684 lines
17 KiB
C
684 lines
17 KiB
C
/***************************************************************************
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* Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
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***************************************************************************/
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/* 2014-12: Addition of the SWD protocol support is based on the initial work
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* on bcm2835gpio.c by Paul Fertser and modifications by Jean-Christian de Rivaz. */
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/**
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* @file
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* This driver implements a bitbang jtag interface using gpio lines via
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* sysfs.
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* The aim of this driver implementation is use system GPIOs but avoid the
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* need for a additional kernel driver.
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* (Note memory mapped IO is another option, however it doesn't mix well with
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* the kernel gpiolib driver - which makes sense I guess.)
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*
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* A gpio is required for tck, tms, tdi and tdo. One or both of srst and trst
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* must be also be specified. The required jtag gpios are specified via the
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* sysfsgpio_jtag_nums command or the relevant sysfsgpio_XXX_num commang.
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* The srst and trst gpios are set via the sysfsgpio_srst_num and
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* sysfsgpio_trst_num respectively. GPIO numbering follows the kernel
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* convention of starting from 0.
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*
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* The gpios should not be in use by another entity, and must not be requested
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* by a kernel driver without also being exported by it (otherwise they can't
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* be exported by sysfs).
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*
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* The sysfs gpio interface can only manipulate one gpio at a time, so the
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* bitbang write handler remembers the last state for tck, tms, tdi to avoid
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* superfluous writes.
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* For speed the sysfs "value" entry is opened at init and held open.
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* This results in considerable gains over open-write-close (45s vs 900s)
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*
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* Further work could address:
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* -srst and trst open drain/ push pull
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* -configurable active high/low for srst & trst
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <jtag/interface.h>
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#include "bitbang.h"
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/*
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* Helper func to determine if gpio number valid
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*
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* Assume here that there will be less than 1000 gpios on a system
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*/
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static int is_gpio_valid(int gpio)
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{
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return gpio >= 0 && gpio < 1000;
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}
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/*
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* Helper func to open, write to and close a file
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* name and valstr must be null terminated.
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*
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* Returns negative on failure.
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*/
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static int open_write_close(const char *name, const char *valstr)
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{
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int ret;
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int fd = open(name, O_WRONLY);
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if (fd < 0)
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return fd;
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ret = write(fd, valstr, strlen(valstr));
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close(fd);
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return ret;
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}
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/*
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* Helper func to unexport gpio from sysfs
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*/
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static void unexport_sysfs_gpio(int gpio)
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{
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char gpiostr[4];
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if (!is_gpio_valid(gpio))
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return;
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snprintf(gpiostr, sizeof(gpiostr), "%d", gpio);
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if (open_write_close("/sys/class/gpio/unexport", gpiostr) < 0)
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LOG_ERROR("Couldn't unexport gpio %d", gpio);
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return;
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}
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/*
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* Exports and sets up direction for gpio.
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* If the gpio is an output, it is initialized according to init_high,
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* otherwise it is ignored.
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*
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* If the gpio is already exported we just show a warning and continue; if
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* openocd happened to crash (or was killed by user) then the gpios will not
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* have been cleaned up.
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*/
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static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
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{
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char buf[40];
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char gpiostr[4];
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int ret;
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if (!is_gpio_valid(gpio))
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return ERROR_OK;
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snprintf(gpiostr, sizeof(gpiostr), "%d", gpio);
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ret = open_write_close("/sys/class/gpio/export", gpiostr);
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if (ret < 0) {
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if (errno == EBUSY) {
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LOG_WARNING("gpio %d is already exported", gpio);
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} else {
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LOG_ERROR("Couldn't export gpio %d", gpio);
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perror("sysfsgpio: ");
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return ERROR_FAIL;
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}
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}
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snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", gpio);
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ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in");
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if (ret < 0) {
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LOG_ERROR("Couldn't set direction for gpio %d", gpio);
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perror("sysfsgpio: ");
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unexport_sysfs_gpio(gpio);
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return ERROR_FAIL;
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}
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snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio);
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ret = open(buf, O_RDWR | O_NONBLOCK | O_SYNC);
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if (ret < 0) {
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LOG_ERROR("Couldn't open value for gpio %d", gpio);
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perror("sysfsgpio: ");
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unexport_sysfs_gpio(gpio);
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}
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return ret;
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}
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/* gpio numbers for each gpio. Negative values are invalid */
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static int tck_gpio = -1;
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static int tms_gpio = -1;
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static int tdi_gpio = -1;
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static int tdo_gpio = -1;
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static int trst_gpio = -1;
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static int srst_gpio = -1;
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static int swclk_gpio = -1;
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static int swdio_gpio = -1;
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/*
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* file descriptors for /sys/class/gpio/gpioXX/value
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* Set up during init.
