Merge pull request #127 from rgrr/feature/rp2350-target

RP2350 as a debug target plus RTT

CMakeLists.txt

@@ -188,6 +188,8 @@ target_sources(${PROJECT} PRIVATE
         src/daplink-pico/board/rp2040/pico_target_utils.c
         src/daplink-pico/board/rp2040/program_flash_generic.c
         src/daplink-pico/family/raspberry/rp2040/target_reset_rp2040.c
+
+        src/daplink-pico/family/raspberry/rp2350/target_reset_rp2350.c
 )
 
 target_include_directories(${PROJECT} PRIVATE
@@ -208,8 +210,13 @@ target_include_directories(${PROJECT} PRIVATE
 
 # Both are actually dummies to prevent the DAPLink files from throwing errors
 # Actually not required because picoprobes structure is different
-add_compile_definitions(INTERFACE_RP2040=1
-                        DAPLINK_IF=1)
+if(PICO_BOARD STREQUAL "pico2")
+    add_compile_definitions(INTERFACE_RP2350=1
+                            DAPLINK_IF=1)
+else()
+    add_compile_definitions(INTERFACE_RP2040=1
+                            DAPLINK_IF=1)
+endif()
 
 # not sure if this is still required, but this equals to DAPLINK_HIC_ID_RP2040 in daplink.h
 add_compile_definitions(DAPLINK_HIC_ID=0x08154711)

Makefile

@@ -94,9 +94,10 @@ flash: all
 .PHONY: create-images
 create-images:
 	# with SDK2 clang no longer works.  This is a TODO
+	mkdir -p images
+	#
 	$(MAKE) cmake-create-release PICO_BOARD=pico
 	$(MAKE) all
-	mkdir -p images
 	cp $(BUILD_DIR)/$(PROJECT).uf2 images/yapicoprobe-$(shell printf "%02d%02d" $(VERSION_MAJOR) $(VERSION_MINOR))-pico-$(GIT_HASH).uf2
 	#
 	# does not compile with clang because of missing __heap_start/end
@@ -110,7 +111,6 @@ create-images:
 	#
 	$(MAKE) cmake-create-release PICO_BOARD=pico2
 	$(MAKE) all
-	mkdir -p images
 	cp $(BUILD_DIR)/$(PROJECT).uf2 images/yapicoprobe-$(shell printf "%02d%02d" $(VERSION_MAJOR) $(VERSION_MINOR))-pico2-$(GIT_HASH).uf2
 	#
 	# put development environment in a clean state

README.adoc

@@ -23,6 +23,9 @@ NOTE: Pico2 / RP2350 can also be used as probe hardware.
 
 WARNING: Pico2 / RP2350 targets are currently not supported.
 
+WARNING: Pico2 target is only working at <= 300kHz reliably. +
+         ``time /home/hardy/.pico-sdk/openocd/0.12.0+dev/openocd.exe -c "gdb_port 50000" -c "tcl_port 50001" -c "telnet_port 50002" -s /home/hardy/.pico-sdk/openocd/0.12.0+dev/scripts -f /home/hardy/.vscode/extensions/marus25.cortex-debug-1.12.1/support/openocd-helpers.tcl -f interface/cmsis-dap.cfg -f target/rp2350.cfg -c "adapter speed 349" -c "program {pio_blink.elf} verify reset; shutdown;"``
+
 
 ## Features
 
@@ -102,11 +105,16 @@ containing the steps from installation until debugging in VSCode.
 |yes 
 |`openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "adapter speed 25000"    -c "program {firmware.elf}  verify reset; shutdown;"`
 
-|pyOCD 0.34 & 0.35
+|pyOCD 0.34 .. 0.36
 |yes
 |yes
 |`pyocd flash -f 400000 -t nrf52840 firmware.elf`
 
