|
|
@@ -0,0 +1,368 @@ |
|
|
|
/*************************************************************************** |
|
|
|
* Copyright (C) 2013 by Paul Fertser, fercerpav@gmail.com * |
|
|
|
* * |
|
|
|
* Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au * |
|
|
|
* Based on at91rm9200.c (c) Anders Larsen * |
|
|
|
* and RPi GPIO examples by Gert van Loo & Dom * |
|
|
|
* * |
|
|
|
* This program is free software; you can redistribute it and/or modify * |
|
|
|
* it under the terms of the GNU General Public License as published by * |
|
|
|
* the Free Software Foundation; either version 2 of the License, or * |
|
|
|
* (at your option) any later version. * |
|
|
|
* * |
|
|
|
* This program is distributed in the hope that it will be useful, * |
|
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
|
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
|
|
|
* GNU General Public License for more details. * |
|
|
|
* * |
|
|
|
* You should have received a copy of the GNU General Public License * |
|
|
|
* along with this program; if not, write to the * |
|
|
|
* Free Software Foundation, Inc., * |
|
|
|
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
|
|
|
***************************************************************************/ |
|
|
|
|
|
|
|
#ifdef HAVE_CONFIG_H |
|
|
|
#include "config.h" |
|
|
|
#endif |
|
|
|
|
|
|
|
#include <jtag/interface.h> |
|
|
|
#include "bitbang.h" |
|
|
|
|
|
|
|
#include <sys/mman.h> |
|
|
|
|
|
|
|
#define BCM2835_PERI_BASE 0x20000000 |
|
|
|
#define BCM2835_GPIO_BASE (BCM2835_PERI_BASE + 0x200000) /* GPIO controller */ |
|
|
|
|
|
|
|
/* GPIO setup macros */ |
|
|
|
#define MODE_GPIO(g) (*(pio_base+((g)/10))>>(((g)%10)*3) & 7) |
|
|
|
#define INP_GPIO(g) do { *(pio_base+((g)/10)) &= ~(7<<(((g)%10)*3)); } while (0) |
|
|
|
#define SET_MODE_GPIO(g, m) do { /* clear the mode bits first, then set as necessary */ \ |
|
|
|
INP_GPIO(g); \ |
|
|
|
*(pio_base+((g)/10)) |= ((m)<<(((g)%10)*3)); } while (0) |
|
|
|
#define OUT_GPIO(g) SET_MODE_GPIO(g, 1) |
|
|
|
|
|
|
|
#define GPIO_SET (*(pio_base+7)) /* sets bits which are 1, ignores bits which are 0 */ |
|
|
|
#define GPIO_CLR (*(pio_base+10)) /* clears bits which are 1, ignores bits which are 0 */ |
|
|
|
#define GPIO_LEV (*(pio_base+13)) /* current level of the pin */ |
|
|
|
|
|
|
|
static int dev_mem_fd; |
|
|
|
static volatile uint32_t *pio_base; |
|
|
|
|
|
|
|
static int bcm2835gpio_read(void); |
|
|
|
static void bcm2835gpio_write(int tck, int tms, int tdi); |
|
|
|
static void bcm2835gpio_reset(int trst, int srst); |
|
|
|
|
|
|
|
static int bcm2835gpio_init(void); |
|
|
|
static int bcm2835gpio_quit(void); |
|
|
|
|
|
|
|
static struct bitbang_interface bcm2835gpio_bitbang = { |
|
|
|
.read = bcm2835gpio_read, |
|
|
|
.write = bcm2835gpio_write, |
|
|
|
.reset = bcm2835gpio_reset, |
|
|
|
.blink = NULL |
|
|
|
}; |
|
|
|
|
|
|
|
/* GPIO numbers for each signal. Negative values are invalid */ |
|
|
|
static int tck_gpio = -1; |
|
|
|
static int tck_gpio_mode; |
|
|
|
static int tms_gpio = -1; |
|
|
|
static int tms_gpio_mode; |
|
|
|
static int tdi_gpio = -1; |
|
|
|
