DAP_config.h

/*
 * The MIT License (MIT)
 *
 * Copyright (c) 2021 Peter Lawrence
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

/*
This DAP_config provides for core0 of a Raspberry Pi Pico RP2040 to debug core1.

At the time of writing, host software that supports "multi-drop" SWD
(particularly with CMSIS-DAP) is hard to come by.  As a result, your favorite
software may not function with this target, even though it works with other
ARM targets.

As a stopgap measure, PORT_SWD_SETUP() below has been enhanced to perform some
of the "multi-drop" initialization that would normally be done by host software.
*/

#ifndef __DAP_CONFIG_H__
#define __DAP_CONFIG_H__

//**************************************************************************************************
/** 
\defgroup DAP_Config_Debug_gr CMSIS-DAP Debug Unit Information
\ingroup DAP_ConfigIO_gr 
@{
Provides definitions about the hardware and configuration of the Debug Unit.

This information includes:
 - Definition of Cortex-M processor parameters used in CMSIS-DAP Debug Unit.
 - Debug Unit Identification strings (Vendor, Product, Serial Number).
 - Debug Unit communication packet size.
 - Debug Access Port supported modes and settings (JTAG/SWD and SWO).
 - Optional information about a connected Target Device (for Evaluation Boards).
*/

#include "cmsis_compiler.h"
#include "bsp/board.h"

#include <stdint.h>
#include <hardware/regs/resets.h>
#include <hardware/structs/resets.h>
#include <hardware/regs/syscfg.h>
#include <hardware/structs/syscfg.h>

/// Processor Clock of the Cortex-M MCU used in the Debug Unit.
/// This value is used to calculate the SWD/JTAG clock speed.
#define CPU_CLOCK               48000000U       ///< Specifies the CPU Clock in Hz.

/// Number of processor cycles for I/O Port write operations.
/// This value is used to calculate the SWD/JTAG clock speed that is generated with I/O
/// Port write operations in the Debug Unit by a Cortex-M MCU. Most Cortex-M processors
/// require 2 processor cycles for a I/O Port Write operation.  If the Debug Unit uses
/// a Cortex-M0+ processor with high-speed peripheral I/O only 1 processor cycle might be 
/// required.
#define IO_PORT_WRITE_CYCLES    2U              ///< I/O Cycles: 2=default, 1=Cortex-M0+ fast I/0.

/// Indicate that Serial Wire Debug (SWD) communication mode is available at the Debug Access Port.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define DAP_SWD                 1               ///< SWD Mode:  1 = available, 0 = not available.

/// Indicate that JTAG communication mode is available at the Debug Port.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define DAP_JTAG                0               ///< JTAG Mode: 1 = available, 0 = not available.

/// Configure maximum number of JTAG devices on the scan chain connected to the Debug Access Port.
/// This setting impacts the RAM requirements of the Debug Unit. Valid range is 1 .. 255.
#define DAP_JTAG_DEV_CNT        8U              ///< Maximum number of JTAG devices on scan chain.

/// Default communication mode on the Debug Access Port.
/// Used for the command \ref DAP_Connect when Port Default mode is selected.
#define DAP_DEFAULT_PORT        1U              ///< Default JTAG/SWJ Port Mode: 1 = SWD, 2 = JTAG.

/// Default communication speed on the Debug Access Port for SWD and JTAG mode.
/// Used to initialize the default SWD/JTAG clock frequency.
/// The command \ref DAP_SWJ_Clock can be used to overwrite this default setting.
#define DAP_DEFAULT_SWJ_CLOCK   1000000U        ///< Default SWD/JTAG clock frequency in Hz.

/// Maximum Package Size for Command and Response data.
/// This configuration settings is used to optimize the communication performance with the
/// debugger and depends on the USB peripheral. Typical vales are 64 for Full-speed USB HID or WinUSB,
/// 1024 for High-speed USB HID and 512 for High-speed USB WinUSB.
#define DAP_PACKET_SIZE         CFG_TUD_HID_EP_BUFSIZE ///< Specifies Packet Size in bytes.

