPIO_WRITE_REG(gpio_num, offset, value) \
  51         (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) = (value))
  52
  53 #define AM335XGPIO_SET_REG_BITS(gpio_num, offset, bit_mask) \
  54         (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) |= (bit_mask))
  55
  56 #define AM335XGPIO_CLEAR_REG_BITS(gpio_num, offset, bit_mask) \
  57         (*(am335xgpio_gpio_port_mmap_addr[AM335XGPIO_PORT_NUM(gpio_num)] + (offset)) &= ~(bit_mask))
  58
  59 enum amx335gpio_gpio_mode {
  60         AM335XGPIO_GPIO_MODE_INPUT,
  61         AM335XGPIO_GPIO_MODE_OUTPUT, /* To set output mode but not state */
  62         AM335XGPIO_GPIO_MODE_OUTPUT_LOW,
  63         AM335XGPIO_GPIO_MODE_OUTPUT_HIGH,
  64 };
  65
  66 static const uint32_t am335xgpio_gpio_port_hw_addr[AM335XGPIO_NUM_GPIO_PORTS] = {
  67         AM335XGPIO_GPIO0_HW_ADDR,
  68         AM335XGPIO_GPIO1_HW_ADDR,
  69         AM335XGPIO_GPIO2_HW_ADDR,
  70         AM335XGPIO_GPIO3_HW_ADDR,
  71 };
  72
  73 /* Memory-mapped address pointers */
  74 static volatile uint32_t *am335xgpio_gpio_port_mmap_addr[AM335XGPIO_NUM_GPIO_PORTS];
  75
  76 static int dev_mem_fd;
  77
  78 /* GPIO numbers for each signal. Negative values are invalid */
  79 static int tck_gpio = -1;
  80 static enum amx335gpio_gpio_mode tck_gpio_mode;
  81 static int tms_gpio = -1;
  82 static enum amx335gpio_gpio_mode tms_gpio_mode;
  83 static int tdi_gpio = -1;
  84 static enum amx335gpio_gpio_mode tdi_gpio_mode;
  85 static int tdo_gpio = -1;
  86 static enum amx335gpio_gpio_mode tdo_gpio_mode;
  87 static int trst_gpio = -1;
  88 static enum amx335gpio_gpio_mode trst_gpio_mode;
  89 static int srst_gpio = -1;
  90 static enum amx335gpio_gpio_mode srst_gpio_mode;
  91 static int swclk_gpio = -1;
  92 static enum amx335gpio_gpio_mode swclk_gpio_mode;
  93 static int swdio_gpio = -1;
  94 static enum amx335gpio_gpio_mode swdio_gpio_mode;
  95 static int swdio_dir_gpio = -1;
  96 static enum amx335gpio_gpio_mode swdio_dir_gpio_mode;
  97 static int led_gpio = -1;
  98 static enum amx335gpio_gpio_mode led_gpio_mode = -1;
  99
 100 static bool swdio_dir_is_active_high = true; /* Active state means output */
 101 static bool led_is_active_high = true;
 102
 103 /* Transition delay coefficients */
 104 static int speed_coeff = 600000;
 105 static int speed_offset = 575;
 106 static unsigned int jtag_delay;
 107
 108 static int is_gpio_valid(int gpio_num)
 109 {
 110         return gpio_num >= 0 && gpio_num < (32 * AM335XGPIO_NUM_GPIO_PORTS);
 111 }
 112
 113 static int get_gpio_value(int gpio_num)
 114 {
 115         unsigned int shift = AM335XGPIO_BIT_NUM(gpio_num);
 116         return (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAIN_OFFSET) >> shift) & 1;
 117 }
 118
 119 static void set_gpio_value(int gpio_num, int value)
 120 {
 121         if (value)
 122                 AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_SETDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
 123         else
 124                 AM335XGPIO_WRITE_REG(gpio_num, AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
 125 }
 126
 127 static enum amx335gpio_gpio_mode get_gpio_mode(int gpio_num)
 128 {
 129         if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_OE_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num)) {
 130                 return AM335XGPIO_GPIO_MODE_INPUT;
 131         } else {
 132                 /* Return output level too so that pin mode can be fully restored */
 133                 if (AM335XGPIO_READ_REG(gpio_num, AM335XGPIO_GPIO_DATAOUT_OFFSET) & AM335XGPIO_BIT_MASK(gpio_num))
 134                         return AM335XGPIO_GPIO_MODE_OUTPUT_HIGH;
 135                 else
 136                         return AM335XGPIO_GPIO_MODE_OUTPUT_LOW;
 137         }
 138 }
 139
 140 static void set_gpio_mode(int gpio_num, enum amx335gpio_gpio_mode gpio_mode)
 141 {
