508 lines
16 KiB
C
508 lines
16 KiB
C
/* SPDX-License-Identifier: GPL-2.0-or-later */
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/***************************************************************************
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* Copyright (C) 2022 by Steve Marple, stevemarple@googlemail.com *
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* *
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* Based on bcm2835gpio.c and linuxgpiod.c *
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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/adapter.h>
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#include <jtag/interface.h>
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#include <transport/transport.h>
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#include "bitbang.h"
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#include <sys/mman.h>
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/* GPIO register base addresses. Values taken from "AM335x and AMIC110 Sitara
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* Processors Technical Reference Manual", Chapter 2 Memory Map.
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*/
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#define AM335XGPIO_NUM_GPIO_PER_CHIP 32
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#define AM335XGPIO_NUM_GPIO_CHIPS 4
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#define AM335XGPIO_GPIO0_HW_ADDR 0x44E07000
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#define AM335XGPIO_GPIO1_HW_ADDR 0x4804C000
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#define AM335XGPIO_GPIO2_HW_ADDR 0x481AC000
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#define AM335XGPIO_GPIO3_HW_ADDR 0x481AE000
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/* 32-bit offsets from GPIO chip base address. Values taken from "AM335x and
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* AMIC110 Sitara Processors Technical Reference Manual", Chapter 25
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* General-Purpose Input/Output.
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*/
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#define AM335XGPIO_GPIO_OE_OFFSET (0x134 / 4)
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#define AM335XGPIO_GPIO_DATAIN_OFFSET (0x138 / 4)
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#define AM335XGPIO_GPIO_DATAOUT_OFFSET (0x13C / 4) /* DATAOUT register uses 0 for output, 1 for input */
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#define AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET (0x190 / 4)
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#define AM335XGPIO_GPIO_SETDATAOUT_OFFSET (0x194 / 4)
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#define AM335XGPIO_READ_REG(chip_num, offset) \
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(*(am335xgpio_gpio_chip_mmap_addr[(chip_num)] + (offset)))
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#define AM335XGPIO_WRITE_REG(chip_num, offset, value) \
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(*(am335xgpio_gpio_chip_mmap_addr[(chip_num)] + (offset)) = (value))
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#define AM335XGPIO_SET_REG_BITS(chip_num, offset, bit_mask) \
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(*(am335xgpio_gpio_chip_mmap_addr[(chip_num)] + (offset)) |= (bit_mask))
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#define AM335XGPIO_CLEAR_REG_BITS(chip_num, offset, bit_mask) \
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(*(am335xgpio_gpio_chip_mmap_addr[(chip_num)] + (offset)) &= ~(bit_mask))
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#define AM335XGPIO_SET_INPUT(gpio_config) \
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AM335XGPIO_SET_REG_BITS((gpio_config)->chip_num, AM335XGPIO_GPIO_OE_OFFSET, BIT((gpio_config)->gpio_num))
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#define AM335XGPIO_SET_OUTPUT(gpio_config) \
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AM335XGPIO_CLEAR_REG_BITS((gpio_config)->chip_num, AM335XGPIO_GPIO_OE_OFFSET, BIT((gpio_config)->gpio_num))
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#define AM335XGPIO_SET_HIGH(gpio_config) \
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AM335XGPIO_WRITE_REG((gpio_config)->chip_num, AM335XGPIO_GPIO_SETDATAOUT_OFFSET, BIT((gpio_config)->gpio_num))
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#define AM335XGPIO_SET_LOW(gpio_config) \
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AM335XGPIO_WRITE_REG((gpio_config)->chip_num, AM335XGPIO_GPIO_CLEARDATAOUT_OFFSET, BIT((gpio_config)->gpio_num))
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enum amx335gpio_initial_gpio_mode {
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AM335XGPIO_GPIO_MODE_INPUT,
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AM335XGPIO_GPIO_MODE_OUTPUT_LOW,
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AM335XGPIO_GPIO_MODE_OUTPUT_HIGH,
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};
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static const uint32_t am335xgpio_gpio_chip_hw_addr[AM335XGPIO_NUM_GPIO_CHIPS] = {
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AM335XGPIO_GPIO0_HW_ADDR,
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AM335XGPIO_GPIO1_HW_ADDR,
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AM335XGPIO_GPIO2_HW_ADDR,
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AM335XGPIO_GPIO3_HW_ADDR,
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};
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/* Memory-mapped address pointers */
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static volatile uint32_t *am335xgpio_gpio_chip_mmap_addr[AM335XGPIO_NUM_GPIO_CHIPS];
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static int dev_mem_fd;
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static enum amx335gpio_initial_gpio_mode initial_gpio_mode[ADAPTER_GPIO_IDX_NUM];
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/* Transition delay coefficients */