+|probe-rs 0.23 ..
+|yes
+|?
+|`probe-rs benchmark --protocol swd --address 0x20000000 --chip RP2040`
+
 |cp / copy
 |yes
 |yes
@@ -133,7 +141,11 @@ Those settings are:
 DAP_PACKET_SIZE=512
 
 |OpenOCD / CMSIS-DAPv2
-|DAP_PACKET_COUNT=2 +
+|DAP_PACKET_COUNT=1 +
+DAP_PACKET_SIZE=512
+
+|probe-rs / CMSIS-DAPv2
+|DAP_PACKET_COUNT=8 +
 DAP_PACKET_SIZE=512
 
 |unknown / CMSIS-DAPv2
@@ -624,6 +636,9 @@ Or use simply `make show-options` in the projects root.
 | https://github.com/openocd-org/openocd[OpenOCD on github]
 | https://openocd.org/[Official Homepage]
 
+| https://github.com/probe-rs/probe-rs[probe-rs on github]
+|
+
 | https://wiki.segger.com/Use_SystemView_without_RTOS[Use SystemView without RTOS]
 |
 

include/FreeRTOSConfig.h

@@ -121,6 +121,8 @@
 #define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
 */
 
+#define configKERNEL_PROVIDED_STATIC_MEMORY     1
+
 /* SMP port only */
 #define configNUMBER_OF_CORES                   2
 #define configTICK_CORE                         1

src/cmsis-dap/dap_server.c

@@ -63,11 +63,13 @@
  *
  * OpenOCD 0.11: packet size of 1024 and 2 buffers ok
  * OpenOCD 0.12: 1024 no longer working, but 512 and 2 buffers is ok
+ *
+ * 2024-10-13 - confusing... openocd and so on work only with 1 packet
  */
-#define _DAP_PACKET_COUNT_OPENOCD   2
+#define _DAP_PACKET_COUNT_OPENOCD   1
 #define _DAP_PACKET_SIZE_OPENOCD    512
 #define _DAP_PACKET_COUNT_PROBERS   8
-#define _DAP_PACKET_SIZE_PROBERS    1024
+#define _DAP_PACKET_SIZE_PROBERS    512
 #define _DAP_PACKET_COUNT_PYOCD     1
 #define _DAP_PACKET_SIZE_PYOCD      512                     // pyocd does not like packets > 128 if COUNT != 1,
                                                             //    there seems to be also a problem with flashing if
@@ -82,19 +84,23 @@
 uint8_t  dap_packet_count = _DAP_PACKET_COUNT_UNKNOWN;
 uint16_t dap_packet_size  = _DAP_PACKET_SIZE_UNKNOWN;
 
-#if (CFG_TUD_VENDOR_RX_BUFSIZE < _DAP_PACKET_SIZE_OPENOCD  ||  CFG_TUD_VENDOR_RX_BUFSIZE < _DAP_PACKET_SIZE_PYOCD)
-    #error "increase CFG_TUD_VENDOR_RX_BUFSIZE"
-#endif
+#define BUFFER_MAXSIZE_1 MAX(_DAP_PACKET_COUNT_OPENOCD*_DAP_PACKET_SIZE_OPENOCD, _DAP_PACKET_COUNT_PROBERS*_DAP_PACKET_SIZE_PROBERS)
+#define BUFFER_MAXSIZE_2 MAX(_DAP_PACKET_COUNT_PYOCD  *_DAP_PACKET_SIZE_PYOCD,   _DAP_PACKET_COUNT_UNKNOWN*_DAP_PACKET_SIZE_UNKNOWN)
+#define BUFFER_MAXSIZE   MAX(BUFFER_MAXSIZE_1, BUFFER_MAXSIZE_2)
 
