1 /***************************************************************************
2 * Copyright (C) 2017 by Grzegorz Kostka, kostka.grzegorz@gmail.com *
4 * Based on bcm2835gpio.c *
6 * This program is free software; you can redistribute it and/or modify *
7 * it under the terms of the GNU General Public License as published by *
8 * the Free Software Foundation; either version 2 of the License, or *
9 * (at your option) any later version. *
11 * This program is distributed in the hope that it will be useful, *
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
14 * GNU General Public License for more details. *
16 * You should have received a copy of the GNU General Public License *
17 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
18 ***************************************************************************/
24 #include <jtag/interface.h>
29 #define IMX_GPIO_BASE 0x0209c000
30 #define IMX_GPIO_SIZE 0x00004000
31 #define IMX_GPIO_REGS_COUNT 8
33 static uint32_t imx_gpio_peri_base
= IMX_GPIO_BASE
;
35 struct imx_gpio_regs
{
44 } __attribute__((aligned(IMX_GPIO_SIZE
)));
46 static int dev_mem_fd
;
47 static volatile struct imx_gpio_regs
*pio_base
;
49 /* GPIO setup functions */
50 static inline bool gpio_mode_get(int g
)
52 return pio_base
[g
/ 32].gdir
>> (g
& 0x1F) & 1;
55 static inline void gpio_mode_input_set(int g
)
57 pio_base
[g
/ 32].gdir
&= ~(1u << (g
& 0x1F));
60 static inline void gpio_mode_output_set(int g
)
62 pio_base
[g
/ 32].gdir
|= (1u << (g
& 0x1F));
65 static inline void gpio_mode_set(int g
, int m
)
67 (m
) ? gpio_mode_output_set(g
) : gpio_mode_input_set(g
);
70 static inline void gpio_set(int g
)
72 pio_base
[g
/ 32].dr
|= (1u << (g
& 0x1F));
75 static inline void gpio_clear(int g
)
77 pio_base
[g
/ 32].dr
&= ~(1u << (g
& 0x1F));
80 static inline bool gpio_level(int g
)
82 return pio_base
[g
/ 32].dr
>> (g
& 0x1F) & 1;
85 static int imx_gpio_read(void);
86 static void imx_gpio_write(int tck
, int tms
, int tdi
);
87 static void imx_gpio_reset(int trst
, int srst
);
89 static int imx_gpio_swdio_read(void);
90 static void imx_gpio_swdio_drive(bool is_output
);
92 static int imx_gpio_init(void);
93 static int imx_gpio_quit(void);
95 static struct bitbang_interface imx_gpio_bitbang
= {
96 .read
= imx_gpio_read
,
97 .write
= imx_gpio_write
,
98 .reset
= imx_gpio_reset
,
99 .swdio_read
= imx_gpio_swdio_read
,
100 .swdio_drive
= imx_gpio_swdio_drive
,
104 /* GPIO numbers for each signal. Negative values are invalid */
105 static int tck_gpio
= -1;
106 static int tck_gpio_mode
;
107 static int tms_gpio
= -1;
108 static int tms_gpio_mode
;
109 static int tdi_gpio
= -1;
110 static int tdi_gpio_mode
;
111 static int tdo_gpio
= -1;
112 static int tdo_gpio_mode
;
113 static int trst_gpio
= -1;
114 static int trst_gpio_mode
;
115 static int srst_gpio
= -1;
116 static int srst_gpio_mode
;
117 static int swclk_gpio
= -1;
118 static int swclk_gpio_mode
;
119 static int swdio_gpio
= -1;
120 static int swdio_gpio_mode
;
122 /* Transition delay coefficients. Tuned for IMX6UL 528MHz. Adjusted
123 * experimentally for:10kHz, 100Khz, 500KHz. Speeds above 800Khz are impossible
124 * to reach via memory mapped method (at least for IMX6UL@528MHz).
125 * Measured mmap raw GPIO toggling speed on IMX6UL@528MHz: 1.3MHz.