static int tdi_gpio_mode; |
|
|
|
static int tdo_gpio = -1; |
|
|
|
static int tdo_gpio_mode; |
|
|
|
static int trst_gpio = -1; |
|
|
|
static int trst_gpio_mode; |
|
|
|
static int srst_gpio = -1; |
|
|
|
static int srst_gpio_mode; |
|
|
|
|
|
|
|
/* Transition delay coefficients */ |
|
|
|
static int speed_coeff = 113714; |
|
|
|
static int speed_offset = 28; |
|
|
|
static unsigned int jtag_delay; |
|
|
|
|
|
|
|
static int bcm2835gpio_read(void) |
|
|
|
{ |
|
|
|
return !!(GPIO_LEV & 1<<tdo_gpio); |
|
|
|
} |
|
|
|
|
|
|
|
static void bcm2835gpio_write(int tck, int tms, int tdi) |
|
|
|
{ |
|
|
|
uint32_t set = tck<<tck_gpio | tms<<tms_gpio | tdi<<tdi_gpio; |
|
|
|
uint32_t clear = !tck<<tck_gpio | !tms<<tms_gpio | !tdi<<tdi_gpio; |
|
|
|
|
|
|
|
GPIO_SET = set; |
|
|
|
GPIO_CLR = clear; |
|
|
|
|
|
|
|
for (unsigned int i = 0; i < jtag_delay; i++) |
|
|
|
asm volatile (""); |
|
|
|
} |
|
|
|
|
|
|
|
/* (1) assert or (0) deassert reset lines */ |
|
|
|
static void bcm2835gpio_reset(int trst, int srst) |
|
|
|
{ |
|
|
|
uint32_t set = 0; |
|
|
|
uint32_t clear = 0; |
|
|
|
|
|
|
|
if (trst_gpio > 0) { |
|
|
|
set |= !trst<<trst_gpio; |
|
|
|
clear |= trst<<trst_gpio; |
|
|
|
} |
|
|
|
|
|
|
|
if (srst_gpio > 0) { |
|
|
|
set |= !srst<<srst_gpio; |
|
|
|
clear |= srst<<srst_gpio; |
|
|
|
} |
|
|
|
|
|
|
|
GPIO_SET = set; |
|
|
|
GPIO_CLR = clear; |
|
|
|
} |
|
|
|
|
|
|
|
static int bcm2835gpio_khz(int khz, int *jtag_speed) |
|
|
|
{ |
|
|
|
if (!khz) { |
|
|
|
LOG_DEBUG("RCLK not supported"); |
|
|
|
return ERROR_FAIL; |
|
|
|
} |
|
|
|
*jtag_speed = speed_coeff/khz - speed_offset; |
|
|
|
if (*jtag_speed < 0) |
|
|
|
*jtag_speed = 0; |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
static int bcm2835gpio_speed_div(int speed, int *khz) |
|
|
|
{ |
|
|
|
*khz = speed_coeff/(speed + speed_offset); |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
static int bcm2835gpio_speed(int speed) |
|
|
|
{ |
|
|
|
jtag_delay = speed; |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
static int is_gpio_valid(int gpio) |
|
|
|
{ |
|
|
|
return gpio >= 0 && gpio <= 53; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionums) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 4) { |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio); |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio); |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio); |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio); |
|
|
|
} else if (CMD_ARGC != 0) { |
|
|
|
return ERROR_COMMAND_SYNTAX_ERROR; |
|
|
|
} |
|
|
|
|
|
|
|
command_print(CMD_CTX, |
|
|
|
"BCM2835 GPIO config: tck = %d, tms = %d, tdi = %d, tdi = %d", |
|
|
|
tck_gpio, tms_gpio, tdi_gpio, tdo_gpio); |
|
|
|
|
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tck) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 1) |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio); |
|
|
|
|
|
|
|
command_print(CMD_CTX, "BCM2835 GPIO config: tck = %d", tck_gpio); |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tms) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 1) |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio); |