-#define PACKET_MAXSIZE_1 MAX(_DAP_PACKET_COUNT_OPENOCD*_DAP_PACKET_SIZE_OPENOCD, _DAP_PACKET_COUNT_PROBERS*_DAP_PACKET_SIZE_PROBERS)
-#define PACKET_MAXSIZE_2 MAX(_DAP_PACKET_COUNT_PYOCD  *_DAP_PACKET_SIZE_PYOCD,   _DAP_PACKET_COUNT_UNKNOWN*_DAP_PACKET_SIZE_UNKNOWN)
+#define PACKET_MAXSIZE_1 MAX(_DAP_PACKET_SIZE_OPENOCD, _DAP_PACKET_SIZE_PROBERS)
+#define PACKET_MAXSIZE_2 MAX(_DAP_PACKET_SIZE_PYOCD,   _DAP_PACKET_SIZE_UNKNOWN)
 #define PACKET_MAXSIZE   MAX(PACKET_MAXSIZE_1, PACKET_MAXSIZE_2)
 
+#if (CFG_TUD_VENDOR_RX_BUFSIZE < PACKET_MAXSIZE)
+    #error "increase CFG_TUD_VENDOR_RX_BUFSIZE"
+#endif
+
 #if OPT_CMSIS_DAPV1  ||  OPT_CMSIS_DAPV2
-    static uint8_t TxDataBuffer[PACKET_MAXSIZE];
+    static uint8_t TxDataBuffer[BUFFER_MAXSIZE];
 #endif
 #if OPT_CMSIS_DAPV2
-    static uint8_t RxDataBuffer[PACKET_MAXSIZE];
+    static uint8_t RxDataBuffer[BUFFER_MAXSIZE];
 #endif
 
 
@@ -193,8 +199,8 @@ void dap_task(void *ptr)
                         if (sw_lock("DAPv2", true)) {
                             swd_connected = true;
                             picoprobe_info("=================================== DAPv2 connect target, host %s, buffer: %dx%dbytes\n",
-                                    (tool == E_DAPTOOL_OPENOCD) ? "OpenOCD with two big buffers" :
-                                     (tool == E_DAPTOOL_PYOCD) ? "pyOCD with single big buffer"  :
+                                    (tool == E_DAPTOOL_OPENOCD) ? "OpenOCD"    :
+                                     (tool == E_DAPTOOL_PYOCD) ? "pyOCD"       :
                                       (tool == E_DAPTOOL_PROBERS) ? "probe-rs" : "UNKNOWN", dap_packet_count, dap_packet_size);
                             led_state(LS_DAPV2_CONNECTED);
                         }

src/daplink-pico/board/rp2040/pico.c

@@ -25,27 +25,25 @@
  * Note that handling of the rescue DP has been dropped (no idea how to test this).
  *
  * Two important global variables:
- * - \a g_board_info contains information about the probe, e.g. how to perform
+ * - \a g_board_info contains information about the probe and target, e.g. how to perform
  *   probe initialization, send a HW reset to the target, etc
  * - \a g_target_family tells things like: what is the actual reset sequence for
  *   the target (family), how to set the state of the target (family), etc.
  *   This may differ really from target to target although all have "standard" DAPs
  *   included.  See RP2040 with dual cores and dormant sequence which does not
  *   like the JTAG2SWD sequence.  Others like the nRF52840 have other reset
  *   sequences.
- *
- * TODO I'm really not sure about the architectural idea of DAPLink:  is board the
- *      target board or the probe board?  So is g_board_info a probe or a target
- *      item?  Anyway I have decided to put some probe stuff into this files.
  */
 
+#include <stdio.h>
+
 #include "DAP_config.h"
 #include "DAP.h"
 #include "swd_host.h"
 
 #include "target_family.h"
 #include "target_board.h"
-#include "target_rp2040.h"
+#include "target_rpXXXX.h"
 #include "program_flash_generic.h"
 