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*/
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static int tck_fd = -1;
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static int tms_fd = -1;
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static int tdi_fd = -1;
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static int tdo_fd = -1;
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static int trst_fd = -1;
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static int srst_fd = -1;
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static int swclk_fd = -1;
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static int swdio_fd = -1;
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static int last_swclk;
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static int last_swdio;
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static bool last_stored;
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static bool swdio_input;
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static void sysfsgpio_swdio_drive(bool is_output)
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{
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char buf[40];
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int ret;
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snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", swdio_gpio);
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ret = open_write_close(buf, is_output ? "high" : "in");
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if (ret < 0) {
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LOG_ERROR("Couldn't set direction for gpio %d", swdio_gpio);
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perror("sysfsgpio: ");
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}
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last_stored = false;
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swdio_input = !is_output;
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}
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static int sysfsgpio_swdio_read(void)
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{
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char buf[1];
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/* important to seek to signal sysfs of new read */
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lseek(swdio_fd, 0, SEEK_SET);
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int ret = read(swdio_fd, &buf, sizeof(buf));
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if (ret < 0) {
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LOG_WARNING("reading swdio failed");
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return 0;
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}
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return buf[0] != '0';
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}
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static void sysfsgpio_swdio_write(int swclk, int swdio)
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{
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const char one[] = "1";
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const char zero[] = "0";
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size_t bytes_written;
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if (!swdio_input) {
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if (!last_stored || (swdio != last_swdio)) {
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bytes_written = write(swdio_fd, swdio ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing swdio failed");
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}
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}
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/* write swclk last */
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if (!last_stored || (swclk != last_swclk)) {
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bytes_written = write(swclk_fd, swclk ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing swclk failed");
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}
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last_swdio = swdio;
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last_swclk = swclk;
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last_stored = true;
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}
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/*
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* Bitbang interface read of TDO
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*
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* The sysfs value will read back either '0' or '1'. The trick here is to call
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* lseek to bypass buffering in the sysfs kernel driver.
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*/
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static int sysfsgpio_read(void)
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{
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char buf[1];
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/* important to seek to signal sysfs of new read */
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lseek(tdo_fd, 0, SEEK_SET);
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int ret = read(tdo_fd, &buf, sizeof(buf));
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if (ret < 0) {
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LOG_WARNING("reading tdo failed");
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return 0;
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}
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return buf[0] != '0';
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}
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/*
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* Bitbang interface write of TCK, TMS, TDI
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*
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* Seeing as this is the only function where the outputs are changed,
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* we can cache the old value to avoid needlessly writing it.
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*/
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static void sysfsgpio_write(int tck, int tms, int tdi)
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{
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if (swd_mode) {
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sysfsgpio_swdio_write(tck, tdi);
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return;
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}
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const char one[] = "1";
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const char zero[] = "0";
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static int last_tck;
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static int last_tms;
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static int last_tdi;
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static int first_time;
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size_t bytes_written;
