src/jtag/drivers/bcm2835gpio.c

   1 /***************************************************************************
   2  *   Copyright (C) 2013 by Paul Fertser, fercerpav@gmail.com               *
   3  *                                                                         *
   4  *   Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
   5  *   Based on at91rm9200.c (c) Anders Larsen                               *
   6  *   and RPi GPIO examples by Gert van Loo & Dom                           *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  20  ***************************************************************************/
  21
  22 #ifdef HAVE_CONFIG_H
  23 #include "config.h"
  24 #endif
  25
  26 #include <jtag/interface.h>
  27 #include <transport/transport.h>
  28 #include "bitbang.h"
  29
  30 #include <sys/mman.h>
  31
  32 uint32_t bcm2835_peri_base = 0x20000000;
  33 #define BCM2835_GPIO_BASE       (bcm2835_peri_base + 0x200000) /* GPIO controller */
  34
  35 #define BCM2835_PADS_GPIO_0_27          (bcm2835_peri_base + 0x100000)
  36 #define BCM2835_PADS_GPIO_0_27_OFFSET   (0x2c / 4)
  37
  38 /* GPIO setup macros */
  39 #define MODE_GPIO(g) (*(pio_base+((g)/10))>>(((g)%10)*3) & 7)
  40 #define INP_GPIO(g) do { *(pio_base+((g)/10)) &= ~(7<<(((g)%10)*3)); } while (0)
  41 #define SET_MODE_GPIO(g, m) do { /* clear the mode bits first, then set as necessary */ \
  42                 INP_GPIO(g);                                            \
  43                 *(pio_base+((g)/10)) |=  ((m)<<(((g)%10)*3)); } while (0)
  44 #define OUT_GPIO(g) SET_MODE_GPIO(g, 1)
  45
  46 #define GPIO_SET (*(pio_base+7))  /* sets   bits which are 1, ignores bits which are 0 */
  47 #define GPIO_CLR (*(pio_base+10)) /* clears bits which are 1, ignores bits which are 0 */
  48 #define GPIO_LEV (*(pio_base+13)) /* current level of the pin */
  49
  50 static int dev_mem_fd;
  51 static volatile uint32_t *pio_base;
  52
  53 static bb_value_t bcm2835gpio_read(void);
  54 static int bcm2835gpio_write(int tck, int tms, int tdi);
  55
  56 static int bcm2835_swdio_read(void);
  57 static void bcm2835_swdio_drive(bool is_output);
  58 static int bcm2835gpio_swd_write(int swclk, int swdio);
  59
  60 static int bcm2835gpio_init(void);
  61 static int bcm2835gpio_quit(void);
  62
  63 static struct bitbang_interface bcm2835gpio_bitbang = {
  64         .read = bcm2835gpio_read,
  65         .write = bcm2835gpio_write,
  66         .swdio_read = bcm2835_swdio_read,
  67         .swdio_drive = bcm2835_swdio_drive,
  68         .swd_write = bcm2835gpio_swd_write,
  69         .blink = NULL
  70 };
  71
  72 /* GPIO numbers for each signal. Negative values are invalid */
  73 static int tck_gpio = -1;
  74 static int tck_gpio_mode;
  75 static int tms_gpio = -1;
  76 static int tms_gpio_mode;
  77 static int tdi_gpio = -1;
  78 static int tdi_gpio_mode;
  79 static int tdo_gpio = -1;
  80 static int tdo_gpio_mode;
  81 static int trst_gpio = -1;
  82 static int trst_gpio_mode;
  83 static int srst_gpio = -1;
  84 static int srst_gpio_mode;
  85 static int swclk_gpio = -1;
  86 static int swclk_gpio_mode;
  87 static int swdio_gpio = -1;
  88 static int swdio_gpio_mode;
  89
  90 /* Transition delay coefficients */
  91 static int speed_coeff = 113714;
  92 static int speed_offset = 28;
  93 static unsigned int jtag_delay;
  94
  95 static bb_value_t bcm2835gpio_read(void)
  96 {
  97         return (GPIO_LEV & 1<<tdo_gpio) ? BB_HIGH : BB_LOW;
  98 }
  99
 100 static int bcm2835gpio_write(int tck, int tms, int tdi)
 101 {
 102         uint32_t set = tck<<tck_gpio | tms<<tms_gpio | tdi<<tdi_gpio;
 103         uint32_t clear = !tck<<tck_gpio | !tms<<tms_gpio | !tdi<<tdi_gpio;
 104
 105         GPIO_SET = set;
 106         GPIO_CLR = clear;
 107
 108         for (unsigned int i = 0; i < jtag_delay; i++)
 109                 asm volatile ("");
 110
 111         return ERROR_OK;
 112 }
 113
 114 static int bcm2835gpio_swd_write(int swclk, int swdio)
 115 {
 116         uint32_t set = swclk << swclk_gpio | swdio << swdio_gpio;