 142         if (gpio_mode == AM335XGPIO_GPIO_MODE_INPUT) {
 143                 AM335XGPIO_SET_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
 144                 return;
 145         }
 146
 147         if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW)
 148                 set_gpio_value(gpio_num, 0);
 149         if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH)
 150                 set_gpio_value(gpio_num, 1);
 151
 152         if (gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT ||
 153                 gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_LOW ||
 154                 gpio_mode == AM335XGPIO_GPIO_MODE_OUTPUT_HIGH) {
 155                         AM335XGPIO_CLEAR_REG_BITS(gpio_num, AM335XGPIO_GPIO_OE_OFFSET, AM335XGPIO_BIT_MASK(gpio_num));
 156         }
 157 }
 158
 159 static const char *get_gpio_mode_name(enum amx335gpio_gpio_mode gpio_mode)
 160 {
 161         switch (gpio_mode) {
 162         case AM335XGPIO_GPIO_MODE_INPUT:
 163                 return "input";
 164         case AM335XGPIO_GPIO_MODE_OUTPUT:
 165                 return "output";
 166         case AM335XGPIO_GPIO_MODE_OUTPUT_LOW:
 167                 return "output (low)";
 168         case AM335XGPIO_GPIO_MODE_OUTPUT_HIGH:
 169                 return "output (high)";
 170         default:
 171                 return "unknown";
 172         }
 173 }
 174
 175 static bb_value_t am335xgpio_read(void)
 176 {
 177         return get_gpio_value(tdo_gpio) ? BB_HIGH : BB_LOW;
 178 }
 179
 180 static int am335xgpio_write(int tck, int tms, int tdi)
 181 {
 182         set_gpio_value(tdi_gpio, tdi);
 183         set_gpio_value(tms_gpio, tms);
 184         set_gpio_value(tck_gpio, tck); /* Write clock last */
 185
 186         for (unsigned int i = 0; i < jtag_delay; ++i)
 187                 asm volatile ("");
 188
 189         return ERROR_OK;
 190 }
 191
 192 static int am335xgpio_swd_write(int swclk, int swdio)
 193 {
 194         set_gpio_value(swdio_gpio, swdio);
 195         set_gpio_value(swclk_gpio, swclk); /* Write clock last */
 196
 197         for (unsigned int i = 0; i < jtag_delay; ++i)
 198                 asm volatile ("");
 199
 200         return ERROR_OK;
 201 }
 202
 203 /* (1) assert or (0) deassert reset lines */
 204 static int am335xgpio_reset(int trst, int srst)
 205 {
 206         /* assume active low */
 207         if (is_gpio_valid(srst_gpio)) {
 208                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 209                         set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
 210                 else
 211                         set_gpio_mode(srst_gpio, srst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
 212         }
 213
 214         /* assume active low */
 215         if (is_gpio_valid(trst_gpio)) {
 216                 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 217                         set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_INPUT);
 218                 else
 219                         set_gpio_mode(trst_gpio, trst ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
 220         }
 221
 222         LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d (%s), srst_gpio: %d (%s)",
 223                 trst, srst,
 224                 trst_gpio, get_gpio_mode_name(get_gpio_mode(trst_gpio)),
 225                 srst_gpio, get_gpio_mode_name(get_gpio_mode(srst_gpio)));
 226         return ERROR_OK;
 227 }
 228
 229 static void am335xgpio_swdio_drive(bool is_output)
 230 {
 231         if (is_output) {
 232                 set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 1 : 0);
 233                 set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_OUTPUT);
 234         } else {
 235                 set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_INPUT);
 236                 set_gpio_value(swdio_dir_gpio, swdio_dir_is_active_high ? 0 : 1);