127 static int speed_coeff
= 50000;
128 static int speed_offset
= 100;
129 static unsigned int jtag_delay
;
131 static int imx_gpio_read(void)
133 return gpio_level(tdo_gpio
);
136 static void imx_gpio_write(int tck
, int tms
, int tdi
)
138 tms
? gpio_set(tms_gpio
) : gpio_clear(tms_gpio
);
139 tdi
? gpio_set(tdi_gpio
) : gpio_clear(tdi_gpio
);
140 tck
? gpio_set(tck_gpio
) : gpio_clear(tck_gpio
);
142 for (unsigned int i
= 0; i
< jtag_delay
; i
++)
146 static void imx_gpio_swd_write(int tck
, int tms
, int tdi
)
148 tdi
? gpio_set(swdio_gpio
) : gpio_clear(swdio_gpio
);
149 tck
? gpio_set(swclk_gpio
) : gpio_clear(swclk_gpio
);
151 for (unsigned int i
= 0; i
< jtag_delay
; i
++)
155 /* (1) assert or (0) deassert reset lines */
156 static void imx_gpio_reset(int trst
, int srst
)
159 trst
? gpio_set(trst_gpio
) : gpio_clear(trst_gpio
);
162 srst
? gpio_set(srst_gpio
) : gpio_clear(srst_gpio
);
165 static void imx_gpio_swdio_drive(bool is_output
)
168 gpio_mode_output_set(swdio_gpio
);
170 gpio_mode_input_set(swdio_gpio
);
173 static int imx_gpio_swdio_read(void)
175 return gpio_level(swdio_gpio
);
178 static int imx_gpio_khz(int khz
, int *jtag_speed
)
181 LOG_DEBUG("RCLK not supported");
184 *jtag_speed
= speed_coeff
/khz
- speed_offset
;
190 static int imx_gpio_speed_div(int speed
, int *khz
)
192 *khz
= speed_coeff
/(speed
+ speed_offset
);
196 static int imx_gpio_speed(int speed
)
202 static int is_gpio_valid(int gpio
)
204 return gpio
>= 0 && gpio
< 32 * IMX_GPIO_REGS_COUNT
;
207 COMMAND_HANDLER(imx_gpio_handle_jtag_gpionums
)
210 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], tck_gpio
);
211 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[1], tms_gpio
);
212 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[2], tdi_gpio
);
213 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[3], tdo_gpio
);
214 } else if (CMD_ARGC
!= 0) {
215 return ERROR_COMMAND_SYNTAX_ERROR
;
218 command_print(CMD_CTX
,
219 "imx_gpio GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %d",
220 tck_gpio
, tms_gpio
, tdi_gpio
, tdo_gpio
);
225 COMMAND_HANDLER(imx_gpio_handle_jtag_gpionum_tck
)
228 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], tck_gpio
);
230 command_print(CMD_CTX
, "imx_gpio GPIO config: tck = %d", tck_gpio
);
234 COMMAND_HANDLER(imx_gpio_handle_jtag_gpionum_tms
)
237 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], tms_gpio
);
239 command_print(CMD_CTX
, "imx_gpio GPIO config: tms = %d", tms_gpio
);
243 COMMAND_HANDLER(imx_gpio_handle_jtag_gpionum_tdo
)
246 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], tdo_gpio
);
248 command_print(CMD_CTX
, "imx_gpio GPIO config: tdo = %d", tdo_gpio
);
252 COMMAND_HANDLER(imx_gpio_handle_jtag_gpionum_tdi
)
255 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], tdi_gpio
);
257 command_print(CMD_CTX
, "imx_gpio GPIO config: tdi = %d", tdi_gpio
);
261 COMMAND_HANDLER(imx_gpio_handle_jtag_gpionum_srst
)
264 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], srst_gpio
);
266 command_print(CMD_CTX
, "imx_gpio GPIO config: srst = %d", srst_gpio
);
270 COMMAND_HANDLER(imx_gpio_handle_jtag_gpionum_trst
)
273 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], trst_gpio
);
275 command_print(CMD_CTX
, "imx_gpio GPIO config: trst = %d", trst_gpio
);
279 COMMAND_HANDLER(imx_gpio_handle_swd_gpionums
)