 117         uint32_t clear = !swclk << swclk_gpio | !swdio << swdio_gpio;
 118
 119         GPIO_SET = set;
 120         GPIO_CLR = clear;
 121
 122         for (unsigned int i = 0; i < jtag_delay; i++)
 123                 asm volatile ("");
 124
 125         return ERROR_OK;
 126 }
 127
 128 /* (1) assert or (0) deassert reset lines */
 129 static int bcm2835gpio_reset(int trst, int srst)
 130 {
 131         uint32_t set = 0;
 132         uint32_t clear = 0;
 133
 134         if (trst_gpio > 0) {
 135                 set |= !trst<<trst_gpio;
 136                 clear |= trst<<trst_gpio;
 137         }
 138
 139         if (srst_gpio > 0) {
 140                 set |= !srst<<srst_gpio;
 141                 clear |= srst<<srst_gpio;
 142         }
 143
 144         GPIO_SET = set;
 145         GPIO_CLR = clear;
 146
 147         return ERROR_OK;
 148 }
 149
 150 static void bcm2835_swdio_drive(bool is_output)
 151 {
 152         if (is_output)
 153                 OUT_GPIO(swdio_gpio);
 154         else
 155                 INP_GPIO(swdio_gpio);
 156 }
 157
 158 static int bcm2835_swdio_read(void)
 159 {
 160         return !!(GPIO_LEV & 1 << swdio_gpio);
 161 }
 162
 163 static int bcm2835gpio_khz(int khz, int *jtag_speed)
 164 {
 165         if (!khz) {
 166                 LOG_DEBUG("RCLK not supported");
 167                 return ERROR_FAIL;
 168         }
 169         *jtag_speed = speed_coeff/khz - speed_offset;
 170         if (*jtag_speed < 0)
 171                 *jtag_speed = 0;
 172         return ERROR_OK;
 173 }
 174
 175 static int bcm2835gpio_speed_div(int speed, int *khz)
 176 {
 177         *khz = speed_coeff/(speed + speed_offset);
 178         return ERROR_OK;
 179 }
 180
 181 static int bcm2835gpio_speed(int speed)
 182 {
 183         jtag_delay = speed;
 184         return ERROR_OK;
 185 }
 186
 187 static int is_gpio_valid(int gpio)
 188 {
 189         return gpio >= 0 && gpio <= 53;
 190 }
 191
 192 COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionums)
 193 {
 194         if (CMD_ARGC == 4) {
 195                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 196                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
 197                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
 198                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
 199         } else if (CMD_ARGC != 0) {
 200                 return ERROR_COMMAND_SYNTAX_ERROR;
 201         }
 202
 203         command_print(CMD,
 204                         "BCM2835 GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %d",
 205                         tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 206
 207         return ERROR_OK;
 208 }
 209
 210 COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tck)
 211 {
 212         if (CMD_ARGC == 1)
 213                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 214
 215         command_print(CMD, "BCM2835 GPIO config: tck = %d", tck_gpio);
 216         return ERROR_OK;
 217 }
 218
 219 COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tms)
 220 {
 221         if (CMD_ARGC == 1)
 222                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
 223
 224         command_print(CMD, "BCM2835 GPIO config: tms = %d", tms_gpio);
 225         return ERROR_OK;
 226 }
 227
 228 COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdo)
 229 {
 230         if (CMD_ARGC == 1)
 231                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
 232
 233         command_print(CMD, "BCM2835 GPIO config: tdo = %d", tdo_gpio);
 234         return ERROR_OK;
 235 }
 236
 237 COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdi)
 238 {
 239         if (CMD_ARGC == 1)
 240                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
 241
 242         command_print(CMD, "BCM2835 GPIO config: tdi = %d", tdi_gpio);
 243         return ERROR_OK;
 244 }
 245
 246 COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_srst)
 247 {
 248         if (CMD_ARGC == 1)
 249                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
 250