 #include "probe.h"
@@ -55,6 +53,7 @@
 
 // these are IDs for target identification, required registers to identify may/do differ
 const uint32_t swd_id_rp2040    = (0x927) + (0x0002 << 12);    // taken from RP2040 SDK platform.c
+const uint32_t swd_id_rp2350    = (0x927) + (0x0004 << 12);    // taken from RP2350 SDK platform.c
 const uint32_t swd_id_nrf52832  = 0x00052832;                  // see FICR.INFO.PART
 const uint32_t swd_id_nrf52833  = 0x00052833;
 const uint32_t swd_id_nrf52840  = 0x00052840;
@@ -73,8 +72,8 @@ const uint32_t uf2_id_rp2350    = 0xe48bff5b;     // Non-secure Arm image
 #define board_id_nrf52832_dk      "1101"
 #define board_id_nrf52833_dk      "1101"
 #define board_id_nrf52840_dk      "1102"
-#define board_id_rp2040_pico      "7f01"
-#define board_id_rp2350_pico2     "7f02"
+#define board_id_rp2040_pico      "7f01"          // see TARGET_RP2040_FAMILY_ID
+#define board_id_rp2350_pico2     "7f02"          // see TARGET_RP2350_FAMILY_ID
 
 // here we can modify the otherwise constant board/target information
 target_cfg_t target_device;
@@ -105,6 +104,28 @@ target_cfg_t target_device_rp2040 = {
 };
 
 
+// target information for RP2350 (actually Pico2), must be global
+// because a special algo is used for flashing, corresponding fields below are empty.
+target_cfg_t target_device_rp2350 = {
+    .version                        = kTargetConfigVersion,
+    .sectors_info                   = NULL,
+    .sector_info_length             = 0,
+    .flash_regions[0].start         = 0x10000000,
+    .flash_regions[0].end           = 0x10000000,
+    .flash_regions[0].flags         = kRegionIsDefault,
+    .flash_regions[0].flash_algo    = NULL,
+    .ram_regions[0].start           = 0x20000000,
+    .ram_regions[0].end             = 0x20000000 + KB(512),
+    .target_vendor                  = "RaspberryPi",
+    .target_part_number             = "RP2350",
+    .rt_family_id                   = TARGET_RP2350_FAMILY_ID,
+    .rt_board_id                    = board_id_rp2350_pico2,
+    .rt_uf2_id                      = uf2_id_rp2350,
+    .rt_max_swd_khz                 = 50000,
+    .rt_swd_khz                     = 15000,
+};
+
+
 // target information for a generic device which allows at least RTT (if connected)
 target_cfg_t target_device_generic = {
     .version                        = kTargetConfigVersion,
@@ -214,6 +235,30 @@ void pico_prerun_board_config(void)
         }
     }
 
+    if ( !target_found) {
+        // check for RP2350
+        target_device = target_device_rp2350;
+        search_family();
+        if (target_set_state(ATTACH)) {
+            uint32_t chip_id;
+
+            r = swd_read_word(0x40000000, &chip_id);
+            printf("!!!!!!!!!!!!!!!!!! chip_id: 0x%lx\n", chip_id);
+            if (r  &&  (chip_id & 0x0fffffff) == swd_id_rp2350) {
+                target_found = true;
+                strcpy(board_vendor, "RaspberryPi");
+                strcpy(board_name, "Pico2");
+
+                // get size of targets flash
+// TODO                uint32_t size = target_rp2350_get_external_flash_size();
+                uint32_t size = 4 * 1024 * 1024;
+                if (size > 0) {
+                    target_device.flash_regions[0].end = target_device.flash_regions[0].start + size;
+                }
+            }
+        }
+    }
+
     if ( !target_found) {
         // check for nRF52832, nRF52833 or nRF52840
         // DK names taken from https://infocenter.nordicsemi.com/topic/ug_gsg_ses/UG/gsg/chips_and_sds.html

src/daplink-pico/board/rp2040/pico_target_utils.c

@@ -28,7 +28,7 @@
 #include "pico_target_utils.h"
 
 #include "swd_host.h"
-#include "target_rp2040.h"
+#include "target_rpXXXX.h"
 