282 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], swclk_gpio
);
283 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[1], swdio_gpio
);
284 } else if (CMD_ARGC
!= 0) {
285 return ERROR_COMMAND_SYNTAX_ERROR
;
288 command_print(CMD_CTX
,
289 "imx_gpio GPIO nums: swclk = %d, swdio = %d",
290 swclk_gpio
, swdio_gpio
);
295 COMMAND_HANDLER(imx_gpio_handle_swd_gpionum_swclk
)
298 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], swclk_gpio
);
300 command_print(CMD_CTX
, "imx_gpio num: swclk = %d", swclk_gpio
);
304 COMMAND_HANDLER(imx_gpio_handle_swd_gpionum_swdio
)
307 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], swdio_gpio
);
309 command_print(CMD_CTX
, "imx_gpio num: swdio = %d", swdio_gpio
);
313 COMMAND_HANDLER(imx_gpio_handle_speed_coeffs
)
316 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[0], speed_coeff
);
317 COMMAND_PARSE_NUMBER(int, CMD_ARGV
[1], speed_offset
);
322 COMMAND_HANDLER(imx_gpio_handle_peripheral_base
)
325 COMMAND_PARSE_NUMBER(u32
, CMD_ARGV
[0], imx_gpio_peri_base
);
329 static const struct command_registration imx_gpio_command_handlers
[] = {
331 .name
= "imx_gpio_jtag_nums",
332 .handler
= &imx_gpio_handle_jtag_gpionums
,
333 .mode
= COMMAND_CONFIG
,
334 .help
= "gpio numbers for tck, tms, tdi, tdo. (in that order)",
335 .usage
= "(tck tms tdi tdo)* ",
338 .name
= "imx_gpio_tck_num",
339 .handler
= &imx_gpio_handle_jtag_gpionum_tck
,
340 .mode
= COMMAND_CONFIG
,
341 .help
= "gpio number for tck.",
344 .name
= "imx_gpio_tms_num",
345 .handler
= &imx_gpio_handle_jtag_gpionum_tms
,
346 .mode
= COMMAND_CONFIG
,
347 .help
= "gpio number for tms.",
350 .name
= "imx_gpio_tdo_num",
351 .handler
= &imx_gpio_handle_jtag_gpionum_tdo
,
352 .mode
= COMMAND_CONFIG
,
353 .help
= "gpio number for tdo.",
356 .name
= "imx_gpio_tdi_num",
357 .handler
= &imx_gpio_handle_jtag_gpionum_tdi
,
358 .mode
= COMMAND_CONFIG
,
359 .help
= "gpio number for tdi.",
362 .name
= "imx_gpio_swd_nums",
363 .handler
= &imx_gpio_handle_swd_gpionums
,
364 .mode
= COMMAND_CONFIG
,
365 .help
= "gpio numbers for swclk, swdio. (in that order)",
366 .usage
= "(swclk swdio)* ",
369 .name
= "imx_gpio_swclk_num",
370 .handler
= &imx_gpio_handle_swd_gpionum_swclk
,
371 .mode
= COMMAND_CONFIG
,
372 .help
= "gpio number for swclk.",
375 .name
= "imx_gpio_swdio_num",
376 .handler
= &imx_gpio_handle_swd_gpionum_swdio
,
377 .mode
= COMMAND_CONFIG
,
378 .help
= "gpio number for swdio.",
381 .name
= "imx_gpio_srst_num",
382 .handler
= &imx_gpio_handle_jtag_gpionum_srst
,
383 .mode
= COMMAND_CONFIG
,
384 .help
= "gpio number for srst.",
387 .name
= "imx_gpio_trst_num",
388 .handler
= &imx_gpio_handle_jtag_gpionum_trst
,
389 .mode
= COMMAND_CONFIG
,
390 .help
= "gpio number for trst.",
393 .name
= "imx_gpio_speed_coeffs",
394 .handler
= &imx_gpio_handle_speed_coeffs
,
395 .mode
= COMMAND_CONFIG
,
396 .help
= "SPEED_COEFF and SPEED_OFFSET for delay calculations.",
399 .name
= "imx_gpio_peripheral_base",
400 .handler
= &imx_gpio_handle_peripheral_base
,
401 .mode
= COMMAND_CONFIG
,
402 .help
= "peripheral base to access GPIOs (0x0209c000 for most IMX).",
405 COMMAND_REGISTRATION_DONE
408 static const char * const imx_gpio_transports
[] = { "jtag", "swd", NULL
};
410 struct jtag_interface imx_gpio_interface
= {
412 .supported
= DEBUG_CAP_TMS_SEQ
,
413 .execute_queue
= bitbang_execute_queue
,
414 .transports
= imx_gpio_transports
,
416 .speed
