adapter.c

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// SPDX-License-Identifier: GPL-2.0-or-later
/*
 * Copyright (C) 2005 by Dominic Rath <Dominic.Rath@gmx.de>
 * Copyright (C) 2007-2010 Øyvind Harboe <oyvind.harboe@zylin.com>
 * Copyright (C) 2009 SoftPLC Corporation, http://softplc.com, Dick Hollenbeck <dick@softplc.com>
 * Copyright (C) 2009 Zachary T Welch <zw@superlucidity.net>
 * Copyright (C) 2018 Pengutronix, Oleksij Rempel <kernel@pengutronix.de>
 */
 
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
 
#include "adapter.h"
#include "jtag.h"
#include "minidriver.h"
#include "interface.h"
#include "interfaces.h"
#include <helper/bits.h>
#include <transport/transport.h>
 
struct adapter_driver *adapter_driver;
 
enum adapter_clk_mode {
    CLOCK_MODE_UNSELECTED = 0,
    CLOCK_MODE_KHZ,
    CLOCK_MODE_RCLK
};
 
#define DEFAULT_CLOCK_SPEED_KHZ     100U
 
static struct {
    bool adapter_initialized;
    char *usb_location;
    char *serial;
    enum adapter_clk_mode clock_mode;
    int speed_khz;
    int rclk_fallback_speed_khz;
    struct adapter_gpio_config gpios[ADAPTER_GPIO_IDX_NUM];
    bool gpios_initialized; /* Initialization of GPIOs to their unset values performed at run time */
} adapter_config;
 
static const struct gpio_map {
    const char *name;
    enum adapter_gpio_direction direction;
    bool permit_drive_option;
    bool permit_init_state_option;
    bool permit_exit_state_option;
} gpio_map[ADAPTER_GPIO_IDX_NUM] = {
    [ADAPTER_GPIO_IDX_TDO] = { "tdo", ADAPTER_GPIO_DIRECTION_INPUT, false, true, true },
    [ADAPTER_GPIO_IDX_TDI] = { "tdi", ADAPTER_GPIO_DIRECTION_OUTPUT, true, true, true },
    [ADAPTER_GPIO_IDX_TMS] = { "tms", ADAPTER_GPIO_DIRECTION_OUTPUT, true, true, true },
    [ADAPTER_GPIO_IDX_TCK] = { "tck", ADAPTER_GPIO_DIRECTION_OUTPUT, true, true, true },
    [ADAPTER_GPIO_IDX_SWDIO] = { "swdio", ADAPTER_GPIO_DIRECTION_BIDIRECTIONAL, true, true, true },
    [ADAPTER_GPIO_IDX_SWDIO_DIR] = { "swdio_dir", ADAPTER_GPIO_DIRECTION_OUTPUT, true, false, false },
    [ADAPTER_GPIO_IDX_SWCLK] = { "swclk", ADAPTER_GPIO_DIRECTION_OUTPUT, true, true, true },
    [ADAPTER_GPIO_IDX_TRST] = { "trst", ADAPTER_GPIO_DIRECTION_OUTPUT, false, true, true },
    [ADAPTER_GPIO_IDX_SRST] = { "srst", ADAPTER_GPIO_DIRECTION_OUTPUT, false, true, true },
    [ADAPTER_GPIO_IDX_LED] = { "led", ADAPTER_GPIO_DIRECTION_OUTPUT, true, true, true },
    [ADAPTER_GPIO_IDX_USER0] = { "user0", ADAPTER_GPIO_DIRECTION_BIDIRECTIONAL, true, true, true },
};
 
static int adapter_config_khz(unsigned int khz);
 
bool is_adapter_initialized(void)
{
    return adapter_config.adapter_initialized;
}
 
/* For convenience of the bit-banging drivers keep the gpio_config drive
 * settings for srst and trst in sync with values set by the "adapter
 * reset_config" command.
 */
static void sync_adapter_reset_with_gpios(void)
{
    enum reset_types cfg = jtag_get_reset_config();
    if (cfg & RESET_SRST_PUSH_PULL)
        adapter_config.gpios[ADAPTER_GPIO_IDX_SRST].drive = ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL;
    else
        adapter_config.gpios[ADAPTER_GPIO_IDX_SRST].drive = ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN;
    if (cfg & RESET_TRST_OPEN_DRAIN)
        adapter_config.gpios[ADAPTER_GPIO_IDX_TRST].drive = ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN;
    else
        adapter_config.gpios[ADAPTER_GPIO_IDX_TRST].drive = ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL;
}
 
static void adapter_driver_gpios_init(void)
{
    if (adapter_config.gpios_initialized)
        return;
 
    for (int i = 0; i < ADAPTER_GPIO_IDX_NUM; ++i) {
        /* Use ADAPTER_GPIO_NOT_SET as the sentinel 'unset' value. */
        adapter_config.gpios[i].gpio_num = ADAPTER_GPIO_NOT_SET;
        adapter_config.gpios[i].chip_num = ADAPTER_GPIO_NOT_SET;
        if (gpio_map[i].direction == ADAPTER_GPIO_DIRECTION_INPUT)
            adapter_config.gpios[i].init_state = ADAPTER_GPIO_INIT_STATE_INPUT;
    }
 
    /* Drivers assume active low, and this is the normal behaviour for reset
     * lines so should be the default. */
    adapter_config.gpios[ADAPTER_GPIO_IDX_SRST].active_low = true;
    adapter_config.gpios[ADAPTER_GPIO_IDX_TRST].active_low = true;
    sync_adapter_reset_with_gpios();
 