 
 

src/daplink-pico/board/rp2040/program_flash_generic.c

@@ -22,8 +22,8 @@ extern char __start_for_target_connect[];
 extern char __stop_for_target_connect[];
 
 // Attributes for RP2040 target code
-// NOTE: this needs PICO_NO_CMSE to be set
-#define FOR_TARGET_RP2040_CODE        __attribute__((noinline, section("for_target_connect"), target("arch=armv6-m")))
+// NOTE: PICO_NO_CMSE must be set and also "-Og"!
+#define FOR_TARGET_RP2040_CODE        __attribute__((noinline, section("for_target_connect"), target("arch=armv6-m"), optimize("-Og")))
 
 #define TARGET_RP2040_CODE            (TARGET_RP2040_RAM_START + 0x10000)
 #define TARGET_RP2040_FLASH_SIZE      ((uint32_t)rp2040_flash_size - (uint32_t)__start_for_target_connect + TARGET_RP2040_CODE)

src/daplink-pico/family/raspberry/rp2040/target_reset_rp2040.c

@@ -16,9 +16,9 @@
 
 #include <string.h>
 #include <stdio.h>
+#include <target_rpXXXX.h>
 #include "DAP_config.h"
 #include "target_family.h"
-#include "target_rp2040.h"
 #include "swd_host.h"
 
 
@@ -37,7 +37,7 @@
 #endif
 
 
-const uint32_t soft_reset = SYSRESETREQ;
+static const uint32_t soft_reset = SYSRESETREQ;
 
 
 
@@ -74,7 +74,7 @@ static void swd_from_dormant(void)
     const uint8_t zero_seq[] = {0x00};
     const uint8_t act_seq[] = { 0x1a };
 
-//  printf("---swd_from_dormant()\n");
+//    printf("---swd_from_dormant()\n");
 
     SWJ_Sequence(  8, ones_seq);
     SWJ_Sequence(128, selection_alert_seq);
@@ -103,7 +103,7 @@ static void swd_targetsel(uint8_t core)
     static const uint8_t out2[]        = {0x00};
     static uint8_t input;
 
-//  printf("---swd_targetsel(%u)\n", core);
+//    printf("---swd_targetsel(%u)\n", core);
 
     SWD_Sequence(8, out1, NULL);
     SWD_Sequence(0x80 + 5, NULL, &input);
@@ -138,7 +138,7 @@ static bool dp_core_select(uint8_t _core)
     swd_targetsel(_core);
 
     CHECK_OK_BOOL(swd_read_dp(DP_IDCODE, &rv));
-//  printf("---  id(%u)=0x%08lx\n", _core, rv);   // 0x0bc12477 is the RP2040
+//    printf("---  id(%u)=0x%08lx\n", _core, rv);   // 0x0bc12477 is the RP2040
 
     core = _core;
     return true;
@@ -154,7 +154,7 @@ static bool dp_disable_breakpoint()
 {
     static const uint32_t bp_reg[4] = { 0xE0002008, 0xE000200C, 0xE0002010, 0xE0002014 };
 
-//  printf("---dp_disable_breakpoint()\n");
+//    printf("---dp_disable_breakpoint()\n");
 
     // Clear each of the breakpoints...
     for (int i = 0;  i < 4;  ++i) {
@@ -225,7 +225,7 @@ static bool rp2040_swd_init_debug(uint8_t core)
         CHECK_ABORT( swd_write_ap(AP_CSW, 1) );                                // force dap_state.csw to "0"
         CHECK_ABORT( swd_write_ap(AP_CSW, 0) );
 
-        CHECK_ABORT( swd_read_ap(0xfc, &tmp) );                                // AP IDR: must it be 0x4770031?
+        CHECK_ABORT( swd_read_ap(AP_IDR, &tmp) );                                // AP IDR: must it be 0x4770031?
         CHECK_ABORT( swd_write_dp(DP_SELECT, 0) );
 
         return true;