src/jtag/drivers/linuxgpiod.c

   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2 /*
   3  * Bitbang driver for Linux GPIO descriptors through libgpiod
   4  * Copyright (C) 2020 Antonio Borneo <borneo.antonio@gmail.com>
   5  *
   6  * Largely based on sysfsgpio driver
   7  * Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au
   8  * Copyright (C) 2014 by Jean-Christian de Rivaz <jc@eclis.ch>
   9  * Copyright (C) 2014 by Paul Fertser <fercerpav@gmail.com>
  10  */
  11
  12 #ifdef HAVE_CONFIG_H
  13 #include "config.h"
  14 #endif
  15
  16 #include <gpiod.h>
  17 #include <jtag/interface.h>
  18 #include <transport/transport.h>
  19 #include "bitbang.h"
  20
  21 /* gpio numbers for each gpio. Negative values are invalid */
  22 static int tck_gpio = -1;
  23 static int tms_gpio = -1;
  24 static int tdi_gpio = -1;
  25 static int tdo_gpio = -1;
  26 static int trst_gpio = -1;
  27 static int srst_gpio = -1;
  28 static int swclk_gpio = -1;
  29 static int swdio_gpio = -1;
  30 static int led_gpio = -1;
  31 static int gpiochip = -1;
  32 static int tck_gpiochip = -1;
  33 static int tms_gpiochip = -1;
  34 static int tdi_gpiochip = -1;
  35 static int tdo_gpiochip = -1;
  36 static int trst_gpiochip = -1;
  37 static int srst_gpiochip = -1;
  38 static int swclk_gpiochip = -1;
  39 static int swdio_gpiochip = -1;
  40 static int led_gpiochip = -1;
  41
  42 static struct gpiod_chip *gpiod_chip_tck;
  43 static struct gpiod_chip *gpiod_chip_tms;
  44 static struct gpiod_chip *gpiod_chip_tdi;
  45 static struct gpiod_chip *gpiod_chip_tdo;
  46 static struct gpiod_chip *gpiod_chip_trst;
  47 static struct gpiod_chip *gpiod_chip_srst;
  48 static struct gpiod_chip *gpiod_chip_swclk;
  49 static struct gpiod_chip *gpiod_chip_swdio;
  50 static struct gpiod_chip *gpiod_chip_led;
  51
  52 static struct gpiod_line *gpiod_tck;
  53 static struct gpiod_line *gpiod_tms;
  54 static struct gpiod_line *gpiod_tdi;
  55 static struct gpiod_line *gpiod_tdo;
  56 static struct gpiod_line *gpiod_trst;
  57 static struct gpiod_line *gpiod_swclk;
  58 static struct gpiod_line *gpiod_swdio;
  59 static struct gpiod_line *gpiod_srst;
  60 static struct gpiod_line *gpiod_led;
  61
  62 static int last_swclk;
  63 static int last_swdio;
  64 static bool last_stored;
  65 static bool swdio_input;
  66
  67 /* Bitbang interface read of TDO */
  68 static bb_value_t linuxgpiod_read(void)
  69 {
  70         int retval;
  71
  72         retval = gpiod_line_get_value(gpiod_tdo);
  73         if (retval < 0) {
  74                 LOG_WARNING("reading tdo failed");
  75                 return 0;
  76         }
  77
  78         return retval ? BB_HIGH : BB_LOW;
  79 }
  80
  81 /*
  82  * Bitbang interface write of TCK, TMS, TDI
  83  *
  84  * Seeing as this is the only function where the outputs are changed,
  85  * we can cache the old value to avoid needlessly writing it.