    /* JTAG GPIOs should be inactive except for tms */
    adapter_config.gpios[ADAPTER_GPIO_IDX_TMS].init_state = ADAPTER_GPIO_INIT_STATE_ACTIVE;
 
    adapter_config.gpios_initialized = true;
}
 
int adapter_init(struct command_context *cmd_ctx)
{
    if (is_adapter_initialized())
        return ERROR_OK;
 
    if (!adapter_driver) {
        /* nothing was previously specified by "adapter driver" command */
        LOG_ERROR("Debug Adapter has to be specified, "
            "see \"adapter driver\" command");
        return ERROR_JTAG_INVALID_INTERFACE;
    }
 
    adapter_driver_gpios_init();
 
    int retval;
 
    /* If the adapter supports configurable speed but the speed is not configured,
     * provide a hint to the user. */
    if (adapter_driver->speed && adapter_config.clock_mode == CLOCK_MODE_UNSELECTED) {
        LOG_WARNING("An adapter speed is not selected in the init scripts."
            " OpenOCD will try to run the adapter at very low speed (%d kHz).",
            DEFAULT_CLOCK_SPEED_KHZ);
        LOG_WARNING("To remove this warnings and achieve reasonable communication speed with the target,"
            " set \"adapter speed\" or \"jtag_rclk\" in the init scripts.");
        retval = adapter_config_khz(DEFAULT_CLOCK_SPEED_KHZ);
        if (retval != ERROR_OK)
            return ERROR_JTAG_INIT_FAILED;
    }
 
    retval = adapter_driver->init();
    if (retval != ERROR_OK)
        return retval;
    adapter_config.adapter_initialized = true;
 
    if (!adapter_driver->speed) {
        LOG_INFO("Note: The adapter \"%s\" doesn't support configurable speed", adapter_driver->name);
        return ERROR_OK;
    }
 
    int requested_khz = adapter_get_speed_khz();
    int actual_khz = requested_khz;
    int speed_var = 0;
    retval = adapter_get_speed(&speed_var);
    if (retval != ERROR_OK)
        return retval;
    retval = adapter_driver->speed(speed_var);
    if (retval != ERROR_OK)
        return retval;
    retval = adapter_get_speed_readable(&actual_khz);
    if (retval != ERROR_OK)
        LOG_INFO("adapter-specific clock speed value %d", speed_var);
    else if (actual_khz) {
        /* Adaptive clocking -- JTAG-specific */
        if ((adapter_config.clock_mode == CLOCK_MODE_RCLK)
                || ((adapter_config.clock_mode == CLOCK_MODE_KHZ) && !requested_khz)) {
            LOG_INFO("RCLK (adaptive clock speed) not supported - fallback to %d kHz"
            , actual_khz);
        } else
            LOG_INFO("clock speed %d kHz", actual_khz);
    } else
        LOG_INFO("RCLK (adaptive clock speed)");
 
    return ERROR_OK;
}
 
int adapter_quit(void)
{
    if (is_adapter_initialized() && adapter_driver->quit) {
        int result = adapter_driver->quit();
        if (result != ERROR_OK)
            LOG_ERROR("failed: %d", result);
    }
 
    free(adapter_config.serial);
    free(adapter_config.usb_location);
 
    struct jtag_tap *t = jtag_all_taps();
    while (t) {
        struct jtag_tap *n = t->next_tap;
        jtag_tap_free(t);
        t = n;
    }
 
    return ERROR_OK;
}
 
unsigned int adapter_get_speed_khz(void)
{
    return adapter_config.speed_khz;
}
 
static int adapter_khz_to_speed(unsigned int khz, int *speed)
{
    LOG_DEBUG("convert khz to adapter specific speed value");
    adapter_config.speed_khz = khz;
    if (!is_adapter_initialized())
        return ERROR_OK;
    LOG_DEBUG("have adapter set up");
    if (!adapter_driver->khz) {
        LOG_ERROR("Translation from khz to adapter speed not implemented");
        return ERROR_FAIL;
    }
    int speed_div1;
    int retval = adapter_driver->khz(adapter_get_speed_khz(), &speed_div1);
    if (retval != ERROR_OK)
        return retval;
    *speed = speed_div1;
    return ERROR_OK;
}
 
static int adapter_rclk_to_speed(unsigned int fallback_speed_khz, int *speed)
{
    int retval = adapter_khz_to_speed(0, speed);
    if ((retval != ERROR_OK) && fallback_speed_khz) {
        LOG_DEBUG("trying fallback speed...");
        retval = adapter_khz_to_speed(fallback_speed_khz, speed);
    }
    return retval;
}
 
static int adapter_set_speed(int speed)
{
    /* this command can be called during CONFIG,
     * in which case adapter isn't initialized */
    return is_adapter_initialized() ? adapter_driver->speed(speed) : ERROR_OK;
}
 
static int adapter_config_khz(unsigned int khz)
{
    LOG_DEBUG("handle adapter khz");
    adapter_config.clock_mode = CLOCK_MODE_KHZ;
    int speed = 0;
    int retval = adapter_khz_to_speed(khz, &speed);
    return (retval != ERROR_OK) ? retval : adapter_set_speed(speed);
}
 
int adapter_config_rclk(unsigned int fallback_speed_khz)
{
    LOG_DEBUG("handle adapter rclk");
    adapter_config.clock_mode = CLOCK_MODE_RCLK;
    adapter_config.rclk_fallback_speed_khz = fallback_speed_khz;
    int speed = 0;
    int retval = adapter_rclk_to_speed(fallback_speed_khz, &speed);
    return (retval != ERROR_OK) ? retval : adapter_set_speed(speed);
}
 
