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- /***************************************************************************
- * 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, see <http://www.gnu.org/licenses/>. *
- ***************************************************************************/
-
- #ifdef HAVE_CONFIG_H
- #include "config.h"
- #endif
-
- #include <jtag/interface.h>
- #include <transport/transport.h>
- #include "bitbang.h"
-
- #include <sys/mman.h>
-
- uint32_t bcm2835_peri_base = 0x20000000;
- #define BCM2835_GPIO_BASE (bcm2835_peri_base + 0x200000) /* GPIO controller */
-
- #define BCM2835_PADS_GPIO_0_27 (bcm2835_peri_base + 0x100000)
- #define BCM2835_PADS_GPIO_0_27_OFFSET (0x2c / 4)
-
- /* 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 bb_value_t bcm2835gpio_read(void);
- static int bcm2835gpio_write(int tck, int tms, int tdi);
-
- static int bcm2835_swdio_read(void);
- static void bcm2835_swdio_drive(bool is_output);
- static int bcm2835gpio_swd_write(int swclk, int swdio);
-
- static int bcm2835gpio_init(void);
- static int bcm2835gpio_quit(void);
-
- static struct bitbang_interface bcm2835gpio_bitbang = {
- .read = bcm2835gpio_read,
- .write = bcm2835gpio_write,
- .swdio_read = bcm2835_swdio_read,
- .swdio_drive = bcm2835_swdio_drive,
- .swd_write = bcm2835gpio_swd_write,
- .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;
- static int swclk_gpio = -1;
- static int swclk_gpio_mode;
- static int swdio_gpio = -1;
- static int swdio_gpio_mode;
- static int swdio_dir_gpio = -1;
- static int swdio_dir_gpio_mode;
-
- /* Transition delay coefficients */
- static int speed_coeff = 113714;
- static int speed_offset = 28;
- static unsigned int jtag_delay;
-
- static bb_value_t bcm2835gpio_read(void)
- {
- return (GPIO_LEV & 1<<tdo_gpio) ? BB_HIGH : BB_LOW;
- }
-
- static int 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 ("");
-
- return ERROR_OK;
- }
-
- static int bcm2835gpio_swd_write(int swclk, int swdio)
- {
- uint32_t set = swclk << swclk_gpio | swdio << swdio_gpio;
- uint32_t clear = !swclk << swclk_gpio | !swdio << swdio_gpio;
-
- GPIO_SET = set;
- GPIO_CLR = clear;
-
- for (unsigned int i = 0; i < jtag_delay; i++)
- asm volatile ("");
-
- return ERROR_OK;
- }
-
- /* (1) assert or (0) deassert reset lines */
- static int 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;
-
- return ERROR_OK;
- }
-
- static void bcm2835_swdio_drive(bool is_output)
- {
- if (swdio_dir_gpio > 0) {
- if (is_output) {
- GPIO_SET = 1 << swdio_dir_gpio;
- OUT_GPIO(swdio_gpio);
- } else {
- INP_GPIO(swdio_gpio);
- GPIO_CLR = 1 << swdio_dir_gpio;
- }
- } else {
- if (is_output)
- OUT_GPIO(swdio_gpio);
- else
- INP_GPIO(swdio_gpio);
- }
- }
-
- static int bcm2835_swdio_read(void)
- {
- return !!(GPIO_LEV & 1 << swdio_gpio);
- }
-
- 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,
- "BCM2835 GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %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, "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, "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, "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, "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, "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, "BCM2835 GPIO config: trst = %d", trst_gpio);
- return ERROR_OK;
- }
-
- COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionums)
- {
- if (CMD_ARGC == 2) {
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
- } else if (CMD_ARGC != 0) {
- return ERROR_COMMAND_SYNTAX_ERROR;
- }
-
- command_print(CMD,
- "BCM2835 GPIO nums: swclk = %d, swdio = %d",
- swclk_gpio, swdio_gpio);
-
- return ERROR_OK;
