drivers: new jtag bitbang driver using sysfs gpio
This driver implements a bitbang jtag interface using gpio lines exported via sysfs. The aim of this driver implementation is to use system GPIOs but to avoid the need for an additional kernel driver. A config suitable for RaspberryPi is included. Change-Id: Ib2acf720247a219768d1cbfeebd88057ed2d7b8b Signed-off-by: Marc Reilly <marc@cpdesign.com.au> Reviewed-on: http://openocd.zylin.com/762 Reviewed-by: Spencer Oliver <spen@spen-soft.co.uk> Tested-by: jenkins Reviewed-by: Freddie Chopin <freddie.chopin@gmail.com>__archive__
Marc Reilly
Freddie Chopin
parent
a4830e7a6a
commit
fe52282c37
11
configure.ac
11
configure.ac
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@ -487,6 +487,10 @@ AC_ARG_ENABLE([opendous],
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AS_HELP_STRING([--enable-opendous], [Enable building support for the estick/opendous JTAG Programmer]),
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[build_opendous=$enableval], [build_opendous=no])
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AC_ARG_ENABLE([sysfsgpio],
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AS_HELP_STRING([--enable-sysfsgpio], [Enable building support for programming driven via sysfs gpios.]),
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[build_sysfsgpio=$enableval], [build_sysfsgpio=no])
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AC_ARG_ENABLE([minidriver_dummy],
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AS_HELP_STRING([--enable-minidriver-dummy], [Enable the dummy minidriver.]),
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[build_minidriver_dummy=$enableval], [build_minidriver_dummy=no])
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@ -819,6 +823,12 @@ else
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AC_DEFINE([BUILD_REMOTE_BITBANG], [0], [0 if you don't want the Remote Bitbang JTAG driver.])
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fi
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if test $build_sysfsgpio = yes; then
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build_bitbang=yes
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AC_DEFINE([BUILD_SYSFSGPIO], [1], [1 if you want the SysfsGPIO driver.])
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else
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AC_DEFINE([BUILD_SYSFSGPIO], [0], [0 if you don't want SysfsGPIO driver.])
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fi
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#-- Deal with MingW/Cygwin FTD2XX issues
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if test $is_win32 = yes; then
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@ -1185,6 +1195,7 @@ AM_CONDITIONAL([BUSPIRATE], [test $build_buspirate = yes])
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AM_CONDITIONAL([STLINK], [test $build_stlink = yes])
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AM_CONDITIONAL([OSBDM], [test $build_osbdm = yes])
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AM_CONDITIONAL([OPENDOUS], [test $build_opendous = yes])
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AM_CONDITIONAL([SYSFSGPIO], [test $build_sysfsgpio = yes])
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AM_CONDITIONAL([USB], [test $build_usb = yes])
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AM_CONDITIONAL([USB_NG], [test $build_usb_ng = yes])
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AM_CONDITIONAL([USE_LIBUSB0], [test $use_libusb0 = yes])
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@ -107,6 +107,9 @@ endif
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if OPENDOUS
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DRIVERFILES += opendous.c
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endif
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if SYSFSGPIO
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DRIVERFILES += sysfsgpio.c
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endif
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noinst_HEADERS = \
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bitbang.h \
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@ -0,0 +1,505 @@
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/***************************************************************************
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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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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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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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if (is_output)
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ret = open(buf, O_WRONLY | O_NONBLOCK | O_SYNC);
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else
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ret = open(buf, O_RDONLY | O_NONBLOCK | O_SYNC);
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if (ret < 0)
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unexport_sysfs_gpio(gpio);
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return ret;
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}
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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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/*
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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] == '1';
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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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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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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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write(tdi_fd, tdi ? &one : &zero, 1);
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if (tms != last_tms)
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write(tms_fd, tms ? &one : &zero, 1);
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/* write clk last */
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if (tck != last_tck)
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write(tck_fd, tck ? &one : &zero, 1);
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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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const char one[] = "1";
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const char zero[] = "0";
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/* assume active low */
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if (srst_fd >= 0)
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write(srst_fd, srst ? &zero : &one, 1);