int adapter_get_speed(int *speed)
{
    switch (adapter_config.clock_mode) {
    case CLOCK_MODE_KHZ:
        adapter_khz_to_speed(adapter_get_speed_khz(), speed);
        break;
    case CLOCK_MODE_RCLK:
        adapter_rclk_to_speed(adapter_config.rclk_fallback_speed_khz, speed);
        break;
    default:
        LOG_ERROR("BUG: unknown adapter clock mode");
        return ERROR_FAIL;
    }
    return ERROR_OK;
}
 
int adapter_get_speed_readable(int *khz)
{
    int speed_var = 0;
    int retval = adapter_get_speed(&speed_var);
    if (retval != ERROR_OK)
        return retval;
    if (!is_adapter_initialized())
        return ERROR_OK;
    if (!adapter_driver->speed_div) {
        LOG_ERROR("Translation from adapter speed to khz not implemented");
        return ERROR_FAIL;
    }
    return adapter_driver->speed_div(speed_var, khz);
}
 
const char *adapter_get_required_serial(void)
{
    return adapter_config.serial;
}
 
/*
 * 1 char: bus
 * 2 * 7 chars: max 7 ports
 * 1 char: test for overflow
 * ------
 * 16 chars
 */
#define USB_MAX_LOCATION_LENGTH         16
 
#ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
static void adapter_usb_set_location(const char *location)
{
    if (strnlen(location, USB_MAX_LOCATION_LENGTH) == USB_MAX_LOCATION_LENGTH)
        LOG_WARNING("usb location string is too long!!");
 
    free(adapter_config.usb_location);
 
    adapter_config.usb_location = strndup(location, USB_MAX_LOCATION_LENGTH);
}
#endif /* HAVE_LIBUSB_GET_PORT_NUMBERS */
 
const char *adapter_usb_get_location(void)
{
    return adapter_config.usb_location;
}
 
bool adapter_usb_location_equal(uint8_t dev_bus, uint8_t *port_path, size_t path_len)
{
    size_t path_step, string_length;
    char *ptr, *loc;
    bool equal = false;
 
    if (!adapter_usb_get_location())
        return equal;
 
    /* strtok need non const char */
    loc = strndup(adapter_usb_get_location(), USB_MAX_LOCATION_LENGTH);
    string_length = strnlen(loc, USB_MAX_LOCATION_LENGTH);
 
    ptr = strtok(loc, "-");
    if (!ptr) {
        LOG_WARNING("no '-' in usb path\n");
        goto done;
    }
 
    string_length -= strnlen(ptr, string_length);
    /* check bus mismatch */
    if (atoi(ptr) != dev_bus)
        goto done;
 
    path_step = 0;
    while (path_step < path_len) {
        ptr = strtok(NULL, ".");
 
        /* no more tokens in path */
        if (!ptr)
            break;
 
        /* path mismatch at some step */
        if (path_step < path_len && atoi(ptr) != port_path[path_step])
            break;
 
        path_step++;
        string_length -= strnlen(ptr, string_length) + 1;
    };
 
    /* walked the full path, all elements match */
    if (path_step == path_len && !string_length)
        equal = true;
 
done:
    free(loc);
    return equal;
}
 
COMMAND_HANDLER(handle_adapter_name)
{
    /* return the name of the adapter driver */
    /* TCL code might need to know the exact type... */
    /* FUTURE: we allow this as a means to "set" the interface. */
 
    if (CMD_ARGC != 0)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    command_print(CMD, "%s", adapter_driver ? adapter_driver->name : "undefined");
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(dump_adapter_driver_list)
{
    int max_len = 0;
    for (unsigned int i = 0; adapter_drivers[i]; i++) {
        int len = strlen(adapter_drivers[i]->name);
        if (max_len < len)
            max_len = len;
    }
 
    for (unsigned int i = 0; adapter_drivers[i]; i++) {
        const char *name = adapter_drivers[i]->name;
        unsigned int transport_ids = adapter_drivers[i]->transport_ids;
 
        command_print_sameline(CMD, "%-*s {", max_len, name);
        for (unsigned int j = BIT(0); j & TRANSPORT_VALID_MASK; j <<= 1)
            if (j & transport_ids)
                command_print_sameline(CMD, " %s", transport_name(j));
        command_print(CMD, " }");
    }
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_adapter_list_command)
{
    if (CMD_ARGC)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    return CALL_COMMAND_HANDLER(dump_adapter_driver_list);
}
 
COMMAND_HANDLER(handle_adapter_driver_command)
{
    int retval;
 
    /* check whether the adapter driver is already configured */
    if (adapter_driver) {
        LOG_WARNING("Adapter driver already configured, ignoring");
        return ERROR_OK;
    }
 
    /* adapter driver name is a mandatory argument */
    if (CMD_ARGC != 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    for (unsigned int i = 0; adapter_drivers[i]; i++) {
        if (strcmp(CMD_ARGV[0], adapter_drivers[i]->name) != 0)
            continue;
 
        if (adapter_drivers[i]->commands) {
            retval = register_commands(CMD_CTX, NULL, adapter_drivers[i]->commands);
            if (retval != ERROR_OK)
                return retval;
        }
 
        adapter_driver = adapter_drivers[i];
 
        return allow_transports(CMD_CTX, adapter_driver->transport_ids,
            adapter_driver->transport_preferred_id);
    }
 