 251         command_print(CMD, "BCM2835 GPIO config: srst = %d", srst_gpio);
 252         return ERROR_OK;
 253 }
 254
 255 COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_trst)
 256 {
 257         if (CMD_ARGC == 1)
 258                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
 259
 260         command_print(CMD, "BCM2835 GPIO config: trst = %d", trst_gpio);
 261         return ERROR_OK;
 262 }
 263
 264 COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionums)
 265 {
 266         if (CMD_ARGC == 2) {
 267                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 268                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
 269         } else if (CMD_ARGC != 0) {
 270                 return ERROR_COMMAND_SYNTAX_ERROR;
 271         }
 272
 273         command_print(CMD,
 274                         "BCM2835 GPIO nums: swclk = %d, swdio = %d",
 275                         swclk_gpio, swdio_gpio);
 276
 277         return ERROR_OK;
 278 }
 279
 280 COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swclk)
 281 {
 282         if (CMD_ARGC == 1)
 283                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 284
 285         command_print(CMD, "BCM2835 num: swclk = %d", swclk_gpio);
 286         return ERROR_OK;
 287 }
 288
 289 COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swdio)
 290 {
 291         if (CMD_ARGC == 1)
 292                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
 293
 294         command_print(CMD, "BCM2835 num: swdio = %d", swdio_gpio);
 295         return ERROR_OK;
 296 }
 297
 298 COMMAND_HANDLER(bcm2835gpio_handle_speed_coeffs)
 299 {
 300         if (CMD_ARGC == 2) {
 301                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
 302                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
 303         }
 304
 305         command_print(CMD, "BCM2835 GPIO: speed_coeffs = %d, speed_offset = %d",
 306                                   speed_coeff, speed_offset);
 307         return ERROR_OK;
 308 }
 309
 310 COMMAND_HANDLER(bcm2835gpio_handle_peripheral_base)
 311 {
 312         if (CMD_ARGC == 1)
 313                 COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], bcm2835_peri_base);
 314
 315         command_print(CMD, "BCM2835 GPIO: peripheral_base = 0x%08x",
 316                                   bcm2835_peri_base);
 317         return ERROR_OK;
 318 }
 319
 320 static const struct command_registration bcm2835gpio_command_handlers[] = {
 321         {
 322                 .name = "bcm2835gpio_jtag_nums",
 323                 .handler = &bcm2835gpio_handle_jtag_gpionums,
 324                 .mode = COMMAND_CONFIG,
 325                 .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
 326                 .usage = "[tck tms tdi tdo]",
 327         },
 328         {
 329                 .name = "bcm2835gpio_tck_num",
 330                 .handler = &bcm2835gpio_handle_jtag_gpionum_tck,
 331                 .mode = COMMAND_CONFIG,
 332                 .help = "gpio number for tck.",
 333                 .usage = "[tck]",
 334         },
 335         {
 336                 .name = "bcm2835gpio_tms_num",
 337                 .handler = &bcm2835gpio_handle_jtag_gpionum_tms,
 338                 .mode = COMMAND_CONFIG,
 339                 .help = "gpio number for tms.",
 340                 .usage = "[tms]",
 341         },
 342         {
 343                 .name = "bcm2835gpio_tdo_num",
 344                 .handler = &bcm2835gpio_handle_jtag_gpionum_tdo,
 345                 .mode = COMMAND_CONFIG,
 346                 .help = "gpio number for tdo.",
 347                 .usage = "[tdo]",
 348         },
 349         {
 350                 .name = "bcm2835gpio_tdi_num",
 351                 .handler = &bcm2835gpio_handle_jtag_gpionum_tdi,
 352                 .mode = COMMAND_CONFIG,
 353                 .help = "gpio number for tdi.",
 354                 .usage = "[tdi]",
 355         },
 356         {
 357                 .name = "bcm2835gpio_swd_nums",
 358                 .handler = &bcm2835gpio_handle_swd_gpionums,