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static int speed_coeff = 600000;
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static int speed_offset = 575;
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static unsigned int jtag_delay;
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static const struct adapter_gpio_config *adapter_gpio_config;
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static bool is_gpio_config_valid(const struct adapter_gpio_config *gpio_config)
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{
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return gpio_config->chip_num >= 0
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&& gpio_config->chip_num < AM335XGPIO_NUM_GPIO_CHIPS
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&& gpio_config->gpio_num >= 0
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&& gpio_config->gpio_num < AM335XGPIO_NUM_GPIO_PER_CHIP;
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}
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static int get_gpio_value(const struct adapter_gpio_config *gpio_config)
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{
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unsigned int shift = gpio_config->gpio_num;
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uint32_t value = AM335XGPIO_READ_REG(gpio_config->chip_num, AM335XGPIO_GPIO_DATAIN_OFFSET);
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value = (value >> shift) & 1;
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return value ^ (gpio_config->active_low ? 1 : 0);
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}
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static void set_gpio_value(const struct adapter_gpio_config *gpio_config, int value)
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{
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value = value ^ (gpio_config->active_low ? 1 : 0);
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switch (gpio_config->drive) {
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case ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL:
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if (value)
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AM335XGPIO_SET_HIGH(gpio_config);
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else
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AM335XGPIO_SET_LOW(gpio_config);
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/* For performance reasons assume the GPIO is already set as an output
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* and therefore the call can be omitted here.
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*/
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break;
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case ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN:
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if (value) {
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AM335XGPIO_SET_INPUT(gpio_config);
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} else {
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AM335XGPIO_SET_LOW(gpio_config);
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AM335XGPIO_SET_OUTPUT(gpio_config);
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}
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break;
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case ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE:
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if (value) {
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AM335XGPIO_SET_HIGH(gpio_config);
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AM335XGPIO_SET_OUTPUT(gpio_config);
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} else {
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AM335XGPIO_SET_INPUT(gpio_config);
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}
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break;
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}
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}
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static enum amx335gpio_initial_gpio_mode get_gpio_mode(const struct adapter_gpio_config *gpio_config)
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{
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if (AM335XGPIO_READ_REG(gpio_config->chip_num, AM335XGPIO_GPIO_OE_OFFSET) & BIT(gpio_config->gpio_num))
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return AM335XGPIO_GPIO_MODE_INPUT;
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/* Return output level too so that pin mode can be fully restored */
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if (AM335XGPIO_READ_REG(gpio_config->chip_num, AM335XGPIO_GPIO_DATAOUT_OFFSET) & BIT(gpio_config->gpio_num))
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return AM335XGPIO_GPIO_MODE_OUTPUT_HIGH;
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return AM335XGPIO_GPIO_MODE_OUTPUT_LOW;
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}
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static const char *get_gpio_mode_name(enum amx335gpio_initial_gpio_mode gpio_mode)
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{
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switch (gpio_mode) {
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case AM335XGPIO_GPIO_MODE_INPUT:
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return "input";
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case AM335XGPIO_GPIO_MODE_OUTPUT_LOW:
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return "output (low)";
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case AM335XGPIO_GPIO_MODE_OUTPUT_HIGH:
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return "output (high)";
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}
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return "unknown";
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}
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static void initialize_gpio(enum adapter_gpio_config_index idx)