 237         }
 238 }
 239
 240 static int am335xgpio_swdio_read(void)
 241 {
 242         return get_gpio_value(swdio_gpio);
 243 }
 244
 245 static int am335xgpio_blink(int on)
 246 {
 247         if (is_gpio_valid(led_gpio))
 248                 set_gpio_value(led_gpio, (!on ^ led_is_active_high) ? 1 : 0);
 249
 250         return ERROR_OK;
 251 }
 252
 253 static struct bitbang_interface am335xgpio_bitbang = {
 254         .read = am335xgpio_read,
 255         .write = am335xgpio_write,
 256         .swdio_read = am335xgpio_swdio_read,
 257         .swdio_drive = am335xgpio_swdio_drive,
 258         .swd_write = am335xgpio_swd_write,
 259         .blink = am335xgpio_blink
 260 };
 261
 262 static int am335xgpio_khz(int khz, int *jtag_speed)
 263 {
 264         if (!khz) {
 265                 LOG_DEBUG("RCLK not supported");
 266                 return ERROR_FAIL;
 267         }
 268         *jtag_speed = speed_coeff / khz - speed_offset;
 269         if (*jtag_speed < 0)
 270                 *jtag_speed = 0;
 271         return ERROR_OK;
 272 }
 273
 274 static int am335xgpio_speed_div(int speed, int *khz)
 275 {
 276         *khz = speed_coeff / (speed + speed_offset);
 277         return ERROR_OK;
 278 }
 279
 280 static int am335xgpio_speed(int speed)
 281 {
 282         jtag_delay = speed;
 283         return ERROR_OK;
 284 }
 285
 286 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionums)
 287 {
 288         if (CMD_ARGC == 4) {
 289                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 290                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
 291                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
 292                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
 293         } else if (CMD_ARGC != 0) {
 294                 return ERROR_COMMAND_SYNTAX_ERROR;
 295         }
 296
 297         command_print(CMD, "AM335x GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %d",
 298                         tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 299         return ERROR_OK;
 300 }
 301
 302 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tck)
 303 {
 304         if (CMD_ARGC == 1)
 305                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 306
 307         command_print(CMD, "AM335x GPIO config: tck = %d", tck_gpio);
 308         return ERROR_OK;
 309 }
 310
 311 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tms)
 312 {
 313         if (CMD_ARGC == 1)
 314                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
 315
 316         command_print(CMD, "AM335x GPIO config: tms = %d", tms_gpio);
 317         return ERROR_OK;
 318 }
 319
 320 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tdo)
 321 {
 322         if (CMD_ARGC == 1)
 323                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
 324
 325         command_print(CMD, "AM335x GPIO config: tdo = %d", tdo_gpio);
 326         return ERROR_OK;
 327 }
 328
 329 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_tdi)
 330 {
 331         if (CMD_ARGC == 1)
 332                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
 333
 334         command_print(CMD, "AM335x GPIO config: tdi = %d", tdi_gpio);
 335         return ERROR_OK;
 336 }
 337
 338 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_srst)
 339 {
 340         if (CMD_ARGC == 1)
 341                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
 342
 343         command_print(CMD, "AM335x GPIO config: srst = %d", srst_gpio);
 344         return ERROR_OK;
 345 }
 346
 347 COMMAND_HANDLER(am335xgpio_handle_jtag_gpionum_trst)
 348 {
 349         if (CMD_ARGC == 1)
 350                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
 351
 352         command_print(CMD, "AM335x GPIO config: trst = %d", trst_gpio);
 353         return ERROR_OK;
 354 }
 355