- }
-
- COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swclk)
- {
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
-
- command_print(CMD, "BCM2835 num: swclk = %d", swclk_gpio);
- return ERROR_OK;
- }
-
- COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swdio)
- {
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
-
- command_print(CMD, "BCM2835 num: swdio = %d", swdio_gpio);
- return ERROR_OK;
- }
-
- COMMAND_HANDLER(bcm2835gpio_handle_swd_dir_gpionum_swdio)
- {
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_dir_gpio);
-
- command_print(CMD, "BCM2835 num: swdio_dir = %d", swdio_dir_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);
- }
-
- command_print(CMD, "BCM2835 GPIO: speed_coeffs = %d, speed_offset = %d",
- speed_coeff, speed_offset);
- return ERROR_OK;
- }
-
- COMMAND_HANDLER(bcm2835gpio_handle_peripheral_base)
- {
- if (CMD_ARGC == 1)
- COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], bcm2835_peri_base);
-
- command_print(CMD, "BCM2835 GPIO: peripheral_base = 0x%08x",
- bcm2835_peri_base);
- return ERROR_OK;
- }
-
- static const struct command_registration bcm2835gpio_subcommand_handlers[] = {
- {
- .name = "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 = "tck_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tck,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for tck.",
- .usage = "[tck]",
- },
- {
- .name = "tms_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tms,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for tms.",
- .usage = "[tms]",
- },
- {
- .name = "tdo_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tdo,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for tdo.",
- .usage = "[tdo]",
- },
- {
- .name = "tdi_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_tdi,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for tdi.",
- .usage = "[tdi]",
- },
- {
- .name = "swd_nums",
- .handler = &bcm2835gpio_handle_swd_gpionums,
- .mode = COMMAND_CONFIG,
- .help = "gpio numbers for swclk, swdio. (in that order)",
- .usage = "[swclk swdio]",
- },
- {
- .name = "swclk_num",
- .handler = &bcm2835gpio_handle_swd_gpionum_swclk,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for swclk.",
- .usage = "[swclk]",
- },
- {
- .name = "swdio_num",
- .handler = &bcm2835gpio_handle_swd_gpionum_swdio,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for swdio.",
- .usage = "[swdio]",
- },
- {
- .name = "swdio_dir_num",
- .handler = &bcm2835gpio_handle_swd_dir_gpionum_swdio,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for swdio direction control pin (set=output mode, clear=input mode)",
- .usage = "[swdio_dir]",
- },
- {
- .name = "srst_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_srst,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for srst.",
- .usage = "[srst]",
- },
- {
- .name = "trst_num",
- .handler = &bcm2835gpio_handle_jtag_gpionum_trst,
- .mode = COMMAND_CONFIG,
- .help = "gpio number for trst.",
- .usage = "[trst]",
- },
- {
- .name = "speed_coeffs",
- .handler = &bcm2835gpio_handle_speed_coeffs,
- .mode = COMMAND_CONFIG,
- .help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
- .usage = "[SPEED_COEFF SPEED_OFFSET]",
- },
- {
- .name = "peripheral_base",
- .handler = &bcm2835gpio_handle_peripheral_base,
- .mode = COMMAND_CONFIG,
- .help = "peripheral base to access GPIOs (RPi1 0x20000000, RPi2 0x3F000000).",
- .usage = "[base]",
- },
-
- COMMAND_REGISTRATION_DONE
- };
-
- static const struct command_registration bcm2835gpio_command_handlers[] = {
- {
- .name = "bcm2835gpio",
- .mode = COMMAND_ANY,
- .help = "perform bcm2835gpio management",
- .chain = bcm2835gpio_subcommand_handlers,