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if (!first_time) {
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last_tck = !tck;
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last_tms = !tms;
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last_tdi = !tdi;
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first_time = 1;
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}
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if (tdi != last_tdi) {
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bytes_written = write(tdi_fd, tdi ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing tdi failed");
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}
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if (tms != last_tms) {
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bytes_written = write(tms_fd, tms ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing tms failed");
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}
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/* write clk last */
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if (tck != last_tck) {
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bytes_written = write(tck_fd, tck ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing tck failed");
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}
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last_tdi = tdi;
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last_tms = tms;
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last_tck = tck;
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}
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/*
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* Bitbang interface to manipulate reset lines SRST and TRST
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*
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* (1) assert or (0) deassert reset lines
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*/
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static void sysfsgpio_reset(int trst, int srst)
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{
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LOG_DEBUG("sysfsgpio_reset");
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const char one[] = "1";
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const char zero[] = "0";
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size_t bytes_written;
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/* assume active low */
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if (srst_fd >= 0) {
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bytes_written = write(srst_fd, srst ? &zero : &one, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing srst failed");
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}
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/* assume active low */
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if (trst_fd >= 0) {
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bytes_written = write(trst_fd, trst ? &zero : &one, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing trst failed");
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}
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}
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionums)
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{
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if (CMD_ARGC == 4) {
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
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} else if (CMD_ARGC != 0) {
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return ERROR_COMMAND_SYNTAX_ERROR;
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}
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command_print(CMD_CTX,
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"SysfsGPIO nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
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tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tck)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: tck = %d", tck_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tms)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: tms = %d", tms_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tdo)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: tdo = %d", tdo_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tdi)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: tdi = %d", tdi_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_srst)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: srst = %d", srst_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_trst)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: trst = %d", trst_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_swd_gpionums)
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{
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if (CMD_ARGC == 2) {
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
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} else if (CMD_ARGC != 0) {
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return ERROR_COMMAND_SYNTAX_ERROR;
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}
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command_print(CMD_CTX,
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"SysfsGPIO nums: swclk = %d, swdio = %d",
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swclk_gpio, swdio_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swclk)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: swclk = %d", swclk_gpio);
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return ERROR_OK;
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}
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COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swdio)
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{
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if (CMD_ARGC == 1)
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
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command_print(CMD_CTX, "SysfsGPIO num: swdio = %d", swdio_gpio);
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return ERROR_OK;
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}
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static const struct command_registration sysfsgpio_command_handlers[] = {
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{
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.name = "sysfsgpio_jtag_nums",
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.handler = &sysfsgpio_handle_jtag_gpionums,
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.mode = COMMAND_CONFIG,
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.help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
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.usage = "(tck tms tdi tdo)* ",
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},
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{
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.name = "sysfsgpio_tck_num",
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.handler = &sysfsgpio_handle_jtag_gpionum_tck,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for tck.",