 356 COMMAND_HANDLER(am335xgpio_handle_swd_gpionums)
 357 {
 358         if (CMD_ARGC == 2) {
 359                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 360                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
 361         } else if (CMD_ARGC != 0) {
 362                 return ERROR_COMMAND_SYNTAX_ERROR;
 363         }
 364
 365         command_print(CMD, "AM335x GPIO config: swclk = %d, swdio = %d", swclk_gpio, swdio_gpio);
 366
 367         return ERROR_OK;
 368 }
 369
 370 COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swclk)
 371 {
 372         if (CMD_ARGC == 1)
 373                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 374
 375         command_print(CMD, "AM335x GPIO config: swclk = %d", swclk_gpio);
 376         return ERROR_OK;
 377 }
 378
 379 COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swdio)
 380 {
 381         if (CMD_ARGC == 1)
 382                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
 383
 384         command_print(CMD, "AM335x GPIO config: swdio = %d", swdio_gpio);
 385         return ERROR_OK;
 386 }
 387
 388 COMMAND_HANDLER(am335xgpio_handle_swd_gpionum_swdio_dir)
 389 {
 390         if (CMD_ARGC == 1)
 391                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_dir_gpio);
 392
 393         command_print(CMD, "AM335x GPIO config: swdio_dir = %d", swdio_dir_gpio);
 394         return ERROR_OK;
 395 }
 396
 397 COMMAND_HANDLER(am335xgpio_handle_swd_dir_output_state)
 398 {
 399         if (CMD_ARGC == 1)
 400                 COMMAND_PARSE_BOOL(CMD_ARGV[0], swdio_dir_is_active_high, "high", "low");
 401
 402         command_print(CMD, "AM335x GPIO config: swdio_dir_output_state = %s", swdio_dir_is_active_high ? "high" : "low");
 403         return ERROR_OK;
 404 }
 405
 406 COMMAND_HANDLER(am335xgpio_handle_gpionum_led)
 407 {
 408         if (CMD_ARGC == 1)
 409                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], led_gpio);
 410
 411         command_print(CMD, "AM335x GPIO config: led = %d", led_gpio);
 412         return ERROR_OK;
 413 }
 414
 415 COMMAND_HANDLER(am335xgpio_handle_led_on_state)
 416 {
 417         if (CMD_ARGC == 1)
 418                 COMMAND_PARSE_BOOL(CMD_ARGV[0], led_is_active_high, "high", "low");
 419
 420         command_print(CMD, "AM335x GPIO config: led_on_state = %s", led_is_active_high ? "high" : "low");
 421         return ERROR_OK;
 422 }
 423
 424 COMMAND_HANDLER(am335xgpio_handle_speed_coeffs)
 425 {
 426         if (CMD_ARGC == 2) {
 427                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
 428                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
 429         }
 430
 431         command_print(CMD, "AM335x GPIO config: speed_coeffs = %d, speed_offset = %d",
 432                                   speed_coeff, speed_offset);
 433         return ERROR_OK;
 434 }
 435
 436 static const struct command_registration am335xgpio_subcommand_handlers[] = {
 437         {
 438                 .name = "jtag_nums",
 439                 .handler = am335xgpio_handle_jtag_gpionums,
 440                 .mode = COMMAND_CONFIG,
 441                 .help = "gpio numbers for tck, tms, tdi, tdo (in that order).",
 442                 .usage = "[tck tms tdi tdo]",
 443         },
 444         {
 445                 .name = "tck_num",
 446                 .handler = am335xgpio_handle_jtag_gpionum_tck,
 447                 .mode = COMMAND_CONFIG,
 448                 .help = "gpio number for tck.",
 449                 .usage = "[tck]",
 450         },
 451         {
 452                 .name = "tms_num",
 453                 .handler = am335xgpio_handle_jtag_gpionum_tms,
 454                 .mode = COMMAND_CONFIG,
 455                 .help = "gpio number for tms.",
 456                 .usage = "[tms]",
 457         },
 458         {
 459                 .name = "tdo_num",