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{
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if (!is_gpio_config_valid(&adapter_gpio_config[idx]))
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return;
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initial_gpio_mode[idx] = get_gpio_mode(&adapter_gpio_config[idx]);
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LOG_DEBUG("saved GPIO mode for %s (GPIO %d %d): %s",
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adapter_gpio_get_name(idx), adapter_gpio_config[idx].chip_num, adapter_gpio_config[idx].gpio_num,
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get_gpio_mode_name(initial_gpio_mode[idx]));
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if (adapter_gpio_config[idx].pull != ADAPTER_GPIO_PULL_NONE) {
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LOG_WARNING("am335xgpio does not support pull-up or pull-down settings (signal %s)",
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adapter_gpio_get_name(idx));
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}
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switch (adapter_gpio_config[idx].init_state) {
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case ADAPTER_GPIO_INIT_STATE_INACTIVE:
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set_gpio_value(&adapter_gpio_config[idx], 0);
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break;
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case ADAPTER_GPIO_INIT_STATE_ACTIVE:
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set_gpio_value(&adapter_gpio_config[idx], 1);
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break;
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case ADAPTER_GPIO_INIT_STATE_INPUT:
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AM335XGPIO_SET_INPUT(&adapter_gpio_config[idx]);
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break;
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}
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/* Direction for non push-pull is already set by set_gpio_value() */
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if (adapter_gpio_config[idx].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL)
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AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[idx]);
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}
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static void restore_gpio(enum adapter_gpio_config_index idx)
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{
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if (is_gpio_config_valid(&adapter_gpio_config[idx])) {
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switch (initial_gpio_mode[idx]) {
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case AM335XGPIO_GPIO_MODE_INPUT:
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AM335XGPIO_SET_INPUT(&adapter_gpio_config[idx]);
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break;
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case AM335XGPIO_GPIO_MODE_OUTPUT_LOW:
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AM335XGPIO_SET_LOW(&adapter_gpio_config[idx]);
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AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[idx]);
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break;
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case AM335XGPIO_GPIO_MODE_OUTPUT_HIGH:
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AM335XGPIO_SET_HIGH(&adapter_gpio_config[idx]);
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AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[idx]);
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break;
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}
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}
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}
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static bb_value_t am335xgpio_read(void)
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{
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return get_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDO]) ? BB_HIGH : BB_LOW;
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}
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static int am335xgpio_write(int tck, int tms, int tdi)
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{
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDI], tdi);
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TMS], tms);
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TCK], tck); /* Write clock last */
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for (unsigned int i = 0; i < jtag_delay; ++i)
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asm volatile ("");
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return ERROR_OK;
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}
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static int am335xgpio_swd_write(int swclk, int swdio)
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{
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO], swdio);
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK], swclk); /* Write clock last */
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for (unsigned int i = 0; i < jtag_delay; ++i)
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asm volatile ("");
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return ERROR_OK;
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}
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/* (1) assert or (0) deassert reset lines */
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static int am335xgpio_reset(int trst, int srst)
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{
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/* As the "adapter reset_config" command keeps the srst and trst gpio drive
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* mode settings in sync we can use our standard set_gpio_value() function
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* that honours drive mode and active low.
