Merge pull request #31 from P33M/picodebug

Add a CMSIS compatible implementation for picoprobe

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "CMSIS_5"]
+	path = CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5
+[submodule "freertos"]
+	path = freertos
+	url = https://github.com/FreeRTOS/FreeRTOS-Kernel

CMakeLists.txt

@@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.12)
 
 include(pico_sdk_import.cmake)
 
+set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/freertos)
+include(FreeRTOS_Kernel_import.cmake)
+
 project(picoprobe)
 
 pico_sdk_init()
@@ -13,8 +16,25 @@ add_executable(picoprobe
         src/probe.c
         src/cdc_uart.c
         src/get_serial.c
+        src/sw_dp_pio.c
 )
 
+target_sources(picoprobe PRIVATE
+        CMSIS_5/CMSIS/DAP/Firmware/Source/DAP.c
+        CMSIS_5/CMSIS/DAP/Firmware/Source/JTAG_DP.c
+        CMSIS_5/CMSIS/DAP/Firmware/Source/DAP_vendor.c
+        CMSIS_5/CMSIS/DAP/Firmware/Source/SWO.c
+        #CMSIS_5/CMSIS/DAP/Firmware/Source/SW_DP.c
+        )
+
+target_include_directories(picoprobe PRIVATE
+        CMSIS_5/CMSIS/DAP/Firmware/Include/
+        CMSIS_5/CMSIS/Core/Include/
+        include/
+        )
+
+target_compile_options(picoprobe PRIVATE -Wall)
+
 if (DEFINED ENV{PICOPROBE_LED})
         message("PICOPROBE_LED is defined as " $ENV{PICOPROBE_LED})
         target_compile_definitions(picoprobe PRIVATE PICOPROBE_LED=$ENV{PICOPROBE_LED})
@@ -30,6 +50,17 @@ target_compile_definitions (picoprobe PRIVATE
 	PICO_RP2040_USB_DEVICE_ENUMERATION_FIX=1
 )
 
-target_link_libraries(picoprobe PRIVATE pico_stdlib pico_unique_id tinyusb_device tinyusb_board hardware_pio)
+target_link_libraries(picoprobe PRIVATE
+        pico_multicore
+        pico_stdlib
+        pico_unique_id
+        tinyusb_device
+        tinyusb_board
+        hardware_pio
+        FreeRTOS-Kernel
+        FreeRTOS-Kernel-Heap1
+)
+
+pico_set_binary_type(picoprobe copy_to_ram)
 
 pico_add_extra_outputs(picoprobe)

FreeRTOS_Kernel_import.cmake

@@ -0,0 +1,61 @@
+# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
+
+# This can be dropped into an external project to help locate the FreeRTOS kernel
+# It should be include()ed prior to project(). Alternatively this file may
+# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
+# respectively.
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+    set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
+    message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+endif ()
+
+set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+# undo the above
+set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+
+if (NOT FREERTOS_KERNEL_PATH)
+    # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+    get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+    get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+    endif()
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+        message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+    elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+        set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+        message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+    endif()
+endif ()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+        # check if FreeRTOS-Kernel exists under directory that included us
+        set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+        get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+        if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+            get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+            message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+            break()
+        endif()
+    endforeach()
+endif()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
+endif()
+
+set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
+
+get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
+endif()
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+endif()
+set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
+
+add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)