    /* no valid adapter driver was found (i.e. the configuration option,
     * didn't match one of the compiled-in drivers
     */
    LOG_ERROR("The specified adapter driver was not found (%s)",
                CMD_ARGV[0]);
    command_print(CMD, "The following adapter drivers are available:");
    CALL_COMMAND_HANDLER(dump_adapter_driver_list);
    return ERROR_JTAG_INVALID_INTERFACE;
}
 
COMMAND_HANDLER(handle_reset_config_command)
{
    int new_cfg = 0;
    int mask = 0;
 
    /* Original versions cared about the order of these tokens:
     *   reset_config signals [combination [trst_type [srst_type]]]
     * They also clobbered the previous configuration even on error.
     *
     * Here we don't care about the order, and only change values
     * which have been explicitly specified.
     */
    for (; CMD_ARGC; CMD_ARGC--, CMD_ARGV++) {
        int tmp = 0;
        int m;
 
        /* gating */
        m = RESET_SRST_NO_GATING;
        if (strcmp(*CMD_ARGV, "srst_gates_jtag") == 0)
            /* default: don't use JTAG while SRST asserted */;
        else if (strcmp(*CMD_ARGV, "srst_nogate") == 0)
            tmp = RESET_SRST_NO_GATING;
        else
            m = 0;
        if (mask & m) {
            LOG_ERROR("extra reset_config %s spec (%s)",
                    "gating", *CMD_ARGV);
            return ERROR_COMMAND_SYNTAX_ERROR;
        }
        if (m)
            goto next;
 
        /* signals */
        m = RESET_HAS_TRST | RESET_HAS_SRST;
        if (strcmp(*CMD_ARGV, "none") == 0)
            tmp = RESET_NONE;
        else if (strcmp(*CMD_ARGV, "trst_only") == 0)
            tmp = RESET_HAS_TRST;
        else if (strcmp(*CMD_ARGV, "srst_only") == 0)
            tmp = RESET_HAS_SRST;
        else if (strcmp(*CMD_ARGV, "trst_and_srst") == 0)
            tmp = RESET_HAS_TRST | RESET_HAS_SRST;
        else
            m = 0;
        if (mask & m) {
            LOG_ERROR("extra reset_config %s spec (%s)",
                    "signal", *CMD_ARGV);
            return ERROR_COMMAND_SYNTAX_ERROR;
        }
        if (m)
            goto next;
 
        /* combination (options for broken wiring) */
        m = RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
        if (strcmp(*CMD_ARGV, "separate") == 0)
            /* separate reset lines - default */;
        else if (strcmp(*CMD_ARGV, "srst_pulls_trst") == 0)
            tmp |= RESET_SRST_PULLS_TRST;
        else if (strcmp(*CMD_ARGV, "trst_pulls_srst") == 0)
            tmp |= RESET_TRST_PULLS_SRST;
        else if (strcmp(*CMD_ARGV, "combined") == 0)
            tmp |= RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
        else
            m = 0;
        if (mask & m) {
            LOG_ERROR("extra reset_config %s spec (%s)",
                    "combination", *CMD_ARGV);
            return ERROR_COMMAND_SYNTAX_ERROR;
        }
        if (m)
            goto next;
 
        /* trst_type (NOP without HAS_TRST) */
        m = RESET_TRST_OPEN_DRAIN;
        if (strcmp(*CMD_ARGV, "trst_open_drain") == 0)
            tmp |= RESET_TRST_OPEN_DRAIN;
        else if (strcmp(*CMD_ARGV, "trst_push_pull") == 0)
            /* push/pull from adapter - default */;
        else
            m = 0;
        if (mask & m) {
            LOG_ERROR("extra reset_config %s spec (%s)",
                    "trst_type", *CMD_ARGV);
            return ERROR_COMMAND_SYNTAX_ERROR;
        }
        if (m)
            goto next;
 
        /* srst_type (NOP without HAS_SRST) */
        m = RESET_SRST_PUSH_PULL;
        if (strcmp(*CMD_ARGV, "srst_push_pull") == 0)
            tmp |= RESET_SRST_PUSH_PULL;
        else if (strcmp(*CMD_ARGV, "srst_open_drain") == 0)
            /* open drain from adapter - default */;
        else
            m = 0;
        if (mask & m) {
            LOG_ERROR("extra reset_config %s spec (%s)",
                    "srst_type", *CMD_ARGV);
            return ERROR_COMMAND_SYNTAX_ERROR;
        }
        if (m)
            goto next;
 
        /* connect_type - only valid when srst_nogate */
        m = RESET_CNCT_UNDER_SRST;
        if (strcmp(*CMD_ARGV, "connect_assert_srst") == 0)
            tmp |= RESET_CNCT_UNDER_SRST;
        else if (strcmp(*CMD_ARGV, "connect_deassert_srst") == 0)
            /* connect normally - default */;
        else
            m = 0;
        if (mask & m) {
            LOG_ERROR("extra reset_config %s spec (%s)",
                    "connect_type", *CMD_ARGV);
            return ERROR_COMMAND_SYNTAX_ERROR;
        }
        if (m)
            goto next;
 
        /* caller provided nonsense; fail */
        LOG_ERROR("unknown reset_config flag (%s)", *CMD_ARGV);
        return ERROR_COMMAND_SYNTAX_ERROR;
 
next:
        /* Remember the bits which were specified (mask)
         * and their new values (new_cfg).
         */
        mask |= m;
        new_cfg |= tmp;
    }
 