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/* assume active low */
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if (trst_fd >= 0)
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write(trst_fd, trst ? &zero : &one, 1);
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}
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/* No speed control is implemented yet */
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static int sysfsgpio_speed(int speed)
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{
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return ERROR_OK;
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}
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static int sysfsgpio_khz(int khz, int *jtag_speed)
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{
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/* no adaptive clocking */
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if (khz == 0)
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return ERROR_FAIL;
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*jtag_speed = 0;
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return ERROR_OK;
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}
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static int sysfsgpio_speed_div(int speed, int *khz)
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{
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*khz = 1;
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return ERROR_OK;
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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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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, tdi = %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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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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COMMAND_REGISTRATION_DONE
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};
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static int sysfsgpio_init(void);
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static int sysfsgpio_quit(void);
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struct jtag_interface sysfsgpio_interface = {
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.name = "sysfsgpio",
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.supported = DEBUG_CAP_TMS_SEQ,
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.execute_queue = bitbang_execute_queue,
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.transports = jtag_only,
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.speed = sysfsgpio_speed,
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.khz = sysfsgpio_khz,
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.speed_div = sysfsgpio_speed_div,
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.commands = sysfsgpio_command_handlers,
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.init = sysfsgpio_init,
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.quit = sysfsgpio_quit,
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};
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static struct bitbang_interface sysfsgpio_bitbang = {
|
||||
.read = sysfsgpio_read,
|
||||
.write = sysfsgpio_write,
|
||||
.reset = sysfsgpio_reset,
|
||||
.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 int sysfsgpio_init(void)
|
||||
{
|
||||
bitbang_interface = &sysfsgpio_bitbang;
|
||||
|
||||
LOG_INFO("SysfsGPIO JTAG bitbang driver");
|
||||
|
||||
if (!(is_gpio_valid(tck_gpio)
|
||||
&& is_gpio_valid(tms_gpio)
|
||||
&& is_gpio_valid(tdi_gpio)
|
||||
&& is_gpio_valid(tdo_gpio))) {
|
||||
if (!is_gpio_valid(tck_gpio))
|
||||
LOG_ERROR("gpio num for tck is invalid");
|
||||
if (!is_gpio_valid(tms_gpio))
|
||||
LOG_ERROR("gpio num for tms is invalid");
|
||||
if (!is_gpio_valid(tdo_gpio))
|
||||
LOG_ERROR("gpio num for tdo is invalid");
|
||||
if (!is_gpio_valid(tdi_gpio))
|
||||
LOG_ERROR("gpio num for tdi is invalid");
|
||||
|
||||
LOG_ERROR("Require tck, tms, tdi and tdo gpios to all be specified");
|
||||
return ERROR_JTAG_INIT_FAILED;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
/*
|
||||
* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
|
||||
* as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
|
||||
*/
|
||||
tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
|
||||
if (tck_fd < 0)
|
||||
goto out_error;
|
||||
|
||||
tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
|
||||
if (tms_fd < 0)
|
||||
goto out_error;
|
||||
|
||||
tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
|
||||
if (tdi_fd < 0)
|
||||
goto out_error;
|
||||
|
||||
tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
|
||||
if (tdo_fd < 0)
|
||||
goto out_error;
|
||||
|
||||
/* assume active low*/
|
||||
trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1);
|
||||
if (trst_gpio > 0 && trst_fd < 0)
|
||||
goto out_error;
|
||||
|
||||
/* assume active low*/
|
||||
srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1);
|
||||
if (srst_gpio > 0 && srst_fd < 0)
|
||||
goto out_error;
|
||||
|
||||
return ERROR_OK;
|
||||
|
||||
out_error:
|
||||
cleanup_all_fds();
|
||||
return ERROR_JTAG_INIT_FAILED;
|
||||
}
|
||||
|
||||
static int sysfsgpio_quit(void)
|
||||
{
|
||||
cleanup_all_fds();
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
|
|
@ -113,6 +113,9 @@ extern struct jtag_interface osbdm_interface;
|
|||
#if BUILD_OPENDOUS == 1
|
||||
extern struct jtag_interface opendous_interface;
|
||||
#endif
|
||||
#if BUILD_SYSFSGPIO == 1
|
||||
extern struct jtag_interface sysfsgpio_interface;
|
||||
#endif
|
||||
#endif /* standard drivers */
|
||||
|
||||
/**
|
||||
|
|
@ -194,6 +197,9 @@ struct jtag_interface *jtag_interfaces[] = {
|
|||
#if BUILD_OPENDOUS == 1
|
||||
&opendous_interface,
|
||||
#endif
|
||||
#if BUILD_SYSFSGPIO == 1
|
||||
&sysfsgpio_interface,
|
||||
#endif
|
||||
#endif /* standard drivers */
|
||||
NULL,
|
||||
};
|
||||
|
|
|
|||
|
|
@ -0,0 +1,24 @@
|
|||
#
|
||||
# Config for using RaspberryPi's expansion header
|
||||
#
|
||||
# This is best used with a fast enough buffer but also
|
||||
# is suitable for direct connection if the target voltage
|
||||
# matches RPi's 3.3V
|
||||
#
|
||||
# Do not forget the GND connection, pin 6 of the expansion header.
|
||||
#
|
||||
|
||||
interface sysfsgpio
|
||||
|
||||
# This has no effect on the driver, but is required
|
||||
adapter_khz 100
|
||||
|
||||
# Each of the JTAG lines need a gpio number set: tck tms tdi tdo
|
||||
# Header pin numbers: 23 22 19 21
|
||||
sysfsgpio_jtag_nums 11 25 10 9
|
||||
|
||||
# At least one of srst or trst needs to be specified
|
||||
# Header pin numbers: TRST - 26, SRST - 18
|
||||
sysfsgpio_trst_num 7
|
||||
# sysfsgpio_srst_num 24
|
||||
|
||||
Loading…
Reference in New Issue