|
|
|
|
|
|
|
command_print(CMD_CTX, "BCM2835 GPIO config: tms = %d", tms_gpio); |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdo) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 1) |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio); |
|
|
|
|
|
|
|
command_print(CMD_CTX, "BCM2835 GPIO config: tdo = %d", tdo_gpio); |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdi) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 1) |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio); |
|
|
|
|
|
|
|
command_print(CMD_CTX, "BCM2835 GPIO config: tdi = %d", tdi_gpio); |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_srst) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 1) |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio); |
|
|
|
|
|
|
|
command_print(CMD_CTX, "BCM2835 GPIO config: srst = %d", srst_gpio); |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_trst) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 1) |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio); |
|
|
|
|
|
|
|
command_print(CMD_CTX, "BCM2835 GPIO config: trst = %d", trst_gpio); |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
COMMAND_HANDLER(bcm2835gpio_handle_speed_coeffs) |
|
|
|
{ |
|
|
|
if (CMD_ARGC == 2) { |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff); |
|
|
|
COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset); |
|
|
|
} |
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
static const struct command_registration bcm2835gpio_command_handlers[] = { |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_jtag_nums", |
|
|
|
.handler = &bcm2835gpio_handle_jtag_gpionums, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "gpio numbers for tck, tms, tdi, tdo. (in that order)", |
|
|
|
.usage = "(tck tms tdi tdo)* ", |
|
|
|
}, |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_tck_num", |
|
|
|
.handler = &bcm2835gpio_handle_jtag_gpionum_tck, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "gpio number for tck.", |
|
|
|
}, |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_tms_num", |
|
|
|
.handler = &bcm2835gpio_handle_jtag_gpionum_tms, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "gpio number for tms.", |
|
|
|
}, |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_tdo_num", |
|
|
|
.handler = &bcm2835gpio_handle_jtag_gpionum_tdo, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "gpio number for tdo.", |
|
|
|
}, |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_tdi_num", |
|
|
|
.handler = &bcm2835gpio_handle_jtag_gpionum_tdi, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "gpio number for tdi.", |
|
|
|
}, |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_srst_num", |
|
|
|
.handler = &bcm2835gpio_handle_jtag_gpionum_srst, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "gpio number for srst.", |
|
|
|
}, |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_trst_num", |
|
|
|
.handler = &bcm2835gpio_handle_jtag_gpionum_trst, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "gpio number for trst.", |
|
|
|
}, |
|
|
|
{ |
|
|
|