    /* clear previous values of those bits, save new values */
    if (mask) {
        int old_cfg = jtag_get_reset_config();
 
        old_cfg &= ~mask;
        new_cfg |= old_cfg;
        jtag_set_reset_config(new_cfg);
        sync_adapter_reset_with_gpios();
 
    } else
        new_cfg = jtag_get_reset_config();
 
    /*
     * Display the (now-)current reset mode
     */
    char *modes[6];
 
    /* minimal JTAG has neither SRST nor TRST (so that's the default) */
    switch (new_cfg & (RESET_HAS_TRST | RESET_HAS_SRST)) {
    case RESET_HAS_SRST:
        modes[0] = "srst_only";
        break;
    case RESET_HAS_TRST:
        modes[0] = "trst_only";
        break;
    case RESET_TRST_AND_SRST:
        modes[0] = "trst_and_srst";
        break;
    default:
        modes[0] = "none";
        break;
    }
 
    /* normally SRST and TRST are decoupled; but bugs happen ... */
    switch (new_cfg & (RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST)) {
    case RESET_SRST_PULLS_TRST:
        modes[1] = "srst_pulls_trst";
        break;
    case RESET_TRST_PULLS_SRST:
        modes[1] = "trst_pulls_srst";
        break;
    case RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST:
        modes[1] = "combined";
        break;
    default:
        modes[1] = "separate";
        break;
    }
 
    /* TRST-less connectors include Altera, Xilinx, and minimal JTAG */
    if (new_cfg & RESET_HAS_TRST) {
        if (new_cfg & RESET_TRST_OPEN_DRAIN)
            modes[3] = " trst_open_drain";
        else
            modes[3] = " trst_push_pull";
    } else
        modes[3] = "";
 
    /* SRST-less connectors include TI-14, Xilinx, and minimal JTAG */
    if (new_cfg & RESET_HAS_SRST) {
        if (new_cfg & RESET_SRST_NO_GATING)
            modes[2] = " srst_nogate";
        else
            modes[2] = " srst_gates_jtag";
 
        if (new_cfg & RESET_SRST_PUSH_PULL)
            modes[4] = " srst_push_pull";
        else
            modes[4] = " srst_open_drain";
 
        if (new_cfg & RESET_CNCT_UNDER_SRST)
            modes[5] = " connect_assert_srst";
        else
            modes[5] = " connect_deassert_srst";
    } else {
        modes[2] = "";
        modes[4] = "";
        modes[5] = "";
    }
 
    command_print(CMD, "%s %s%s%s%s%s",
            modes[0], modes[1],
            modes[2], modes[3], modes[4], modes[5]);
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_adapter_srst_delay_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
    if (CMD_ARGC == 1) {
        unsigned int delay;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 
        jtag_set_nsrst_delay(delay);
    }
    command_print(CMD, "adapter srst delay: %u", jtag_get_nsrst_delay());
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_adapter_srst_pulse_width_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
    if (CMD_ARGC == 1) {
        unsigned int width;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], width);
 
        jtag_set_nsrst_assert_width(width);
    }
    command_print(CMD, "adapter srst pulse_width: %u", jtag_get_nsrst_assert_width());
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_adapter_speed_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    int retval = ERROR_OK;
    if (CMD_ARGC == 1) {
        unsigned int khz = 0;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
 
        retval = adapter_config_khz(khz);
        if (retval != ERROR_OK)
            return retval;
    }
 
    int cur_speed = adapter_get_speed_khz();
    retval = adapter_get_speed_readable(&cur_speed);
    if (retval != ERROR_OK)
        return retval;
 
    if (cur_speed)
        command_print(CMD, "adapter speed: %d kHz", cur_speed);
    else
        command_print(CMD, "adapter speed: RCLK - adaptive");
 
    return retval;
}
 
COMMAND_HANDLER(handle_adapter_serial_command)
{
    if (CMD_ARGC != 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    free(adapter_config.serial);
    adapter_config.serial = strdup(CMD_ARGV[0]);
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_adapter_reset_de_assert)
{
    enum values {
        VALUE_UNDEFINED = -1,
        VALUE_DEASSERT  = 0,
        VALUE_ASSERT    = 1,
    };
    enum values value;
    enum values srst = VALUE_UNDEFINED;
    enum values trst = VALUE_UNDEFINED;
    enum reset_types jtag_reset_config = jtag_get_reset_config();
    char *signal;
 
    if (CMD_ARGC == 0) {
        if (transport_is_jtag()) {
            if (jtag_reset_config & RESET_HAS_TRST)
                signal = jtag_get_trst() ? "asserted" : "deasserted";
            else
                signal = "not present";
            command_print(CMD, "trst %s", signal);
        }
 
        if (jtag_reset_config & RESET_HAS_SRST)
            signal = jtag_get_srst() ? "asserted" : "deasserted";
        else
            signal = "not present";
        command_print(CMD, "srst %s", signal);
 
        return ERROR_OK;
    }
 
    if (CMD_ARGC != 1 && CMD_ARGC != 3)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    value = (strcmp(CMD_NAME, "assert") == 0) ? VALUE_ASSERT : VALUE_DEASSERT;
    if (strcmp(CMD_ARGV[0], "srst") == 0)
        srst = value;
    else if (strcmp(CMD_ARGV[0], "trst") == 0)
        trst = value;
    else
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    if (CMD_ARGC == 3) {
        if (strcmp(CMD_ARGV[1], "assert") == 0)
            value = VALUE_ASSERT;
        else if (strcmp(CMD_ARGV[1], "deassert") == 0)
            value = VALUE_DEASSERT;
        else
            return ERROR_COMMAND_SYNTAX_ERROR;
 