  86  */
  87 static int linuxgpiod_write(int tck, int tms, int tdi)
  88 {
  89         static int last_tck;
  90         static int last_tms;
  91         static int last_tdi;
  92
  93         static int first_time;
  94
  95         int retval;
  96
  97         if (!first_time) {
  98                 last_tck = !tck;
  99                 last_tms = !tms;
 100                 last_tdi = !tdi;
 101                 first_time = 1;
 102         }
 103
 104         if (tdi != last_tdi) {
 105                 retval = gpiod_line_set_value(gpiod_tdi, tdi);
 106                 if (retval < 0)
 107                         LOG_WARNING("writing tdi failed");
 108         }
 109
 110         if (tms != last_tms) {
 111                 retval = gpiod_line_set_value(gpiod_tms, tms);
 112                 if (retval < 0)
 113                         LOG_WARNING("writing tms failed");
 114         }
 115
 116         /* write clk last */
 117         if (tck != last_tck) {
 118                 retval = gpiod_line_set_value(gpiod_tck, tck);
 119                 if (retval < 0)
 120                         LOG_WARNING("writing tck failed");
 121         }
 122
 123         last_tdi = tdi;
 124         last_tms = tms;
 125         last_tck = tck;
 126
 127         return ERROR_OK;
 128 }
 129
 130 static int linuxgpiod_swdio_read(void)
 131 {
 132         int retval;
 133
 134         retval = gpiod_line_get_value(gpiod_swdio);
 135         if (retval < 0) {
 136                 LOG_WARNING("Fail read swdio");
 137                 return 0;
 138         }
 139
 140         return retval;
 141 }
 142
 143 static void linuxgpiod_swdio_drive(bool is_output)
 144 {
 145         int retval;
 146
 147         /*
 148          * FIXME: change direction requires release and re-require the line
 149          * https://stackoverflow.com/questions/58735140/
 150          * this would change in future libgpiod
 151          */
 152         gpiod_line_release(gpiod_swdio);
 153
 154         if (is_output) {
 155                 retval = gpiod_line_request_output(gpiod_swdio, "OpenOCD", 1);
 156                 if (retval < 0)
 157                         LOG_WARNING("Fail request_output line swdio");
 158         } else {
 159                 retval = gpiod_line_request_input(gpiod_swdio, "OpenOCD");
 160                 if (retval < 0)
 161                         LOG_WARNING("Fail request_input line swdio");
 162         }
 163
 164         last_stored = false;
 165         swdio_input = !is_output;
 166 }
 167
 168 static int linuxgpiod_swd_write(int swclk, int swdio)
 169 {
 170         int retval;
 171
 172         if (!swdio_input) {
 173                 if (!last_stored || (swdio != last_swdio)) {
 174                         retval = gpiod_line_set_value(gpiod_swdio, swdio);
 175                         if (retval < 0)
 176                                 LOG_WARNING("Fail set swdio");
 177                 }
 178         }
 179
 180         /* write swclk last */
 181         if (!last_stored || (swclk != last_swclk)) {
 182                 retval = gpiod_line_set_value(gpiod_swclk, swclk);
 183                 if (retval < 0)
 184                         LOG_WARNING("Fail set swclk");
 185         }
 186
 187         last_swdio = swdio;
 188         last_swclk = swclk;
 189         last_stored = true;
 190
 191         return ERROR_OK;
 192 }
 193
 194 static int linuxgpiod_blink(int on)
 195 {
 196         int retval;
 197
 198         if (!gpiod_led)
 199                 return ERROR_OK;
 200
 201         retval = gpiod_line_set_value(gpiod_led, on);
 202         if (retval < 0)
 203                 LOG_WARNING("Fail set led");
 204         return retval;
 205 }
 206
 207 static struct bitbang_interface linuxgpiod_bitbang = {
 208         .read = linuxgpiod_read,
 209         .write = linuxgpiod_write,
 210         .swdio_read = linuxgpiod_swdio_read,
 211         .swdio_drive = linuxgpiod_swdio_drive,
 212         .swd_write = linuxgpiod_swd_write,
 213         .blink = linuxgpiod_blink,
 214 };
 215
 216 /*
 217  * Bitbang interface to manipulate reset lines SRST and TRST
 218  *