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*/
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if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SRST]))
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SRST], srst);
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if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TRST]))
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TRST], trst);
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LOG_DEBUG("am335xgpio_reset(%d, %d), trst_gpio: %d %d, srst_gpio: %d %d",
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trst, srst,
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adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].gpio_num,
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adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].gpio_num);
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return ERROR_OK;
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}
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static void am335xgpio_swdio_drive(bool is_output)
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{
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if (is_output) {
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if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR]))
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 1);
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AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]);
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} else {
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AM335XGPIO_SET_INPUT(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]);
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if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR]))
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 0);
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}
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}
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static int am335xgpio_swdio_read(void)
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{
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return get_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]);
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}
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static int am335xgpio_blink(int on)
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{
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if (is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_LED]))
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set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_LED], on);
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return ERROR_OK;
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}
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static struct bitbang_interface am335xgpio_bitbang = {
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.read = am335xgpio_read,
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.write = am335xgpio_write,
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.swdio_read = am335xgpio_swdio_read,
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.swdio_drive = am335xgpio_swdio_drive,
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.swd_write = am335xgpio_swd_write,
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.blink = am335xgpio_blink
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};
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static int am335xgpio_khz(int khz, int *jtag_speed)
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{
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if (!khz) {
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LOG_DEBUG("RCLK not supported");
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return ERROR_FAIL;
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}
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*jtag_speed = speed_coeff / khz - speed_offset;
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if (*jtag_speed < 0)
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*jtag_speed = 0;
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return ERROR_OK;
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}
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static int am335xgpio_speed_div(int speed, int *khz)
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{
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*khz = speed_coeff / (speed + speed_offset);
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return ERROR_OK;
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}
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static int am335xgpio_speed(int speed)
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{
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jtag_delay = speed;
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return ERROR_OK;
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}
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COMMAND_HANDLER(am335xgpio_handle_speed_coeffs)
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{
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if (CMD_ARGC == 2) {
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], speed_coeff);
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COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], speed_offset);
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}
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command_print(CMD, "AM335x GPIO config: speed_coeffs = %d, speed_offset = %d",
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speed_coeff, speed_offset);
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return ERROR_OK;
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}
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static const struct command_registration am335xgpio_subcommand_handlers[] = {
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{
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.name = "speed_coeffs",
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.handler = am335xgpio_handle_speed_coeffs,
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.mode = COMMAND_CONFIG,
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.help = "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
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.usage = "[SPEED_COEFF SPEED_OFFSET]",
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},
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COMMAND_REGISTRATION_DONE
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};
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static const struct command_registration am335xgpio_command_handlers[] = {
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{
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.name = "am335xgpio",
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.mode = COMMAND_ANY,
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.help = "perform am335xgpio management",
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.chain = am335xgpio_subcommand_handlers,
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.usage = "",
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},
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COMMAND_REGISTRATION_DONE
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};
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static const char * const am335xgpio_transports[] = { "jtag", "swd", NULL };
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static struct jtag_interface am335xgpio_interface = {
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.supported = DEBUG_CAP_TMS_SEQ,
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.execute_queue = bitbang_execute_queue,
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};
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static bool am335xgpio_jtag_mode_possible(void)
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{
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if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TCK]))
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return false;
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if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TMS]))
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return false;
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if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDI]))
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return false;
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if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_TDO]))
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return false;
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return true;
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}
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static bool am335xgpio_swd_mode_possible(void)
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{
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if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK]))
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return false;
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if (!is_gpio_config_valid(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]))
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return false;
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return true;
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}
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static void am335xgpio_munmap(void)
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{
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for (unsigned int i = 0; i < AM335XGPIO_NUM_GPIO_CHIPS && am335xgpio_gpio_chip_mmap_addr[i] != MAP_FAILED; ++i)
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if (munmap((void *)am335xgpio_gpio_chip_mmap_addr[i], sysconf(_SC_PAGE_SIZE)) < 0)
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LOG_ERROR("Cannot unmap GPIO memory for chip %d: %s", i, strerror(errno));
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}
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static int am335xgpio_init(void)
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{
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LOG_INFO("AM335x GPIO JTAG/SWD bitbang driver");
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bitbang_interface = &am335xgpio_bitbang;
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adapter_gpio_config = adapter_gpio_get_config();
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if (transport_is_jtag() && !am335xgpio_jtag_mode_possible()) {
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LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
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return ERROR_JTAG_INIT_FAILED;
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}
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if (transport_is_swd() && !am335xgpio_swd_mode_possible()) {
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LOG_ERROR("Require swclk and swdio gpio for SWD mode");
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return ERROR_JTAG_INIT_FAILED;
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}
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dev_mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC);
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if (dev_mem_fd < 0) {
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LOG_DEBUG("Cannot open /dev/gpiomem, fallback to /dev/mem");
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dev_mem_fd = open("/dev/mem", O_RDWR | O_SYNC);
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}
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if (dev_mem_fd < 0) {
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LOG_ERROR("open: %s", strerror(errno));
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return ERROR_JTAG_INIT_FAILED;
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}
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for (unsigned int i = 0; i < AM335XGPIO_NUM_GPIO_CHIPS; ++i) {
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am335xgpio_gpio_chip_mmap_addr[i] = mmap(NULL, sysconf(_SC_PAGE_SIZE), PROT_READ | PROT_WRITE,
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MAP_SHARED, dev_mem_fd, am335xgpio_gpio_chip_hw_addr[i]);
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if (am335xgpio_gpio_chip_mmap_addr[i] == MAP_FAILED) {
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LOG_ERROR("mmap: %s", strerror(errno));
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am335xgpio_munmap();
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close(dev_mem_fd);
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return ERROR_JTAG_INIT_FAILED;
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}
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}
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close(dev_mem_fd);
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/* Configure JTAG/SWD signals. Default directions and initial states are handled
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* by adapter.c and "adapter gpio" command.