 460                 .handler = am335xgpio_handle_jtag_gpionum_tdo,
 461                 .mode = COMMAND_CONFIG,
 462                 .help = "gpio number for tdo.",
 463                 .usage = "[tdo]",
 464         },
 465         {
 466                 .name = "tdi_num",
 467                 .handler = am335xgpio_handle_jtag_gpionum_tdi,
 468                 .mode = COMMAND_CONFIG,
 469                 .help = "gpio number for tdi.",
 470                 .usage = "[tdi]",
 471         },
 472         {
 473                 .name = "swd_nums",
 474                 .handler = am335xgpio_handle_swd_gpionums,
 475                 .mode = COMMAND_CONFIG,
 476                 .help = "gpio numbers for swclk, swdio (in that order).",
 477                 .usage = "[swclk swdio]",
 478         },
 479         {
 480                 .name = "swclk_num",
 481                 .handler = am335xgpio_handle_swd_gpionum_swclk,
 482                 .mode = COMMAND_CONFIG,
 483                 .help = "gpio number for swclk.",
 484                 .usage = "[swclk]",
 485         },
 486         {
 487                 .name = "swdio_num",
 488                 .handler = am335xgpio_handle_swd_gpionum_swdio,
 489                 .mode = COMMAND_CONFIG,
 490                 .help = "gpio number for swdio.",
 491                 .usage = "[swdio]",
 492         },
 493         {
 494                 .name = "swdio_dir_num",
 495                 .handler = am335xgpio_handle_swd_gpionum_swdio_dir,
 496                 .mode = COMMAND_CONFIG,
 497                 .help = "gpio number for swdio direction control pin.",
 498                 .usage = "[swdio_dir]",
 499         },
 500         {
 501                 .name = "swdio_dir_output_state",
 502                 .handler = am335xgpio_handle_swd_dir_output_state,
 503                 .mode = COMMAND_CONFIG,
 504                 .help = "required state for swdio_dir pin to select SWDIO buffer to be output.",
 505                 .usage = "['off'|'on']",
 506         },
 507         {
 508                 .name = "srst_num",
 509                 .handler = am335xgpio_handle_jtag_gpionum_srst,
 510                 .mode = COMMAND_CONFIG,
 511                 .help = "gpio number for srst.",
 512                 .usage = "[srst]",
 513         },
 514         {
 515                 .name = "trst_num",
 516                 .handler = am335xgpio_handle_jtag_gpionum_trst,
 517                 .mode = COMMAND_CONFIG,
 518                 .help = "gpio number for trst.",
 519                 .usage = "[trst]",
 520         },
 521         {
 522                 .name = "led_num",
 523                 .handler = am335xgpio_handle_gpionum_led,
 524                 .mode = COMMAND_CONFIG,
 525                 .help = "gpio number for led.",
 526                 .usage = "[led]",
 527         },
 528         {
 529                 .name = "led_on_state",
 530                 .handler = am335xgpio_handle_led_on_state,
 531                 .mode = COMMAND_CONFIG,
 532                 .help = "required state for led pin to turn on LED.",
 533                 .usage = "['off'|'on']",
 534         },
 535         {
 536                 .name = "speed_coeffs",
 537                 .handler = am335xgpio_handle_speed_coeffs,
 538                 .mode = COMMAND_CONFIG,
 539                 .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
 540                 .usage = "[SPEED_COEFF SPEED_OFFSET]",
 541         },
 542         COMMAND_REGISTRATION_DONE
 543 };
 544
 545 static const struct command_registration am335xgpio_command_handlers[] = {
 546         {
 547                 .name = "am335xgpio",
 548                 .mode = COMMAND_ANY,
 549                 .help = "perform am335xgpio management",
 550                 .chain = am335xgpio_subcommand_handlers,
 551                 .usage = "",
 552         },