        if (strcmp(CMD_ARGV[2], "srst") == 0 && srst == VALUE_UNDEFINED)
            srst = value;
        else if (strcmp(CMD_ARGV[2], "trst") == 0 && trst == VALUE_UNDEFINED)
            trst = value;
        else
            return ERROR_COMMAND_SYNTAX_ERROR;
    }
 
    if (trst == VALUE_UNDEFINED) {
        if (transport_is_jtag())
            trst = jtag_get_trst() ? VALUE_ASSERT : VALUE_DEASSERT;
        else
            trst = VALUE_DEASSERT; /* unused, safe value */
    }
 
    if (srst == VALUE_UNDEFINED) {
        if (jtag_reset_config & RESET_HAS_SRST)
            srst = jtag_get_srst() ? VALUE_ASSERT : VALUE_DEASSERT;
        else
            srst = VALUE_DEASSERT; /* unused, safe value */
    }
 
    if (trst == VALUE_ASSERT && !transport_is_jtag()) {
        LOG_ERROR("transport has no trst signal");
        return ERROR_FAIL;
    }
 
    if (srst == VALUE_ASSERT && !(jtag_reset_config & RESET_HAS_SRST)) {
        LOG_ERROR("adapter has no srst signal");
        return ERROR_FAIL;
    }
 
    return adapter_resets((trst == VALUE_DEASSERT) ? TRST_DEASSERT : TRST_ASSERT,
                          (srst == VALUE_DEASSERT) ? SRST_DEASSERT : SRST_ASSERT);
}
 
static int get_gpio_index(const char *signal_name)
{
    for (int i = 0; i < ADAPTER_GPIO_IDX_NUM; ++i) {
        if (strcmp(gpio_map[i].name, signal_name) == 0)
            return i;
    }
    return -1;
}
 
static COMMAND_HELPER(helper_adapter_gpio_print_config, enum adapter_gpio_config_index gpio_idx)
{
    struct adapter_gpio_config *gpio_config = &adapter_config.gpios[gpio_idx];
    const char *active_state = gpio_config->active_low ? "low" : "high";
    const char *dir = "";
    const char *drive = "";
    const char *pull = "";
    const char *init_state = "";
    const char *exit_state = "";
 
    if (gpio_config->gpio_num == ADAPTER_GPIO_NOT_SET) {
        command_print(CMD, "adapter gpio %s: not configured", gpio_map[gpio_idx].name);
        return ERROR_OK;
    }
 
    switch (gpio_map[gpio_idx].direction) {
    case ADAPTER_GPIO_DIRECTION_INPUT:
        dir = "input";
        break;
    case ADAPTER_GPIO_DIRECTION_OUTPUT:
        dir = "output";
        break;
    case ADAPTER_GPIO_DIRECTION_BIDIRECTIONAL:
        dir = "bidirectional";
        break;
    }
 
    if (gpio_map[gpio_idx].permit_drive_option) {
        switch (gpio_config->drive) {
        case ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL:
            drive = ", push-pull";
            break;
        case ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN:
            drive = ", open-drain";
            break;
        case ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE:
            drive = ", open-source";
            break;
        }
    }
 
    switch (gpio_config->pull) {
    case ADAPTER_GPIO_PULL_NONE:
        pull = ", pull-none";
        break;
    case ADAPTER_GPIO_PULL_UP:
        pull = ", pull-up";
        break;
    case ADAPTER_GPIO_PULL_DOWN:
        pull = ", pull-down";
        break;
    }
 
    if (gpio_map[gpio_idx].permit_init_state_option) {
        switch (gpio_config->init_state) {
        case ADAPTER_GPIO_INIT_STATE_INACTIVE:
            init_state = ", init-state inactive";
            break;
        case ADAPTER_GPIO_INIT_STATE_ACTIVE:
            init_state = ", init-state active";
            break;
        case ADAPTER_GPIO_INIT_STATE_INPUT:
            init_state = ", init-state input";
            break;
        }
    }
 
    if (gpio_map[gpio_idx].permit_exit_state_option) {
        switch (gpio_config->exit_state) {
        case ADAPTER_GPIO_EXIT_STATE_NO_CHANGE:
            exit_state = ", exit-state no-change";
            break;
        case ADAPTER_GPIO_EXIT_STATE_INACTIVE:
            exit_state = ", exit-state inactive";
            break;
        case ADAPTER_GPIO_EXIT_STATE_ACTIVE:
            exit_state = ", exit-state active";
            break;
        case ADAPTER_GPIO_EXIT_STATE_INPUT:
            exit_state = ", exit-state input";
            break;
        }
    }
 
 
    command_print(CMD, "adapter gpio %s (%s): num %u, chip %d, active-%s%s%s%s%s",
        gpio_map[gpio_idx].name, dir, gpio_config->gpio_num, (int)gpio_config->chip_num, active_state,
        drive, pull, init_state, exit_state);
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(helper_adapter_gpio_print_all_configs)
{
    for (int i = 0; i < ADAPTER_GPIO_IDX_NUM; ++i)
        CALL_COMMAND_HANDLER(helper_adapter_gpio_print_config, i);
    return ERROR_OK;
}
 