/// Maximum Package Buffers for Command and Response data.
/// This configuration settings is used to optimize the communication performance with the
/// debugger and depends on the USB peripheral. For devices with limited RAM or USB buffer the
/// setting can be reduced (valid range is 1 .. 255).
#define DAP_PACKET_COUNT        1U              ///< Specifies number of packets buffered.

/// Indicate that UART Serial Wire Output (SWO) trace is available.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define SWO_UART                0               ///< SWO UART:  1 = available, 0 = not available.

/// Maximum SWO UART Baudrate.
#define SWO_UART_MAX_BAUDRATE   10000000U       ///< SWO UART Maximum Baudrate in Hz.

/// Indicate that Manchester Serial Wire Output (SWO) trace is available.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define SWO_MANCHESTER          0               ///< SWO Manchester:  1 = available, 0 = not available.

/// SWO Trace Buffer Size.
#define SWO_BUFFER_SIZE         4096U           ///< SWO Trace Buffer Size in bytes (must be 2^n).

/// SWO Streaming Trace.
#define SWO_STREAM              0               ///< SWO Streaming Trace: 1 = available, 0 = not available.

/// Clock frequency of the Test Domain Timer. Timer value is returned with \ref TIMESTAMP_GET.
#define TIMESTAMP_CLOCK         0U              ///< Timestamp clock in Hz (0 = timestamps not supported).

/// Debug Unit is connected to fixed Target Device.
/// The Debug Unit may be part of an evaluation board and always connected to a fixed
/// known device.  In this case a Device Vendor and Device Name string is stored which
/// may be used by the debugger or IDE to configure device parameters.
#define TARGET_DEVICE_FIXED     1               ///< Target Device: 1 = known, 0 = unknown;

#if TARGET_DEVICE_FIXED
#define TARGET_DEVICE_VENDOR    "Raspberry Pi"  ///< String indicating the Silicon Vendor
#define TARGET_DEVICE_NAME      "Pico"          ///< String indicating the Target Device
#endif

#include "DAP.h"

/** Get Vendor ID string.
\param str Pointer to buffer to store the string.
\return String length.
*/
__STATIC_INLINE uint8_t DAP_GetVendorString (char *str) {
  (void)str;
  return (0U);
}

/** Get Product ID string.
\param str Pointer to buffer to store the string.
\return String length.
*/
__STATIC_INLINE uint8_t DAP_GetProductString (char *str) {
  (void)str;
  return (0U);
}

extern char unique_id[17];

/** Get Serial Number string.
\param str Pointer to buffer to store the string.
\return String length.
*/
__STATIC_INLINE uint8_t DAP_GetSerNumString (char *str) {
  memcpy(str, unique_id, sizeof(unique_id));
  return sizeof(unique_id);
}

///@}


//**************************************************************************************************
/** 
\defgroup DAP_Config_PortIO_gr CMSIS-DAP Hardware I/O Pin Access
\ingroup DAP_ConfigIO_gr 
@{

Standard I/O Pins of the CMSIS-DAP Hardware Debug Port support standard JTAG mode
and Serial Wire Debug (SWD) mode. In SWD mode only 2 pins are required to implement the debug 
interface of a device. The following I/O Pins are provided:

JTAG I/O Pin                 | SWD I/O Pin          | CMSIS-DAP Hardware pin mode
---------------------------- | -------------------- | ---------------------------------------------
TCK: Test Clock              | SWCLK: Clock         | Output Push/Pull
TMS: Test Mode Select        | SWDIO: Data I/O      | Output Push/Pull; Input (for receiving data)
TDI: Test Data Input         |                      | Output Push/Pull
TDO: Test Data Output        |                      | Input             
nTRST: Test Reset (optional) |                      | Output Open Drain with pull-up resistor
nRESET: Device Reset         | nRESET: Device Reset | Output Open Drain with pull-up resistor


DAP Hardware I/O Pin Access Functions
-------------------------------------
The various I/O Pins are accessed by functions that implement the Read, Write, Set, or Clear to 
these I/O Pins. 