 219  * (1) assert or (0) deassert reset lines
 220  */
 221 static int linuxgpiod_reset(int trst, int srst)
 222 {
 223         int retval1 = 0, retval2 = 0;
 224
 225         LOG_DEBUG("linuxgpiod_reset");
 226
 227         /* assume active low */
 228         if (gpiod_srst) {
 229                 retval1 = gpiod_line_set_value(gpiod_srst, srst ? 0 : 1);
 230                 if (retval1 < 0)
 231                         LOG_WARNING("set srst value failed");
 232         }
 233
 234         /* assume active low */
 235         if (gpiod_trst) {
 236                 retval2 = gpiod_line_set_value(gpiod_trst, trst ? 0 : 1);
 237                 if (retval2 < 0)
 238                         LOG_WARNING("set trst value failed");
 239         }
 240
 241         return ((retval1 < 0) || (retval2 < 0)) ? ERROR_FAIL : ERROR_OK;
 242 }
 243
 244 /*
 245  * Helper function to determine if gpio number is valid
 246  *
 247  * Assume here that there will be less than 10000 gpios per gpiochip
 248  */
 249 static bool is_gpio_valid(int gpio)
 250 {
 251         return gpio >= 0 && gpio < 10000;
 252 }
 253
 254 static bool linuxgpiod_jtag_mode_possible(void)
 255 {
 256         if (!is_gpio_valid(tck_gpio))
 257                 return false;
 258         if (!is_gpio_valid(tms_gpio))
 259                 return false;
 260         if (!is_gpio_valid(tdi_gpio))
 261                 return false;
 262         if (!is_gpio_valid(tdo_gpio))
 263                 return false;
 264         return true;
 265 }
 266
 267 static bool linuxgpiod_swd_mode_possible(void)
 268 {
 269         if (!is_gpio_valid(swclk_gpio))
 270                 return false;
 271         if (!is_gpio_valid(swdio_gpio))
 272                 return false;
 273         return true;
 274 }
 275
 276 static inline void helper_release(struct gpiod_line *line)
 277 {
 278         if (line)
 279                 gpiod_line_release(line);
 280 }
 281
 282 static int linuxgpiod_quit(void)
 283 {
 284         helper_release(gpiod_led);
 285         helper_release(gpiod_srst);
 286         helper_release(gpiod_swdio);
 287         helper_release(gpiod_swclk);
 288         helper_release(gpiod_trst);
 289         helper_release(gpiod_tms);
 290         helper_release(gpiod_tck);
 291         helper_release(gpiod_tdi);
 292         helper_release(gpiod_tdo);
 293
 294         if (gpiod_chip_led != NULL)
 295                 gpiod_chip_close(gpiod_chip_led);
 296         if (gpiod_chip_srst != NULL)
 297                 gpiod_chip_close(gpiod_chip_srst);
 298         if (gpiod_chip_swdio != NULL)
 299                 gpiod_chip_close(gpiod_chip_swdio);
 300         if (gpiod_chip_swclk != NULL)
 301                 gpiod_chip_close(gpiod_chip_swclk);
 302         if (gpiod_chip_trst != NULL)
 303                 gpiod_chip_close(gpiod_chip_trst);
 304         if (gpiod_chip_tms != NULL)
 305                 gpiod_chip_close(gpiod_chip_tms);
 306         if (gpiod_chip_tck != NULL)
 307                 gpiod_chip_close(gpiod_chip_tck);
 308         if (gpiod_chip_tdi != NULL)
 309                 gpiod_chip_close(gpiod_chip_tdi);
 310         if (gpiod_chip_tdo != NULL)
 311                 gpiod_chip_close(gpiod_chip_tdo);
 312
 313         return ERROR_OK;
 314 }
 315
 316 static struct gpiod_line *helper_get_line(const char *label,
 317                 struct gpiod_chip *gpiod_chip, unsigned int offset,
 318                 int val, int dir, int flags)
 319 {
 320         struct gpiod_line *line;
 321         int retval;
 322
 323         line = gpiod_chip_get_line(gpiod_chip, offset);
 324         if (!line) {
 325                 LOG_ERROR("Error get line %s", label);
 326                 return NULL;
 327         }
 328
 329         struct gpiod_line_request_config config = {
 330                 .consumer = "OpenOCD",
 331                 .request_type = dir,
 332                 .flags = flags,
 333         };
 334
 335         retval = gpiod_line_request(line, &config, val);
 336         if (retval < 0) {
 337                 LOG_ERROR("Error requesting gpio line %s", label);
 338                 return NULL;
 339         }
 340
 341         return line;