 553         COMMAND_REGISTRATION_DONE
 554 };
 555
 556 static const char * const am335xgpio_transports[] = { "jtag", "swd", NULL };
 557
 558 static struct jtag_interface am335xgpio_interface = {
 559         .supported = DEBUG_CAP_TMS_SEQ,
 560         .execute_queue = bitbang_execute_queue,
 561 };
 562
 563 static bool am335xgpio_jtag_mode_possible(void)
 564 {
 565         if (!is_gpio_valid(tck_gpio))
 566                 return false;
 567         if (!is_gpio_valid(tms_gpio))
 568                 return false;
 569         if (!is_gpio_valid(tdi_gpio))
 570                 return false;
 571         if (!is_gpio_valid(tdo_gpio))
 572                 return false;
 573         return true;
 574 }
 575
 576 static bool am335xgpio_swd_mode_possible(void)
 577 {
 578         if (!is_gpio_valid(swclk_gpio))
 579                 return false;
 580         if (!is_gpio_valid(swdio_gpio))
 581                 return false;
 582         return true;
 583 }
 584
 585 static int am335xgpio_init(void)
 586 {
 587         bitbang_interface = &am335xgpio_bitbang;
 588
 589         LOG_INFO("AM335x GPIO JTAG/SWD bitbang driver");
 590
 591         if (transport_is_jtag() && !am335xgpio_jtag_mode_possible()) {
 592                 LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 593                 return ERROR_JTAG_INIT_FAILED;
 594         }
 595
 596         if (transport_is_swd() && !am335xgpio_swd_mode_possible()) {
 597                 LOG_ERROR("Require swclk and swdio gpio for SWD mode");
 598                 return ERROR_JTAG_INIT_FAILED;
 599         }
 600
 601         dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
 602         if (dev_mem_fd < 0) {
 603                 LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
 604                 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
 605         }
 606         if (dev_mem_fd < 0) {
 607                 LOG_ERROR("open: %s", strerror(errno));
 608                 return ERROR_JTAG_INIT_FAILED;
 609         }
 610
 611         for (unsigned int i = 0; i < AM335XGPIO_NUM_GPIO_PORTS; ++i) {
 612                 am335xgpio_gpio_port_mmap_addr[i] = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
 613                                 MAP_SHARED, dev_mem_fd, am335xgpio_gpio_port_hw_addr[i]);
 614
 615                 if (am335xgpio_gpio_port_mmap_addr[i] == MAP_FAILED) {
 616                         LOG_ERROR("mmap: %s", strerror(errno));
 617                         close(dev_mem_fd);
 618                         return ERROR_JTAG_INIT_FAILED;
 619                 }
 620         }
 621
 622         /*
 623          * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST as outputs.
 624          * Drive TDI and TCK low, and TMS high.
 625          */
 626         if (transport_is_jtag()) {
 627                 tdo_gpio_mode = get_gpio_mode(tdo_gpio);
 628                 tdi_gpio_mode = get_gpio_mode(tdi_gpio);
 629                 tck_gpio_mode = get_gpio_mode(tck_gpio);
 630                 tms_gpio_mode = get_gpio_mode(tms_gpio);
 631                 LOG_DEBUG("saved GPIO mode for tdo (GPIO #%d): %s", tdo_gpio, get_gpio_mode_name(tdo_gpio_mode));
 632                 LOG_DEBUG("saved GPIO mode for tdi (GPIO #%d): %s", tdi_gpio, get_gpio_mode_name(tdi_gpio_mode));
 633                 LOG_DEBUG("saved GPIO mode for tck (GPIO #%d): %s", tck_gpio, get_gpio_mode_name(tck_gpio_mode));
 634                 LOG_DEBUG("saved GPIO mode for tms (GPIO #%d): %s", tms_gpio, get_gpio_mode_name(tms_gpio_mode));
 635
 636                 set_gpio_mode(tdo_gpio, AM335XGPIO_GPIO_MODE_INPUT);
 637                 set_gpio_mode(tdi_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
 638                 set_gpio_mode(tms_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
 639                 set_gpio_mode(tck_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
 640