For the SWDIO I/O Pin there are additional functions that are called in SWD I/O mode only.
This functions are provided to achieve faster I/O that is possible with some advanced GPIO 
peripherals that can independently write/read a single I/O pin without affecting any other pins 
of the same I/O port. The following SWDIO I/O Pin functions are provided:
 - \ref PIN_SWDIO_OUT_ENABLE to enable the output mode from the DAP hardware.
 - \ref PIN_SWDIO_OUT_DISABLE to enable the input mode to the DAP hardware.
 - \ref PIN_SWDIO_IN to read from the SWDIO I/O pin with utmost possible speed.
 - \ref PIN_SWDIO_OUT to write to the SWDIO I/O pin with utmost possible speed.
*/


// Configure DAP I/O pins ------------------------------

/** Setup JTAG I/O pins: TCK, TMS, TDI, TDO, nTRST, and nRESET.
Configures the DAP Hardware I/O pins for JTAG mode:
 - TCK, TMS, TDI, nTRST, nRESET to output mode and set to high level.
 - TDO to input mode.
*/ 
__STATIC_INLINE void PORT_JTAG_SETUP (void) {
  ;
}
 
/** Setup SWD I/O pins: SWCLK, SWDIO, and nRESET.
Configures the DAP Hardware I/O pins for Serial Wire Debug (SWD) mode:
 - SWCLK, SWDIO, nRESET to output mode and set to default high level.
 - TDI, nTRST to HighZ mode (pins are unused in SWD mode).
*/ 
__STATIC_INLINE void PORT_SWD_SETUP (void) {

  /* enable the peripheral and enable local control of core1's SWD interface */
  resets_hw->reset &= ~RESETS_RESET_SYSCFG_BITS;
  syscfg_hw->dbgforce = SYSCFG_DBGFORCE_PROC0_ATTACH_BITS;

#if 1
  /* this #if block is a temporary measure to perform target selection even if the host IDE doesn't know how */

  static const uint8_t sequence_alert[] = {
    0xff, 0x92, 0xf3, 0x09, 0x62, 0x95, 0x2d, 0x85, 0x86, 0xe9, 0xaf, 0xdd, 0xe3, 0xa2, 0x0e, 0xbc, 
    0x19, 0xa0, 0xf1, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 
    0xff, 0xff, 0xff, 0x00,
  };
  SWJ_Sequence(8*sizeof(sequence_alert), sequence_alert);

  /* it is possible to do this with SWJ_Sequence on the rp2040 since data input and output are distinct */
  static const uint8_t write_targetsel[] = { 0x99, 0xff, 0x24, 0x05, 0x20, 0x00, 0x00, };
  SWJ_Sequence(8*sizeof(write_targetsel), write_targetsel);
#endif

  /* set to default high level */
  syscfg_hw->dbgforce |= SYSCFG_DBGFORCE_PROC0_SWCLK_BITS | SYSCFG_DBGFORCE_PROC0_SWDI_BITS;
}

/** Disable JTAG/SWD I/O Pins.
Disables the DAP Hardware I/O pins which configures:
 - TCK/SWCLK, TMS/SWDIO, TDI, TDO, nTRST, nRESET to High-Z mode.
*/
__STATIC_INLINE void PORT_OFF (void) {
  syscfg_hw->dbgforce = 0;
}


// SWCLK/TCK I/O pin -------------------------------------

/** SWCLK/TCK I/O pin: Get Input.
\return Current status of the SWCLK/TCK DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_SWCLK_TCK_IN  (void) {
  return (0U);
}

/** SWCLK/TCK I/O pin: Set Output to High.
Set the SWCLK/TCK DAP hardware I/O pin to high level.
*/
__STATIC_FORCEINLINE void     PIN_SWCLK_TCK_SET (void) {
  syscfg_hw->dbgforce |= SYSCFG_DBGFORCE_PROC0_SWCLK_BITS;
}