= imx_gpio_speed
,
418 .speed_div
= imx_gpio_speed_div
,
419 .commands
= imx_gpio_command_handlers
,
420 .init
= imx_gpio_init
,
421 .quit
= imx_gpio_quit
,
424 static bool imx_gpio_jtag_mode_possible(void)
426 if (!is_gpio_valid(tck_gpio
))
428 if (!is_gpio_valid(tms_gpio
))
430 if (!is_gpio_valid(tdi_gpio
))
432 if (!is_gpio_valid(tdo_gpio
))
437 static bool imx_gpio_swd_mode_possible(void)
439 if (!is_gpio_valid(swclk_gpio
))
441 if (!is_gpio_valid(swdio_gpio
))
446 static int imx_gpio_init(void)
448 bitbang_interface
= &imx_gpio_bitbang
;
450 LOG_INFO("imx_gpio GPIO JTAG/SWD bitbang driver");
452 if (imx_gpio_jtag_mode_possible()) {
453 if (imx_gpio_swd_mode_possible())
454 LOG_INFO("JTAG and SWD modes enabled");
456 LOG_INFO("JTAG only mode enabled (specify swclk and swdio gpio to add SWD mode)");
457 } else if (imx_gpio_swd_mode_possible()) {
458 LOG_INFO("SWD only mode enabled (specify tck, tms, tdi and tdo gpios to add JTAG mode)");
460 LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode and/or swclk and swdio gpio for SWD mode");
461 return ERROR_JTAG_INIT_FAILED
;
464 dev_mem_fd
= open("/dev/mem", O_RDWR
| O_SYNC
);
465 if (dev_mem_fd
< 0) {
467 return ERROR_JTAG_INIT_FAILED
;
471 LOG_INFO("imx_gpio mmap: pagesize: %u, regionsize: %u",
472 sysconf(_SC_PAGE_SIZE
), IMX_GPIO_REGS_COUNT
* IMX_GPIO_SIZE
);
473 pio_base
= mmap(NULL
, IMX_GPIO_REGS_COUNT
* IMX_GPIO_SIZE
,
474 PROT_READ
| PROT_WRITE
,
475 MAP_SHARED
, dev_mem_fd
, imx_gpio_peri_base
);
477 if (pio_base
== MAP_FAILED
) {
480 return ERROR_JTAG_INIT_FAILED
;
484 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
485 * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
487 if (imx_gpio_jtag_mode_possible()) {
488 tdo_gpio_mode
= gpio_mode_get(tdo_gpio
);
489 tdi_gpio_mode
= gpio_mode_get(tdi_gpio
);
490 tck_gpio_mode
= gpio_mode_get(tck_gpio
);
491 tms_gpio_mode
= gpio_mode_get(tms_gpio
);
493 gpio_clear(tdi_gpio
);
494 gpio_clear(tck_gpio
);
497 gpio_mode_input_set(tdo_gpio
);
498 gpio_mode_output_set(tdi_gpio
);
499 gpio_mode_output_set(tck_gpio
);
500 gpio_mode_output_set(tms_gpio
);
502 if (imx_gpio_swd_mode_possible()) {
503 swclk_gpio_mode
= gpio_mode_get(swclk_gpio
);
504 swdio_gpio_mode
= gpio_mode_get(swdio_gpio
);
506 gpio_clear(swdio_gpio
);
507 gpio_clear(swclk_gpio
);
508 gpio_mode_output_set(swclk_gpio
);
509 gpio_mode_output_set(swdio_gpio
);
511 if (trst_gpio
!= -1) {
512 trst_gpio_mode
= gpio_mode_get(trst_gpio
);
514 gpio_mode_output_set(trst_gpio
);
516 if (srst_gpio
!= -1) {
517 srst_gpio_mode
= gpio_mode_get(srst_gpio
);
519 gpio_mode_output_set(srst_gpio
);
522 LOG_DEBUG("saved pinmux settings: tck %d tms %d tdi %d "
523 "tdo %d trst %d srst %d", tck_gpio_mode
, tms_gpio_mode
,
524 tdi_gpio_mode
, tdo_gpio_mode
, trst_gpio_mode
, srst_gpio_mode
);
527 imx_gpio_bitbang
.write
= imx_gpio_swd_write
;
528 bitbang_switch_to_swd();
534 static int imx_gpio_quit(void)
536 if (imx_gpio_jtag_mode_possible()) {
537 gpio_mode_set(tdo_gpio
, tdo_gpio_mode
);
538 gpio_mode_set(tdi_gpio
, tdi_gpio_mode
);
539 gpio_mode_set(tck_gpio
, tck_gpio_mode
);
540 gpio_mode_set(tms_gpio
, tms_gpio_mode
);
542 if (imx_gpio_swd_mode_possible()) {
543 gpio_mode_set(swclk_gpio
, swclk_gpio_mode
);
544 gpio_mode_set(swdio_gpio
, swdio_gpio_mode
);
547 gpio_mode_set(trst_gpio
, trst_gpio_mode
);
549 gpio_mode_set(srst_gpio
, srst_gpio_mode
);