 359                 .mode = COMMAND_CONFIG,
 360                 .help = "gpio numbers for swclk, swdio. (in that order)",
 361                 .usage = "[swclk swdio]",
 362         },
 363         {
 364                 .name = "bcm2835gpio_swclk_num",
 365                 .handler = &bcm2835gpio_handle_swd_gpionum_swclk,
 366                 .mode = COMMAND_CONFIG,
 367                 .help = "gpio number for swclk.",
 368                 .usage = "[swclk]",
 369         },
 370         {
 371                 .name = "bcm2835gpio_swdio_num",
 372                 .handler = &bcm2835gpio_handle_swd_gpionum_swdio,
 373                 .mode = COMMAND_CONFIG,
 374                 .help = "gpio number for swdio.",
 375                 .usage = "[swdio]",
 376         },
 377         {
 378                 .name = "bcm2835gpio_srst_num",
 379                 .handler = &bcm2835gpio_handle_jtag_gpionum_srst,
 380                 .mode = COMMAND_CONFIG,
 381                 .help = "gpio number for srst.",
 382                 .usage = "[srst]",
 383         },
 384         {
 385                 .name = "bcm2835gpio_trst_num",
 386                 .handler = &bcm2835gpio_handle_jtag_gpionum_trst,
 387                 .mode = COMMAND_CONFIG,
 388                 .help = "gpio number for trst.",
 389                 .usage = "[trst]",
 390         },
 391         {
 392                 .name = "bcm2835gpio_speed_coeffs",
 393                 .handler = &bcm2835gpio_handle_speed_coeffs,
 394                 .mode = COMMAND_CONFIG,
 395                 .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
 396                 .usage = "[SPEED_COEFF SPEED_OFFSET]",
 397         },
 398         {
 399                 .name = "bcm2835gpio_peripheral_base",
 400                 .handler = &bcm2835gpio_handle_peripheral_base,
 401                 .mode = COMMAND_CONFIG,
 402                 .help = "peripheral base to access GPIOs (RPi1 0x20000000, RPi2 0x3F000000).",
 403                 .usage = "[base]",
 404         },
 405
 406         COMMAND_REGISTRATION_DONE
 407 };
 408
 409 static const char * const bcm2835_transports[] = { "jtag", "swd", NULL };
 410
 411 static struct jtag_interface bcm2835gpio_interface = {
 412         .supported = DEBUG_CAP_TMS_SEQ,
 413         .execute_queue = bitbang_execute_queue,
 414 };
 415
 416 struct adapter_driver bcm2835gpio_adapter_driver = {
 417         .name = "bcm2835gpio",
 418         .transports = bcm2835_transports,
 419         .commands = bcm2835gpio_command_handlers,
 420
 421         .init = bcm2835gpio_init,
 422         .quit = bcm2835gpio_quit,
 423         .reset = bcm2835gpio_reset,
 424         .speed = bcm2835gpio_speed,
 425         .khz = bcm2835gpio_khz,
 426         .speed_div = bcm2835gpio_speed_div,
 427
 428         .jtag_ops = &bcm2835gpio_interface,
 429         .swd_ops = &bitbang_swd,
 430 };
 431
 432 static bool bcm2835gpio_jtag_mode_possible(void)
 433 {
 434         if (!is_gpio_valid(tck_gpio))
 435                 return 0;
 436         if (!is_gpio_valid(tms_gpio))
 437                 return 0;
 438         if (!is_gpio_valid(tdi_gpio))
 439                 return 0;
 440         if (!is_gpio_valid(tdo_gpio))
 441                 return 0;
 442         return 1;
 443 }
 444
 445 static bool bcm2835gpio_swd_mode_possible(void)
 446 {
 447         if (!is_gpio_valid(swclk_gpio))
 448                 return 0;
 449         if (!is_gpio_valid(swdio_gpio))
 450                 return 0;
 451         return 1;
 452 }
 453
 454 static int bcm2835gpio_init(void)
 455 {
 456         bitbang_interface = &bcm2835gpio_bitbang;
 457
 458         LOG_INFO("BCM2835 GPIO JTAG/SWD bitbang driver");
 459
 460         if (transport_is_jtag() && !bcm2835gpio_jtag_mode_possible()) {
 461                 LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 462                 return ERROR_JTAG_INIT_FAILED;
 463         }
 464
 465         if (transport_is_swd() && !bcm2835gpio_swd_mode_possible()) {
 466                 LOG_ERROR("Require swclk and swdio gpio for SWD mode");