/** SWCLK/TCK I/O pin: Set Output to Low.
Set the SWCLK/TCK DAP hardware I/O pin to low level.
*/
__STATIC_FORCEINLINE void     PIN_SWCLK_TCK_CLR (void) {
  syscfg_hw->dbgforce &= ~SYSCFG_DBGFORCE_PROC0_SWCLK_BITS;
}


// SWDIO/TMS Pin I/O --------------------------------------

/** SWDIO/TMS I/O pin: Get Input.
\return Current status of the SWDIO/TMS DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_SWDIO_TMS_IN  (void) {
  return (0U);
}

/* PIN_SWDIO_TMS_SET and PIN_SWDIO_TMS_CLR are used by SWJ_Sequence */

/** SWDIO/TMS I/O pin: Set Output to High.
Set the SWDIO/TMS DAP hardware I/O pin to high level.
*/
__STATIC_FORCEINLINE void     PIN_SWDIO_TMS_SET (void) {
  syscfg_hw->dbgforce |= SYSCFG_DBGFORCE_PROC0_SWDI_BITS;
}

/** SWDIO/TMS I/O pin: Set Output to Low.
Set the SWDIO/TMS DAP hardware I/O pin to low level.
*/
__STATIC_FORCEINLINE void     PIN_SWDIO_TMS_CLR (void) {
  syscfg_hw->dbgforce &= ~SYSCFG_DBGFORCE_PROC0_SWDI_BITS;
}

/** SWDIO I/O pin: Get Input (used in SWD mode only).
\return Current status of the SWDIO DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_SWDIO_IN      (void) {
  return (syscfg_hw->dbgforce & SYSCFG_DBGFORCE_PROC0_SWDO_BITS) ? 1U : 0U;
}

/** SWDIO I/O pin: Set Output (used in SWD mode only).
\param bit Output value for the SWDIO DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE void     PIN_SWDIO_OUT     (uint32_t bit) {
  if (bit & 1)
    syscfg_hw->dbgforce |= SYSCFG_DBGFORCE_PROC0_SWDI_BITS;
  else
    syscfg_hw->dbgforce &= ~SYSCFG_DBGFORCE_PROC0_SWDI_BITS;
}

/** SWDIO I/O pin: Switch to Output mode (used in SWD mode only).
Configure the SWDIO DAP hardware I/O pin to output mode. This function is
called prior \ref PIN_SWDIO_OUT function calls.
*/
__STATIC_FORCEINLINE void     PIN_SWDIO_OUT_ENABLE  (void) {
  ;
}

/** SWDIO I/O pin: Switch to Input mode (used in SWD mode only).
Configure the SWDIO DAP hardware I/O pin to input mode. This function is
called prior \ref PIN_SWDIO_IN function calls.
*/
__STATIC_FORCEINLINE void     PIN_SWDIO_OUT_DISABLE (void) {
  syscfg_hw->dbgforce |= SYSCFG_DBGFORCE_PROC0_SWDI_BITS;
}


// TDI Pin I/O ---------------------------------------------

/** TDI I/O pin: Get Input.
\return Current status of the TDI DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_TDI_IN  (void) {
  return (0U);
}

/** TDI I/O pin: Set Output.
\param bit Output value for the TDI DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE void     PIN_TDI_OUT (uint32_t bit) {
  (void)bit;
}


// TDO Pin I/O ---------------------------------------------

/** TDO I/O pin: Get Input.
\return Current status of the TDO DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_TDO_IN  (void) {
  return (0U);
}


// nTRST Pin I/O -------------------------------------------

/** nTRST I/O pin: Get Input.
\return Current status of the nTRST DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_nTRST_IN   (void) {
  return (0U);
}

/** nTRST I/O pin: Set Output.
\param bit JTAG TRST Test Reset pin status:
           - 0: issue a JTAG TRST Test Reset.
           - 1: release JTAG TRST Test Reset.
*/
__STATIC_FORCEINLINE void     PIN_nTRST_OUT  (uint32_t bit) {
  (void)bit;
}