- .usage = "",
- },
- COMMAND_REGISTRATION_DONE
- };
-
- static const char * const bcm2835_transports[] = { "jtag", "swd", NULL };
-
- static struct jtag_interface bcm2835gpio_interface = {
- .supported = DEBUG_CAP_TMS_SEQ,
- .execute_queue = bitbang_execute_queue,
- };
-
- struct adapter_driver bcm2835gpio_adapter_driver = {
- .name = "bcm2835gpio",
- .transports = bcm2835_transports,
- .commands = bcm2835gpio_command_handlers,
-
- .init = bcm2835gpio_init,
- .quit = bcm2835gpio_quit,
- .reset = bcm2835gpio_reset,
- .speed = bcm2835gpio_speed,
- .khz = bcm2835gpio_khz,
- .speed_div = bcm2835gpio_speed_div,
-
- .jtag_ops = &bcm2835gpio_interface,
- .swd_ops = &bitbang_swd,
- };
-
- static bool bcm2835gpio_jtag_mode_possible(void)
- {
- if (!is_gpio_valid(tck_gpio))
- return 0;
- if (!is_gpio_valid(tms_gpio))
- return 0;
- if (!is_gpio_valid(tdi_gpio))
- return 0;
- if (!is_gpio_valid(tdo_gpio))
- return 0;
- return 1;
- }
-
- static bool bcm2835gpio_swd_mode_possible(void)
- {
- if (!is_gpio_valid(swclk_gpio))
- return 0;
- if (!is_gpio_valid(swdio_gpio))
- return 0;
- return 1;
- }
-
- static int bcm2835gpio_init(void)
- {
- bitbang_interface = &bcm2835gpio_bitbang;
-
- LOG_INFO("BCM2835 GPIO JTAG/SWD bitbang driver");
-
- if (transport_is_jtag() && !bcm2835gpio_jtag_mode_possible()) {
- LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
- return ERROR_JTAG_INIT_FAILED;
- }
-
- if (transport_is_swd() && !bcm2835gpio_swd_mode_possible()) {
- LOG_ERROR("Require swclk and swdio gpio for SWD mode");
- return ERROR_JTAG_INIT_FAILED;
- }
-
- dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
- if (dev_mem_fd < 0) {
- LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
- dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
- }
- if (dev_mem_fd < 0) {
- LOG_ERROR("open: %s", strerror(errno));
- 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) {
- LOG_ERROR("mmap: %s", strerror(errno));
- close(dev_mem_fd);
- return ERROR_JTAG_INIT_FAILED;
- }
-
- static volatile uint32_t *pads_base;
- pads_base = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
- MAP_SHARED, dev_mem_fd, BCM2835_PADS_GPIO_0_27);
-
- if (pads_base == MAP_FAILED) {
- LOG_ERROR("mmap: %s", strerror(errno));
- close(dev_mem_fd);
- return ERROR_JTAG_INIT_FAILED;
- }
-
- /* set 4mA drive strength, slew rate limited, hysteresis on */
- pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5a000008 + 1;
-
- /*
- * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
- * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
- */
- if (transport_is_jtag()) {
- 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);
-
- 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 (transport_is_swd()) {
- swclk_gpio_mode = MODE_GPIO(swclk_gpio);
- swdio_gpio_mode = MODE_GPIO(swdio_gpio);
-
- GPIO_CLR = 1<<swdio_gpio | 1<<swclk_gpio;
-
- OUT_GPIO(swclk_gpio);
- OUT_GPIO(swdio_gpio);
- }
-
- if (srst_gpio != -1) {
- srst_gpio_mode = MODE_GPIO(srst_gpio);
- GPIO_SET = 1 << srst_gpio;
- OUT_GPIO(srst_gpio);
- }
-
- if (swdio_dir_gpio != -1) {
- swdio_dir_gpio_mode = MODE_GPIO(swdio_dir_gpio);
- GPIO_SET = 1 << swdio_dir_gpio;
- OUT_GPIO(swdio_dir_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)
- {
- if (transport_is_jtag()) {
- 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 (transport_is_swd()) {
- SET_MODE_GPIO(swclk_gpio, swclk_gpio_mode);
- SET_MODE_GPIO(swdio_gpio, swdio_gpio_mode);
- }
-
- if (srst_gpio != -1)
- SET_MODE_GPIO(srst_gpio, srst_gpio_mode);
-
- if (swdio_dir_gpio != -1)
- SET_MODE_GPIO(swdio_dir_gpio, swdio_dir_gpio_mode);
-
- return ERROR_OK;
- }
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