.name = "bcm2835gpio_speed_coeffs", |
|
|
|
.handler = &bcm2835gpio_handle_speed_coeffs, |
|
|
|
.mode = COMMAND_CONFIG, |
|
|
|
.help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.", |
|
|
|
}, |
|
|
|
COMMAND_REGISTRATION_DONE |
|
|
|
}; |
|
|
|
|
|
|
|
struct jtag_interface bcm2835gpio_interface = { |
|
|
|
.name = "bcm2835gpio", |
|
|
|
.supported = DEBUG_CAP_TMS_SEQ, |
|
|
|
.execute_queue = bitbang_execute_queue, |
|
|
|
.transports = jtag_only, |
|
|
|
.speed = bcm2835gpio_speed, |
|
|
|
.khz = bcm2835gpio_khz, |
|
|
|
.speed_div = bcm2835gpio_speed_div, |
|
|
|
.commands = bcm2835gpio_command_handlers, |
|
|
|
.init = bcm2835gpio_init, |
|
|
|
.quit = bcm2835gpio_quit, |
|
|
|
}; |
|
|
|
|
|
|
|
static int bcm2835gpio_init(void) |
|
|
|
{ |
|
|
|
bitbang_interface = &bcm2835gpio_bitbang; |
|
|
|
|
|
|
|
if (!is_gpio_valid(tdo_gpio) || !is_gpio_valid(tdi_gpio) || |
|
|
|
!is_gpio_valid(tck_gpio) || !is_gpio_valid(tms_gpio) || |
|
|
|
(trst_gpio != -1 && !is_gpio_valid(trst_gpio)) || |
|
|
|
(srst_gpio != -1 && !is_gpio_valid(srst_gpio))) |
|
|
|
return ERROR_JTAG_INIT_FAILED; |
|
|
|
|
|
|
|
dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC); |
|
|
|
if (dev_mem_fd < 0) { |
|
|
|
perror("open"); |
|
|
|
return ERROR_JTAG_INIT_FAILED; |
|
|
|
} |
|
|
|
|
|
|
|
pio_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE, |
|
|
|
MAP_SHARED, dev_mem_fd, BCM2835_GPIO_BASE); |
|
|
|
|
|
|
|
if (pio_base == MAP_FAILED) { |
|
|
|
perror("mmap"); |
|
|
|
close(dev_mem_fd); |
|
|
|
return ERROR_JTAG_INIT_FAILED; |
|
|
|
} |
|
|
|
|
|
|
|
tdo_gpio_mode = MODE_GPIO(tdo_gpio); |
|
|
|
tdi_gpio_mode = MODE_GPIO(tdi_gpio); |
|
|
|
tck_gpio_mode = MODE_GPIO(tck_gpio); |
|
|
|
tms_gpio_mode = MODE_GPIO(tms_gpio); |
|
|
|
/* |
|
|
|
* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST |
|
|
|
* as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high. |
|
|
|
*/ |
|
|
|
INP_GPIO(tdo_gpio); |
|
|
|
|
|
|
|
GPIO_CLR = 1<<tdi_gpio | 1<<tck_gpio; |
|
|
|
GPIO_SET = 1<<tms_gpio; |
|
|
|
|
|
|
|
OUT_GPIO(tdi_gpio); |
|
|
|
OUT_GPIO(tck_gpio); |
|
|
|
OUT_GPIO(tms_gpio); |
|
|
|
if (trst_gpio != -1) { |
|
|
|
trst_gpio_mode = MODE_GPIO(trst_gpio); |
|
|
|
GPIO_SET = 1 << trst_gpio; |
|
|
|
OUT_GPIO(trst_gpio); |
|
|
|
} |
|
|
|
if (srst_gpio != -1) { |
|
|
|
srst_gpio_mode = MODE_GPIO(srst_gpio); |
|
|
|
GPIO_SET = 1 << srst_gpio; |
|
|
|
OUT_GPIO(srst_gpio); |
|
|
|
} |
|
|
|
|
|
|
|
LOG_DEBUG("saved pinmux settings: tck %d tms %d tdi %d " |
|
|
|
"tdo %d trst %d srst %d", tck_gpio_mode, tms_gpio_mode, |
|
|
|
tdi_gpio_mode, tdo_gpio_mode, trst_gpio_mode, srst_gpio_mode); |
|
|
|
|
|
|
|
return ERROR_OK; |
|
|
|
} |
|
|
|
|
|
|
|
static int bcm2835gpio_quit(void) |
|
|
|
{ |
|
|
|
SET_MODE_GPIO(tdo_gpio, tdo_gpio_mode); |
|
|
|
SET_MODE_GPIO(tdi_gpio, tdi_gpio_mode); |
|
|
|
SET_MODE_GPIO(tck_gpio, tck_gpio_mode); |
|
|
|
SET_MODE_GPIO(tms_gpio, tms_gpio_mode); |
|
|
|
if (trst_gpio != -1) |
|
|
|
SET_MODE_GPIO(trst_gpio, trst_gpio_mode); |
|
|
|
if (srst_gpio != -1) |
|
|
|
SET_MODE_GPIO(srst_gpio, srst_gpio_mode); |
|
|
|
|
|
|
|
return ERROR_OK; |
|
|
|
} |