diff options
Diffstat (limited to 'src/jtag')
-rw-r--r-- | src/jtag/drivers/Makefile.am | 3 | ||||
-rw-r--r-- | src/jtag/drivers/bcm2835gpio.c | 368 | ||||
-rw-r--r-- | src/jtag/interfaces.c | 6 |
3 files changed, 377 insertions, 0 deletions
diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am index 65167ea2..30251be1 100644 --- a/src/jtag/drivers/Makefile.am +++ b/src/jtag/drivers/Makefile.am @@ -114,6 +114,9 @@ endif if SYSFSGPIO DRIVERFILES += sysfsgpio.c endif +if BCM2835GPIO +DRIVERFILES += bcm2835gpio.c +endif if OPENJTAG DRIVERFILES += openjtag.c diff --git a/src/jtag/drivers/bcm2835gpio.c b/src/jtag/drivers/bcm2835gpio.c new file mode 100644 index 00000000..7dfabcb4 --- /dev/null +++ b/src/jtag/drivers/bcm2835gpio.c @@ -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; +} diff --git a/src/jtag/interfaces.c b/src/jtag/interfaces.c index b967b7e9..579e9e74 100644 --- a/src/jtag/interfaces.c +++ b/src/jtag/interfaces.c @@ -122,6 +122,9 @@ extern struct jtag_interface sysfsgpio_interface; #if BUILD_AICE == 1 extern struct jtag_interface aice_interface; #endif +#if BUILD_BCM2835GPIO == 1 +extern struct jtag_interface bcm2835gpio_interface; +#endif #endif /* standard drivers */ /** @@ -212,6 +215,9 @@ struct jtag_interface *jtag_interfaces[] = { #if BUILD_AICE == 1 &aice_interface, #endif +#if BUILD_BCM2835GPIO == 1 + &bcm2835gpio_interface, +#endif #endif /* standard drivers */ NULL, }; |