 641                 if (is_gpio_valid(trst_gpio)) {
 642                         trst_gpio_mode = get_gpio_mode(trst_gpio);
 643                         LOG_DEBUG("saved GPIO mode for trst (GPIO #%d): %s", trst_gpio, get_gpio_mode_name(trst_gpio_mode));
 644                 }
 645         }
 646
 647         if (transport_is_swd()) {
 648                 swclk_gpio_mode = get_gpio_mode(swclk_gpio);
 649                 swdio_gpio_mode = get_gpio_mode(swdio_gpio);
 650                 LOG_DEBUG("saved GPIO mode for swclk (GPIO #%d): %s", swclk_gpio, get_gpio_mode_name(swclk_gpio_mode));
 651                 LOG_DEBUG("saved GPIO mode for swdio (GPIO #%d): %s", swdio_gpio, get_gpio_mode_name(swdio_gpio_mode));
 652                 if (is_gpio_valid(swdio_dir_gpio)) {
 653                         swdio_dir_gpio_mode = get_gpio_mode(swdio_dir_gpio);
 654                         LOG_DEBUG("saved GPIO mode for swdio_dir (GPIO #%d): %s",
 655                                         swdio_dir_gpio, get_gpio_mode_name(swdio_dir_gpio_mode));
 656                         set_gpio_mode(swdio_dir_gpio,
 657                                         swdio_dir_is_active_high ? AM335XGPIO_GPIO_MODE_OUTPUT_HIGH : AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
 658
 659                 }
 660                 set_gpio_mode(swdio_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
 661                 set_gpio_mode(swclk_gpio, AM335XGPIO_GPIO_MODE_OUTPUT_LOW);
 662         }
 663
 664         if (is_gpio_valid(srst_gpio)) {
 665                 srst_gpio_mode = get_gpio_mode(srst_gpio);
 666                 LOG_DEBUG("saved GPIO mode for srst (GPIO #%d): %s", srst_gpio, get_gpio_mode_name(srst_gpio_mode));
 667         }
 668
 669         if (is_gpio_valid(led_gpio)) {
 670                 led_gpio_mode = get_gpio_mode(led_gpio);
 671                 LOG_DEBUG("saved GPIO mode for led (GPIO #%d): %s", led_gpio, get_gpio_mode_name(led_gpio_mode));
 672                 set_gpio_mode(led_gpio,
 673                                 led_is_active_high ? AM335XGPIO_GPIO_MODE_OUTPUT_LOW : AM335XGPIO_GPIO_MODE_OUTPUT_HIGH);
 674         }
 675
 676         /* Set GPIO modes for TRST and SRST and make both inactive */
 677         am335xgpio_reset(0, 0);
 678         return ERROR_OK;
 679 }
 680
 681 static int am335xgpio_quit(void)
 682 {
 683         if (transport_is_jtag()) {
 684                 set_gpio_mode(tdo_gpio, tdo_gpio_mode);
 685                 set_gpio_mode(tdi_gpio, tdi_gpio_mode);
 686                 set_gpio_mode(tck_gpio, tck_gpio_mode);
 687                 set_gpio_mode(tms_gpio, tms_gpio_mode);
 688                 if (is_gpio_valid(trst_gpio))
 689                         set_gpio_mode(trst_gpio, trst_gpio_mode);
 690         }
 691
 692         if (transport_is_swd()) {
 693                 set_gpio_mode(swclk_gpio, swclk_gpio_mode);
 694                 set_gpio_mode(swdio_gpio, swdio_gpio_mode);
 695                 if (is_gpio_valid(swdio_dir_gpio))
 696                         set_gpio_mode(swdio_dir_gpio, swdio_dir_gpio_mode);
 697         }
 698
 699         if (is_gpio_valid(srst_gpio))
 700                 set_gpio_mode(srst_gpio, srst_gpio_mode);
 701
 702         if (is_gpio_valid(led_gpio))
 703                 set_gpio_mode(led_gpio, led_gpio_mode);
 704
 705         return ERROR_OK;
 706 }
 707
 708 struct adapter_driver am335xgpio_adapter_driver = {
 709         .name = "am335xgpio",
 710         .transports = am335xgpio_transports,
 711         .commands = am335xgpio_command_handlers,
 712
 713         .init = am335xgpio_init,
 714         .quit = am335xgpio_quit,
 715         .reset = am335xgpio_reset,
 716         .speed = am335xgpio_speed,
 717         .khz = am335xgpio_khz,
 718         .speed_div = am335xgpio_speed_div,
 719
 720         .jtag_ops = &am335xgpio_interface,
 721         .swd_ops = &bitbang_swd,
 722 };