COMMAND_HANDLER(adapter_gpio_config_handler)
{
    unsigned int i = 1;
    struct adapter_gpio_config *gpio_config;
 
    adapter_driver_gpios_init();
 
    if (CMD_ARGC == 0) {
        CALL_COMMAND_HANDLER(helper_adapter_gpio_print_all_configs);
        return ERROR_OK;
    }
 
    int gpio_idx = get_gpio_index(CMD_ARGV[0]);
    if (gpio_idx == -1) {
        LOG_ERROR("adapter has no gpio named %s", CMD_ARGV[0]);
        return ERROR_COMMAND_SYNTAX_ERROR;
    }
 
    if (CMD_ARGC == 1) {
        CALL_COMMAND_HANDLER(helper_adapter_gpio_print_config, gpio_idx);
        return ERROR_OK;
    }
 
    gpio_config = &adapter_config.gpios[gpio_idx];
    while (i < CMD_ARGC) {
        LOG_DEBUG("Processing %s", CMD_ARGV[i]);
 
        if (isdigit(*CMD_ARGV[i])) {
            COMMAND_PARSE_NUMBER(uint, CMD_ARGV[i], gpio_config->gpio_num);
            ++i;
            continue;
        }
 
        if (strcmp(CMD_ARGV[i], "-chip") == 0) {
            if (CMD_ARGC - i < 2) {
                LOG_ERROR("-chip option requires a parameter");
                return ERROR_FAIL;
            }
            LOG_DEBUG("-chip arg is %s", CMD_ARGV[i + 1]);
            COMMAND_PARSE_NUMBER(uint, CMD_ARGV[i + 1], gpio_config->chip_num);
            i += 2;
            continue;
        }
 
        if (strcmp(CMD_ARGV[i], "-active-high") == 0) {
            ++i;
            gpio_config->active_low = false;
            continue;
        }
        if (strcmp(CMD_ARGV[i], "-active-low") == 0) {
            ++i;
            gpio_config->active_low = true;
            continue;
        }
 
        if (gpio_map[gpio_idx].permit_drive_option) {
            if (strcmp(CMD_ARGV[i], "-push-pull") == 0) {
                ++i;
                gpio_config->drive = ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL;
                continue;
            }
            if (strcmp(CMD_ARGV[i], "-open-drain") == 0) {
                ++i;
                gpio_config->drive = ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN;
                continue;
            }
            if (strcmp(CMD_ARGV[i], "-open-source") == 0) {
                ++i;
                gpio_config->drive = ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE;
                continue;
            }
        }
 
        if (strcmp(CMD_ARGV[i], "-pull-none") == 0) {
            ++i;
            gpio_config->pull = ADAPTER_GPIO_PULL_NONE;
            continue;
        }
        if (strcmp(CMD_ARGV[i], "-pull-up") == 0) {
            ++i;
            gpio_config->pull = ADAPTER_GPIO_PULL_UP;
            continue;
        }
        if (strcmp(CMD_ARGV[i], "-pull-down") == 0) {
            ++i;
            gpio_config->pull = ADAPTER_GPIO_PULL_DOWN;
            continue;
        }
 
        if (gpio_map[gpio_idx].permit_init_state_option) {
            if (strcmp(CMD_ARGV[i], "-init-inactive") == 0) {
                ++i;
                gpio_config->init_state = ADAPTER_GPIO_INIT_STATE_INACTIVE;
                continue;
            }
            if (strcmp(CMD_ARGV[i], "-init-active") == 0) {
                ++i;
                gpio_config->init_state = ADAPTER_GPIO_INIT_STATE_ACTIVE;
                continue;
            }
 
            if (gpio_map[gpio_idx].direction == ADAPTER_GPIO_DIRECTION_BIDIRECTIONAL &&
                    strcmp(CMD_ARGV[i], "-init-input") == 0) {
                ++i;
                gpio_config->init_state = ADAPTER_GPIO_INIT_STATE_INPUT;
                continue;
            }
        }
 
        if (gpio_map[gpio_idx].permit_exit_state_option) {
            if (strcmp(CMD_ARGV[i], "-exit-no-change") == 0) {
                ++i;
                gpio_config->exit_state = ADAPTER_GPIO_EXIT_STATE_NO_CHANGE;
                continue;
            }
            if (strcmp(CMD_ARGV[i], "-exit-inactive") == 0) {
                ++i;
                gpio_config->exit_state = ADAPTER_GPIO_EXIT_STATE_INACTIVE;
                continue;
            }
            if (strcmp(CMD_ARGV[i], "-exit-active") == 0) {
                ++i;
                gpio_config->exit_state = ADAPTER_GPIO_EXIT_STATE_ACTIVE;
                continue;
            }
 
            if (gpio_map[gpio_idx].direction == ADAPTER_GPIO_DIRECTION_BIDIRECTIONAL &&
                    strcmp(CMD_ARGV[i], "-exit-input") == 0) {
                ++i;
                gpio_config->exit_state = ADAPTER_GPIO_EXIT_STATE_INPUT;
                continue;
            }
        }
 
        LOG_ERROR("illegal option for adapter %s %s: %s",
                CMD_NAME, gpio_map[gpio_idx].name, CMD_ARGV[i]);
        return ERROR_COMMAND_SYNTAX_ERROR;
    }
 