// nRESET Pin I/O------------------------------------------

/** nRESET I/O pin: Get Input.
\return Current status of the nRESET DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_nRESET_IN  (void) {
  return (0U);
}

/** nRESET I/O pin: Set Output.
\param bit target device hardware reset pin status:
           - 0: issue a device hardware reset.
           - 1: release device hardware reset.
*/
__STATIC_FORCEINLINE void     PIN_nRESET_OUT (uint32_t bit) {
  (void)bit;
}

///@}


//**************************************************************************************************
/** 
\defgroup DAP_Config_LEDs_gr CMSIS-DAP Hardware Status LEDs
\ingroup DAP_ConfigIO_gr
@{

CMSIS-DAP Hardware may provide LEDs that indicate the status of the CMSIS-DAP Debug Unit.

It is recommended to provide the following LEDs for status indication:
 - Connect LED: is active when the DAP hardware is connected to a debugger.
 - Running LED: is active when the debugger has put the target device into running state.
*/

/** Debug Unit: Set status of Connected LED.
\param bit status of the Connect LED.
           - 1: Connect LED ON: debugger is connected to CMSIS-DAP Debug Unit.
           - 0: Connect LED OFF: debugger is not connected to CMSIS-DAP Debug Unit.
*/
__STATIC_INLINE void LED_CONNECTED_OUT (uint32_t bit) {
  (void)bit;
}

/** Debug Unit: Set status Target Running LED.
\param bit status of the Target Running LED.
           - 1: Target Running LED ON: program execution in target started.
           - 0: Target Running LED OFF: program execution in target stopped.
*/
__STATIC_INLINE void LED_RUNNING_OUT (uint32_t bit) {
  (void)bit;
}

///@}


//**************************************************************************************************
/** 
\defgroup DAP_Config_Timestamp_gr CMSIS-DAP Timestamp
\ingroup DAP_ConfigIO_gr
@{
Access function for Test Domain Timer.

The value of the Test Domain Timer in the Debug Unit is returned by the function \ref TIMESTAMP_GET. By 
default, the DWT timer is used.  The frequency of this timer is configured with \ref TIMESTAMP_CLOCK.

*/

/** Get timestamp of Test Domain Timer.
\return Current timestamp value.
*/
__STATIC_INLINE uint32_t TIMESTAMP_GET (void) {
#if TIMESTAMP_CLOCK > 0
  return (DWT->CYCCNT);
#else
  return 0;
#endif
}

///@}


//**************************************************************************************************
/** 
\defgroup DAP_Config_Initialization_gr CMSIS-DAP Initialization
\ingroup DAP_ConfigIO_gr
@{

CMSIS-DAP Hardware I/O and LED Pins are initialized with the function \ref DAP_SETUP.
*/

/** Setup of the Debug Unit I/O pins and LEDs (called when Debug Unit is initialized).
This function performs the initialization of the CMSIS-DAP Hardware I/O Pins and the 
Status LEDs. In detail the operation of Hardware I/O and LED pins are enabled and set:
 - I/O clock system enabled.
 - all I/O pins: input buffer enabled, output pins are set to HighZ mode.
 - for nTRST, nRESET a weak pull-up (if available) is enabled.
 - LED output pins are enabled and LEDs are turned off.
*/
__STATIC_INLINE void DAP_SETUP (void) {
  ;
}

/** Reset Target Device with custom specific I/O pin or command sequence.
This function allows the optional implementation of a device specific reset sequence.
It is called when the command \ref DAP_ResetTarget and is for example required 
when a device needs a time-critical unlock sequence that enables the debug port.
\return 0 = no device specific reset sequence is implemented.\n
        1 = a device specific reset sequence is implemented.
*/
__STATIC_INLINE uint8_t RESET_TARGET (void) {
  return (0U);             // change to '1' when a device reset sequence is implemented
}

///@}


#endif /* __DAP_CONFIG_H__ */