 342 }
 343
 344 static struct gpiod_line *helper_get_input_line(const char *label,
 345                 struct gpiod_chip *gpiod_chip, unsigned int offset)
 346 {
 347         return helper_get_line(label, gpiod_chip, offset, 0,
 348                         GPIOD_LINE_REQUEST_DIRECTION_INPUT, 0);
 349 }
 350
 351 static struct gpiod_line *helper_get_output_line(const char *label,
 352                 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
 353 {
 354         return helper_get_line(label, gpiod_chip, offset, val,
 355                         GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, 0);
 356 }
 357
 358 static struct gpiod_line *helper_get_open_drain_output_line(const char *label,
 359                 struct gpiod_chip *gpiod_chip, unsigned int offset, int val)
 360 {
 361         return helper_get_line(label, gpiod_chip, offset, val,
 362                         GPIOD_LINE_REQUEST_DIRECTION_OUTPUT, GPIOD_LINE_REQUEST_FLAG_OPEN_DRAIN);
 363 }
 364
 365 static int linuxgpiod_init(void)
 366 {
 367         LOG_INFO("Linux GPIOD JTAG/SWD bitbang driver");
 368
 369         bitbang_interface = &linuxgpiod_bitbang;
 370
 371         /*
 372          * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
 373          * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
 374          * For SWD, SWCLK and SWDIO are configures as output high.
 375          */
 376
 377         if (transport_is_jtag()) {
 378                 if (!linuxgpiod_jtag_mode_possible()) {
 379                         LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 380                         goto out_error;
 381                 }
 382
 383                 gpiod_chip_tdo = gpiod_chip_open_by_number(tdo_gpiochip);
 384                 if (!gpiod_chip_tdo) {
 385                         LOG_ERROR("Cannot open LinuxGPIOD tdo_gpiochip %d", tdo_gpiochip);
 386                         goto out_error;
 387                 }
 388                 gpiod_chip_tdi = gpiod_chip_open_by_number(tdi_gpiochip);
 389                 if (!gpiod_chip_tdi) {
 390                         LOG_ERROR("Cannot open LinuxGPIOD tdi_gpiochip %d", tdi_gpiochip);
 391                         goto out_error;
 392                 }
 393                 gpiod_chip_tck = gpiod_chip_open_by_number(tck_gpiochip);
 394                 if (!gpiod_chip_tck) {
 395                         LOG_ERROR("Cannot open LinuxGPIOD tck_gpiochip %d", tck_gpiochip);
 396                         goto out_error;
 397                 }
 398                 gpiod_chip_tms = gpiod_chip_open_by_number(tms_gpiochip);
 399                 if (!gpiod_chip_tms) {
 400                         LOG_ERROR("Cannot open LinuxGPIOD tms_gpiochip %d", tms_gpiochip);
 401                         goto out_error;
 402                 }
 403
 404                 gpiod_tdo = helper_get_input_line("tdo", gpiod_chip_tdo, tdo_gpio);
 405                 if (!gpiod_tdo)
 406                         goto out_error;
 407
 408                 gpiod_tdi = helper_get_output_line("tdi", gpiod_chip_tdi, tdi_gpio, 0);
 409                 if (!gpiod_tdi)
 410                         goto out_error;
 411
 412                 gpiod_tck = helper_get_output_line("tck", gpiod_chip_tck, tck_gpio, 0);
 413                 if (!gpiod_tck)
 414                         goto out_error;
 415
 416                 gpiod_tms = helper_get_output_line("tms", gpiod_chip_tms, tms_gpio, 1);
 417                 if (!gpiod_tms)
 418                         goto out_error;
 419
 420                 if (is_gpio_valid(trst_gpio)) {
 421                         gpiod_chip_trst = gpiod_chip_open_by_number(trst_gpiochip);
 422                         if (!gpiod_chip_trst) {
 423                                 LOG_ERROR("Cannot open LinuxGPIOD trst_gpiochip %d", trst_gpiochip);
 424                                 goto out_error;
 425                         }
 426
 427                         if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 428                                 gpiod_trst = helper_get_open_drain_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
 429                         else