    /* Force swdio_dir init state to be compatible with swdio init state */
    if (gpio_idx == ADAPTER_GPIO_IDX_SWDIO)
        adapter_config.gpios[ADAPTER_GPIO_IDX_SWDIO_DIR].init_state =
        (gpio_config->init_state == ADAPTER_GPIO_INIT_STATE_INPUT) ?
        ADAPTER_GPIO_INIT_STATE_INACTIVE :
        ADAPTER_GPIO_INIT_STATE_ACTIVE;
 
    return ERROR_OK;
}
 
#ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
COMMAND_HANDLER(handle_usb_location_command)
{
    if (CMD_ARGC == 1)
        adapter_usb_set_location(CMD_ARGV[0]);
 
    command_print(CMD, "adapter usb location: %s", adapter_usb_get_location());
 
    return ERROR_OK;
}
#endif /* HAVE_LIBUSB_GET_PORT_NUMBERS */
 
static const struct command_registration adapter_usb_command_handlers[] = {
#ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
    {
        .name = "location",
        .handler = &handle_usb_location_command,
        .mode = COMMAND_CONFIG,
        .help = "display or set the USB bus location of the USB device",
        .usage = "[<bus>-port[.port]...]",
    },
#endif /* HAVE_LIBUSB_GET_PORT_NUMBERS */
    COMMAND_REGISTRATION_DONE
};
 
static const struct command_registration adapter_srst_command_handlers[] = {
    {
        .name = "delay",
        .handler = handle_adapter_srst_delay_command,
        .mode = COMMAND_ANY,
        .help = "delay after deasserting SRST in ms",
        .usage = "[milliseconds]",
    },
    {
        .name = "pulse_width",
        .handler = handle_adapter_srst_pulse_width_command,
        .mode = COMMAND_ANY,
        .help = "SRST assertion pulse width in ms",
        .usage = "[milliseconds]",
    },
    COMMAND_REGISTRATION_DONE
};
 
static const struct command_registration adapter_command_handlers[] = {
    {
        .name = "driver",
        .handler = handle_adapter_driver_command,
        .mode = COMMAND_CONFIG,
        .help = "Select a debug adapter driver",
        .usage = "driver_name",
    },
    {
        .name = "speed",
        .handler = handle_adapter_speed_command,
        .mode = COMMAND_ANY,
        .help = "With an argument, change to the specified maximum "
            "jtag speed.  For JTAG, 0 KHz signifies adaptive "
            "clocking. "
            "With or without argument, display current setting.",
        .usage = "[khz]",
    },
    {
        .name = "serial",
        .handler = handle_adapter_serial_command,
        .mode = COMMAND_CONFIG,
        .help = "Set the serial number of the adapter",
        .usage = "serial_string",
    },
    {
        .name = "list",
        .handler = handle_adapter_list_command,
        .mode = COMMAND_ANY,
        .help = "List all built-in debug adapter drivers",
        .usage = "",
    },
    {
        .name = "name",
        .mode = COMMAND_ANY,
        .handler = handle_adapter_name,
        .help = "Returns the name of the currently "
            "selected adapter (driver)",
        .usage = "",
    },
    {
        .name = "srst",
        .mode = COMMAND_ANY,
        .help = "srst adapter command group",
        .usage = "",
        .chain = adapter_srst_command_handlers,
    },
    {
        .name = "usb",
        .mode = COMMAND_ANY,
        .help = "usb adapter command group",
        .usage = "",
        .chain = adapter_usb_command_handlers,
    },
    {
        .name = "assert",
        .handler = handle_adapter_reset_de_assert,
        .mode = COMMAND_EXEC,
        .help = "Controls SRST and TRST lines.",
        .usage = "|deassert [srst|trst [assert|deassert srst|trst]]",
    },
    {
        .name = "deassert",
        .handler = handle_adapter_reset_de_assert,
        .mode = COMMAND_EXEC,
        .help = "Controls SRST and TRST lines.",
        .usage = "|assert [srst|trst [deassert|assert srst|trst]]",
    },
    {
        .name = "gpio",
        .handler = adapter_gpio_config_handler,
        .mode = COMMAND_CONFIG,
        .help = "gpio adapter command group",
        .usage = "[ tdo|tdi|tms|tck|trst|swdio|swdio_dir|swclk|srst|led"
            "[gpio_number] "
            "[-chip chip_number] "
            "[-active-high|-active-low] "
            "[-push-pull|-open-drain|-open-source] "
            "[-pull-none|-pull-up|-pull-down]"
            "[-init-inactive|-init-active|-init-input] ]"
            "[-exit-no-change|-exit-inactive|-exit-active|-exit-input] ]",
    },
    COMMAND_REGISTRATION_DONE
};
 
static const struct command_registration interface_command_handlers[] = {
    {
        .name = "adapter",
        .mode = COMMAND_ANY,
        .help = "adapter command group",
        .usage = "",
        .chain = adapter_command_handlers,
    },
    {
        .name = "reset_config",
        .handler = handle_reset_config_command,
        .mode = COMMAND_ANY,
        .help = "configure adapter reset behavior",
        .usage = "[none|trst_only|srst_only|trst_and_srst] "
            "[srst_pulls_trst|trst_pulls_srst|combined|separate] "
            "[srst_gates_jtag|srst_nogate] "
            "[trst_push_pull|trst_open_drain] "
            "[srst_push_pull|srst_open_drain] "
            "[connect_deassert_srst|connect_assert_srst]",
    },
    COMMAND_REGISTRATION_DONE
};
 
int adapter_register_commands(struct command_context *ctx)
{
    return register_commands(ctx, NULL, interface_command_handlers);
}
 
const char *adapter_gpio_get_name(enum adapter_gpio_config_index idx)
{
    return gpio_map[idx].name;
}
 
/* Allow drivers access to the GPIO configuration */
const struct adapter_gpio_config *adapter_gpio_get_config(void)
{
    return adapter_config.gpios;
}