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},
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{
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.name = "sysfsgpio_tms_num",
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.handler = &sysfsgpio_handle_jtag_gpionum_tms,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for tms.",
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},
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{
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.name = "sysfsgpio_tdo_num",
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.handler = &sysfsgpio_handle_jtag_gpionum_tdo,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for tdo.",
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},
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{
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.name = "sysfsgpio_tdi_num",
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.handler = &sysfsgpio_handle_jtag_gpionum_tdi,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for tdi.",
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},
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{
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.name = "sysfsgpio_srst_num",
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.handler = &sysfsgpio_handle_jtag_gpionum_srst,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for srst.",
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},
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{
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.name = "sysfsgpio_trst_num",
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.handler = &sysfsgpio_handle_jtag_gpionum_trst,
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.mode = COMMAND_CONFIG,
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.help = "gpio number for trst.",
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},
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{
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.name = "sysfsgpio_swd_nums",
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.handler = &sysfsgpio_handle_swd_gpionums,
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.mode = COMMAND_CONFIG,
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.help = "gpio numbers for swclk, swdio. (in that order)",
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.usage = "(swclk swdio)* ",
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},
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{
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.name = "sysfsgpio_swclk_num",
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.handler = &sysfsgpio_handle_swd_gpionum_swclk,
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.mode = COMMAND_CONFIG,
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|
.help = "gpio number for swclk.",
|
|
},
|
|
{
|
|
.name = "sysfsgpio_swdio_num",
|
|
.handler = &sysfsgpio_handle_swd_gpionum_swdio,
|
|
.mode = COMMAND_CONFIG,
|
|
.help = "gpio number for swdio.",
|
|
},
|
|
COMMAND_REGISTRATION_DONE
|
|
};
|
|
|
|
static int sysfsgpio_init(void);
|
|
static int sysfsgpio_quit(void);
|
|
|
|
static const char * const sysfsgpio_transports[] = { "jtag", "swd", NULL };
|
|
|
|
struct jtag_interface sysfsgpio_interface = {
|
|
.name = "sysfsgpio",
|
|
.supported = DEBUG_CAP_TMS_SEQ,
|
|
.execute_queue = bitbang_execute_queue,
|
|
.transports = sysfsgpio_transports,
|
|
.swd = &bitbang_swd,
|
|
.commands = sysfsgpio_command_handlers,
|
|
.init = sysfsgpio_init,
|
|
.quit = sysfsgpio_quit,
|
|
};
|
|
|
|
static struct bitbang_interface sysfsgpio_bitbang = {
|
|
.read = sysfsgpio_read,
|
|
.write = sysfsgpio_write,
|
|
.reset = sysfsgpio_reset,
|
|
.swdio_read = sysfsgpio_swdio_read,
|
|
.swdio_drive = sysfsgpio_swdio_drive,
|
|
.blink = 0
|
|
};
|
|
|
|
/* helper func to close and cleanup files only if they were valid/ used */
|
|
static void cleanup_fd(int fd, int gpio)
|
|
{
|
|
if (gpio >= 0) {
|
|
if (fd >= 0)
|
|
close(fd);
|
|
|
|
unexport_sysfs_gpio(gpio);
|
|
}
|
|
}
|
|
|
|
static void cleanup_all_fds(void)
|
|
{
|
|
cleanup_fd(tck_fd, tck_gpio);
|
|
cleanup_fd(tms_fd, tms_gpio);
|
|
cleanup_fd(tdi_fd, tdi_gpio);
|
|
cleanup_fd(tdo_fd, tdo_gpio);
|
|
cleanup_fd(trst_fd, trst_gpio);
|
|
cleanup_fd(srst_fd, srst_gpio);
|
|
}
|
|
|
|
static bool sysfsgpio_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 sysfsgpio_swd_mode_possible(void)
|
|
{
|
|
if (!is_gpio_valid(swclk_gpio))
|
|
return 0;
|
|
if (!is_gpio_valid(swdio_gpio))
|
|
return 0;
|
|
return 1;
|
|
}
|
|
|
|
static int sysfsgpio_init(void)
|
|
{
|
|
bitbang_interface = &sysfsgpio_bitbang;
|
|
|
|
LOG_INFO("SysfsGPIO JTAG/SWD bitbang driver");
|
|
|
|
if (sysfsgpio_jtag_mode_possible()) {
|
|
if (sysfsgpio_swd_mode_possible())
|
|
LOG_INFO("JTAG and SWD modes enabled");
|
|
else
|
|
LOG_INFO("JTAG only mode enabled (specify swclk and swdio gpio to add SWD mode)");
|
|
if (!is_gpio_valid(trst_gpio) && !is_gpio_valid(srst_gpio)) {
|
|
LOG_ERROR("Require at least one of trst or srst gpios to be specified");
|
|
return ERROR_JTAG_INIT_FAILED;
|
|
}
|
|
} else if (sysfsgpio_swd_mode_possible()) {
|
|
LOG_INFO("SWD only mode enabled (specify tck, tms, tdi and tdo gpios to add JTAG mode)");
|
|
} else {
|
|
LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode and/or swclk and swdio gpio for SWD mode");
|
|
return ERROR_JTAG_INIT_FAILED;
|
|
}
|
|
|
|
|
|
/*
|
|
* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
|
|
* as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
|
|
* For SWD, SWCLK and SWDIO are configures as output high.
|
|
*/
|
|
if (tck_gpio >= 0) {
|
|
tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
|
|
if (tck_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
if (tms_gpio >= 0) {
|
|
tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
|
|
if (tms_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
if (tdi_gpio >= 0) {
|
|
tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
|
|
if (tdi_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
if (tdo_gpio >= 0) {
|
|
tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
|
|
if (tdo_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
/* assume active low*/
|
|
if (trst_gpio >= 0) {
|
|
trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1);
|
|
if (trst_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
/* assume active low*/
|
|
if (srst_gpio >= 0) {
|
|
srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1);
|
|
if (srst_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
if (swclk_gpio >= 0) {
|
|
swclk_fd = setup_sysfs_gpio(swclk_gpio, 1, 0);
|
|
if (swclk_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
if (swdio_gpio >= 0) {
|
|
swdio_fd = setup_sysfs_gpio(swdio_gpio, 1, 0);
|
|
if (swdio_fd < 0)
|
|
goto out_error;
|
|
}
|
|
|
|
if (sysfsgpio_swd_mode_possible()) {
|
|
if (swd_mode)
|
|
bitbang_swd_switch_seq(JTAG_TO_SWD);
|
|
else
|
|
bitbang_swd_switch_seq(SWD_TO_JTAG);
|
|
}
|
|
|
|
return ERROR_OK;
|
|
|
|
out_error:
|
|
cleanup_all_fds();
|
|
return ERROR_JTAG_INIT_FAILED;
|
|
}
|
|
|
|
static int sysfsgpio_quit(void)
|
|
{
|
|
cleanup_all_fds();
|
|
return ERROR_OK;
|
|
}
|
|
|