 430                                 gpiod_trst = helper_get_output_line("trst", gpiod_chip_trst, trst_gpio, 1);
 431
 432                         if (!gpiod_trst)
 433                                 goto out_error;
 434                 }
 435         }
 436
 437         if (transport_is_swd()) {
 438                 if (!linuxgpiod_swd_mode_possible()) {
 439                         LOG_ERROR("Require swclk and swdio gpio for SWD mode");
 440                         goto out_error;
 441                 }
 442
 443                 gpiod_chip_swclk = gpiod_chip_open_by_number(swclk_gpiochip);
 444                 if (!gpiod_chip_swclk) {
 445                         LOG_ERROR("Cannot open LinuxGPIOD swclk_gpiochip %d", swclk_gpiochip);
 446                         goto out_error;
 447                 }
 448                 gpiod_chip_swdio = gpiod_chip_open_by_number(swdio_gpiochip);
 449                 if (!gpiod_chip_swdio) {
 450                         LOG_ERROR("Cannot open LinuxGPIOD swdio_gpiochip %d", swdio_gpiochip);
 451                         goto out_error;
 452                 }
 453
 454                 gpiod_swclk = helper_get_output_line("swclk", gpiod_chip_swclk, swclk_gpio, 1);
 455                 if (!gpiod_swclk)
 456                         goto out_error;
 457
 458                 gpiod_swdio = helper_get_output_line("swdio", gpiod_chip_swdio, swdio_gpio, 1);
 459                 if (!gpiod_swdio)
 460                         goto out_error;
 461         }
 462
 463         if (is_gpio_valid(srst_gpio)) {
 464                 gpiod_chip_srst = gpiod_chip_open_by_number(srst_gpiochip);
 465                 if (!gpiod_chip_srst) {
 466                         LOG_ERROR("Cannot open LinuxGPIOD srst_gpiochip %d", srst_gpiochip);
 467                         goto out_error;
 468                 }
 469
 470                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 471                         gpiod_srst = helper_get_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
 472                 else
 473                         gpiod_srst = helper_get_open_drain_output_line("srst", gpiod_chip_srst, srst_gpio, 1);
 474
 475                 if (!gpiod_srst)
 476                         goto out_error;
 477         }
 478
 479         if (is_gpio_valid(led_gpio)) {
 480                 gpiod_chip_led = gpiod_chip_open_by_number(led_gpiochip);
 481                 if (!gpiod_chip_led) {
 482                         LOG_ERROR("Cannot open LinuxGPIOD led_gpiochip %d", led_gpiochip);
 483                         goto out_error;
 484                 }
 485
 486                 gpiod_led = helper_get_output_line("led", gpiod_chip_led, led_gpio, 0);
 487                 if (!gpiod_led)
 488                         goto out_error;
 489         }
 490
 491         return ERROR_OK;
 492
 493 out_error:
 494         linuxgpiod_quit();
 495
 496         return ERROR_JTAG_INIT_FAILED;
 497 }
 498
 499 COMMAND_HELPER(linuxgpiod_helper_gpionum, const char *name, int *chip, int *line)
 500 {
 501         int i = 0;
 502         if (CMD_ARGC > 2)
 503                 return ERROR_COMMAND_SYNTAX_ERROR;
 504         if (CMD_ARGC == 2) {
 505                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], *chip);
 506                 i = 1;
 507         }
 508         if (CMD_ARGC > 0)
 509                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[i], *line);
 510         command_print(CMD, "LinuxGPIOD %s: chip = %d, num = %d", name, *chip, *line);
 511         return ERROR_OK;
 512 }
 513
 514 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionums)
 515 {
 516         if (CMD_ARGC == 4) {
 517                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
 518                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
 519                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
 520                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
 521         } else if (CMD_ARGC != 0) {
 522                 return ERROR_COMMAND_SYNTAX_ERROR;
 523         }
 524
 525         command_print(CMD,