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*/
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if (transport_is_jtag()) {
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initialize_gpio(ADAPTER_GPIO_IDX_TDO);
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initialize_gpio(ADAPTER_GPIO_IDX_TDI);
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initialize_gpio(ADAPTER_GPIO_IDX_TMS);
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initialize_gpio(ADAPTER_GPIO_IDX_TCK);
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initialize_gpio(ADAPTER_GPIO_IDX_TRST);
|
|
}
|
|
|
|
if (transport_is_swd()) {
|
|
/* swdio and its buffer should be initialized in the order that prevents
|
|
* two outputs from being connected together. This will occur if the
|
|
* swdio GPIO of the AM335x is configured as an output while its
|
|
* external buffer is configured to send the swdio signal from the
|
|
* target to the AM335x.
|
|
*/
|
|
if (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].init_state == ADAPTER_GPIO_INIT_STATE_INPUT) {
|
|
initialize_gpio(ADAPTER_GPIO_IDX_SWDIO);
|
|
initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
|
|
} else {
|
|
initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
|
|
initialize_gpio(ADAPTER_GPIO_IDX_SWDIO);
|
|
}
|
|
|
|
initialize_gpio(ADAPTER_GPIO_IDX_SWCLK);
|
|
}
|
|
|
|
initialize_gpio(ADAPTER_GPIO_IDX_SRST);
|
|
initialize_gpio(ADAPTER_GPIO_IDX_LED);
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
static int am335xgpio_quit(void)
|
|
{
|
|
if (transport_is_jtag()) {
|
|
restore_gpio(ADAPTER_GPIO_IDX_TDO);
|
|
restore_gpio(ADAPTER_GPIO_IDX_TDI);
|
|
restore_gpio(ADAPTER_GPIO_IDX_TMS);
|
|
restore_gpio(ADAPTER_GPIO_IDX_TCK);
|
|
restore_gpio(ADAPTER_GPIO_IDX_TRST);
|
|
}
|
|
|
|
if (transport_is_swd()) {
|
|
/* Restore swdio/swdio_dir to their initial modes, even if that means
|
|
* connecting two outputs. Begin by making swdio an input so that the
|
|
* current and final states of swdio and swdio_dir do not have to be
|
|
* considered to calculate the safe restoration order.
|
|
*/
|
|
AM335XGPIO_SET_INPUT(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO]);
|
|
restore_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
|
|
restore_gpio(ADAPTER_GPIO_IDX_SWDIO);
|
|
|
|
restore_gpio(ADAPTER_GPIO_IDX_SWCLK);
|
|
}
|
|
|
|
restore_gpio(ADAPTER_GPIO_IDX_SRST);
|
|
restore_gpio(ADAPTER_GPIO_IDX_LED);
|
|
|
|
am335xgpio_munmap();
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
struct adapter_driver am335xgpio_adapter_driver = {
|
|
.name = "am335xgpio",
|
|
.transports = am335xgpio_transports,
|
|
.commands = am335xgpio_command_handlers,
|
|
|
|
.init = am335xgpio_init,
|
|
.quit = am335xgpio_quit,
|
|
.reset = am335xgpio_reset,
|
|
.speed = am335xgpio_speed,
|
|
.khz = am335xgpio_khz,
|
|
.speed_div = am335xgpio_speed_div,
|
|
|
|
.jtag_ops = &am335xgpio_interface,
|
|
.swd_ops = &bitbang_swd,
|
|
};
|