 467                 return ERROR_JTAG_INIT_FAILED;
 468         }
 469
 470         dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
 471         if (dev_mem_fd < 0) {
 472                 LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
 473                 dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
 474         }
 475         if (dev_mem_fd < 0) {
 476                 LOG_ERROR("open: %s", strerror(errno));
 477                 return ERROR_JTAG_INIT_FAILED;
 478         }
 479
 480         pio_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
 481                                 MAP_SHARED, dev_mem_fd, BCM2835_GPIO_BASE);
 482
 483         if (pio_base == MAP_FAILED) {
 484                 LOG_ERROR("mmap: %s", strerror(errno));
 485                 close(dev_mem_fd);
 486                 return ERROR_JTAG_INIT_FAILED;
 487         }
 488
 489         static volatile uint32_t *pads_base;
 490         pads_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
 491                                 MAP_SHARED, dev_mem_fd, BCM2835_PADS_GPIO_0_27);
 492
 493         if (pads_base == MAP_FAILED) {
 494                 LOG_ERROR("mmap: %s", strerror(errno));
 495                 close(dev_mem_fd);
 496                 return ERROR_JTAG_INIT_FAILED;
 497         }
 498
 499         /* set 4mA drive strength, slew rate limited, hysteresis on */
 500         pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5a000008 + 1;
 501
 502         /*
 503          * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
 504          * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
 505          */
 506         if (transport_is_jtag()) {
 507                 tdo_gpio_mode = MODE_GPIO(tdo_gpio);
 508                 tdi_gpio_mode = MODE_GPIO(tdi_gpio);
 509                 tck_gpio_mode = MODE_GPIO(tck_gpio);
 510                 tms_gpio_mode = MODE_GPIO(tms_gpio);
 511
 512                 INP_GPIO(tdo_gpio);
 513
 514                 GPIO_CLR = 1<<tdi_gpio | 1<<tck_gpio;
 515                 GPIO_SET = 1<<tms_gpio;
 516
 517                 OUT_GPIO(tdi_gpio);
 518                 OUT_GPIO(tck_gpio);
 519                 OUT_GPIO(tms_gpio);
 520
 521                 if (trst_gpio != -1) {
 522                         trst_gpio_mode = MODE_GPIO(trst_gpio);
 523                         GPIO_SET = 1 << trst_gpio;
 524                         OUT_GPIO(trst_gpio);
 525                 }
 526         }
 527
 528         if (transport_is_swd()) {
 529                 swclk_gpio_mode = MODE_GPIO(swclk_gpio);
 530                 swdio_gpio_mode = MODE_GPIO(swdio_gpio);
 531
 532                 GPIO_CLR = 1<<swdio_gpio | 1<<swclk_gpio;
 533
 534                 OUT_GPIO(swclk_gpio);
 535                 OUT_GPIO(swdio_gpio);
 536         }
 537
 538         if (srst_gpio != -1) {
 539                 srst_gpio_mode = MODE_GPIO(srst_gpio);
 540                 GPIO_SET = 1 << srst_gpio;
 541                 OUT_GPIO(srst_gpio);
 542         }
 543
 544         LOG_DEBUG("saved pinmux settings: tck %d tms %d tdi %d "
 545                   "tdo %d trst %d srst %d", tck_gpio_mode, tms_gpio_mode,
 546                   tdi_gpio_mode, tdo_gpio_mode, trst_gpio_mode, srst_gpio_mode);
 547
 548         return ERROR_OK;
 549 }
 550
 551 static int bcm2835gpio_quit(void)
 552 {
 553         if (transport_is_jtag()) {
 554                 SET_MODE_GPIO(tdo_gpio, tdo_gpio_mode);
 555                 SET_MODE_GPIO(tdi_gpio, tdi_gpio_mode);
 556                 SET_MODE_GPIO(tck_gpio, tck_gpio_mode);
 557                 SET_MODE_GPIO(tms_gpio, tms_gpio_mode);
 558                 if (trst_gpio != -1)
 559                         SET_MODE_GPIO(trst_gpio, trst_gpio_mode);
 560         }
 561
 562         if (transport_is_swd()) {
 563                 SET_MODE_GPIO(swclk_gpio, swclk_gpio_mode);
 564                 SET_MODE_GPIO(swdio_gpio, swdio_gpio_mode);
 565         }
 566
 567         if (srst_gpio != -1)
 568                 SET_MODE_GPIO(srst_gpio, srst_gpio_mode);
 569
 570         return ERROR_OK;
 571 }