 526                         "LinuxGPIOD nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
 527                         tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 528
 529         return ERROR_OK;
 530 }
 531
 532 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tck)
 533 {
 534         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tck", &tck_gpiochip,
 535                         &tck_gpio);
 536 }
 537
 538 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tms)
 539 {
 540         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tms", &tms_gpiochip,
 541                         &tms_gpio);
 542 }
 543
 544 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdo)
 545 {
 546         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdo", &tdo_gpiochip,
 547                         &tdo_gpio);
 548 }
 549
 550 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_tdi)
 551 {
 552         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "tdi", &tdi_gpiochip,
 553                         &tdi_gpio);
 554 }
 555
 556 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_srst)
 557 {
 558         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "srst", &srst_gpiochip,
 559                         &srst_gpio);
 560 }
 561
 562 COMMAND_HANDLER(linuxgpiod_handle_jtag_gpionum_trst)
 563 {
 564         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "trst", &trst_gpiochip,
 565                         &trst_gpio);
 566 }
 567
 568 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionums)
 569 {
 570         if (CMD_ARGC == 2) {
 571                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
 572                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
 573         } else if (CMD_ARGC != 0) {
 574                 return ERROR_COMMAND_SYNTAX_ERROR;
 575         }
 576
 577         command_print(CMD,
 578                         "LinuxGPIOD nums: swclk = %d, swdio = %d",
 579                         swclk_gpio, swdio_gpio);
 580
 581         return ERROR_OK;
 582 }
 583
 584 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swclk)
 585 {
 586         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swclk", &swclk_gpiochip,
 587                         &swclk_gpio);
 588 }
 589
 590 COMMAND_HANDLER(linuxgpiod_handle_swd_gpionum_swdio)
 591 {
 592         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "swdio", &swdio_gpiochip,
 593                         &swdio_gpio);
 594 }
 595
 596 COMMAND_HANDLER(linuxgpiod_handle_gpionum_led)
 597 {
 598         return CALL_COMMAND_HANDLER(linuxgpiod_helper_gpionum, "led", &led_gpiochip,
 599                         &led_gpio);
 600 }
 601
 602 COMMAND_HANDLER(linuxgpiod_handle_gpiochip)
 603 {
 604         if (CMD_ARGC == 1) {
 605                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], gpiochip);
 606                 tck_gpiochip = gpiochip;
 607                 tms_gpiochip = gpiochip;
 608                 tdi_gpiochip = gpiochip;
 609                 tdo_gpiochip = gpiochip;
 610                 trst_gpiochip = gpiochip;
 611                 srst_gpiochip = gpiochip;
 612                 swclk_gpiochip = gpiochip;
 613                 swdio_gpiochip = gpiochip;
 614                 led_gpiochip = gpiochip;
 615         }
 616
 617         command_print(CMD, "LinuxGPIOD gpiochip = %d", gpiochip);
 618         return ERROR_OK;
 619 }
 620
 621 static const struct command_registration linuxgpiod_subcommand_handlers[] = {
 622         {
 623                 .name = "jtag_nums",
 624                 .handler = linuxgpiod_handle_jtag_gpionums,
 625                 .mode = COMMAND_CONFIG,
 626                 .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
 627                 .usage = "tck tms tdi tdo",
 628         },
 629         {
 630                 .name = "tck_num",
 631                 .handler = linuxgpiod_handle_jtag_gpionum_tck,
 632                 .mode = COMMAND_CONFIG,
 633                 .help = "gpio chip number (optional) and gpio number for tck.",
 634                 .usage = "[chip] tck",
 635         },
 636         {
 637                 .name = "tms_num",
 638                 .handler = linuxgpiod_handle_jtag_gpionum_tms,
 639                 .mode = COMMAND_CONFIG,
 640                 .help = "gpio chip number (optional) and gpio number for tms.",
 641                 .usage = "[chip] tms",
 642         },
 643         {
 644                 .name = "tdo_num",
 645                 .handler = linuxgpiod_handle_jtag_gpionum_tdo,
 646                 .mode = COMMAND_CONFIG,
 647                 .help = "gpio chip number (optional) and gpio number for tdo.",
 648                 .usage = "[chip] tdo",
 649         },
 650         {
 651                 .name = "tdi_num",
 652                 .handler = linuxgpiod_handle_jtag_gpionum_tdi,
 653                 .mode = COMMAND_CONFIG,
 654                 .help = "gpio chip number (optional) and gpio number for tdi.",
 655                 .usage = "[chip] tdi",
 656         },
 657         {
 658                 .name = "srst_num",
 659                 .handler = linuxgpiod_handle_jtag_gpionum_srst,
 660                 .mode = COMMAND_CONFIG,
 661                 .help = "gpio chip number (optional) and gpio number for srst.",
 662                 .usage = "[chip] srst",
 663         },
 664         {
 665                 .name = "trst_num",
 666                 .handler = linuxgpiod_handle_jtag_gpionum_trst,
 667                 .mode = COMMAND_CONFIG,
 668                 .help = "gpio chip number (optional) and gpio number for trst.",
 669                 .usage = "[chip] trst",
 670         },
 671         {
 672                 .name = "swd_nums",
 673                 .handler = linuxgpiod_handle_swd_gpionums,
 674                 .mode = COMMAND_CONFIG,
 675                 .help = "gpio numbers for swclk, swdio. (in that order)",
 676                 .usage = "swclk swdio",
 677         },
 678         {
 679                 .name = "swclk_num",
 680                 .handler = linuxgpiod_handle_swd_gpionum_swclk,
 681                 .mode = COMMAND_CONFIG,
 682                 .help = "gpio chip number (optional) and gpio number for swclk.",
 683                 .usage = "[chip] swclk",
 684         },
 685         {
 686                 .name = "swdio_num",
 687                 .handler = linuxgpiod_handle_swd_gpionum_swdio,
 688                 .mode = COMMAND_CONFIG,
 689                 .help = "gpio chip number (optional) and gpio number for swdio.",
 690                 .usage = "[chip] swdio",
 691         },
 692         {
 693                 .name = "led_num",
 694                 .handler = linuxgpiod_handle_gpionum_led,
 695                 .mode = COMMAND_CONFIG,
 696                 .help = "gpio chip number (optional) and gpio number for LED.",
 697                 .usage = "[chip] led",
 698         },
 699         {
 700                 .name = "gpiochip",
 701                 .handler = linuxgpiod_handle_gpiochip,
 702                 .mode = COMMAND_CONFIG,
 703                 .help = "number of the gpiochip.",
 704                 .usage = "gpiochip",
 705         },
 706         COMMAND_REGISTRATION_DONE
 707 };
 708
 709 static const struct command_registration linuxgpiod_command_handlers[] = {
 710         {
 711                 .name = "linuxgpiod",
 712                 .mode = COMMAND_ANY,
 713                 .help = "perform linuxgpiod management",
 714                 .chain = linuxgpiod_subcommand_handlers,
 715                 .usage = "",
 716         },
 717         COMMAND_REGISTRATION_DONE
 718 };
 719
 720 static const char *const linuxgpiod_transport[] = { "swd", "jtag", NULL };
 721
 722 static struct jtag_interface linuxgpiod_interface = {
 723         .supported = DEBUG_CAP_TMS_SEQ,
 724         .execute_queue = bitbang_execute_queue,
 725 };
 726
 727 struct adapter_driver linuxgpiod_adapter_driver = {
 728         .name = "linuxgpiod",
 729         .transports = linuxgpiod_transport,
 730         .commands = linuxgpiod_command_handlers,
 731
 732         .init = linuxgpiod_init,
 733         .quit = linuxgpiod_quit,
 734         .reset = linuxgpiod_reset,
 735
 736         .jtag_ops = &linuxgpiod_interface,
 737         .swd_ops = &bitbang_swd,
 738 };