Add SWDP driver interface API and bit-bang driver, add CMSIS-DAP compatible controller #53798

jfischer-no · 2023-01-14T00:52:20Z

Add Serial Wire Debug Port interface driver API and bit-bang driver.
Add CMSIS-DAP compatible controller which is a handler between
the host interface and SWD driver.
Add cmsis dap sample using ~~USB HID as interface~~ bulk transfers.

This is a rebase and followup of #20183

desowin · 2023-01-16T06:26:24Z

drivers/dp/swdp_bitbang.c

+static uint8_t sw_request_lut[16] = {0U};
+
+static void mk_sw_request_lut(void)
+{
+	uint32_t parity = 0U;
+
+	for (int request = 0; request < sizeof(sw_request_lut); request++) {
+		parity = request;
+		parity ^= parity >> 2;
+		parity ^= parity >> 1;
+
+		/*
+		 * Move A[3:3], RnW, APnDP bits to their position,
+		 * add start bit, stop bit(6), and park bit.
+		 */
+		sw_request_lut[request] =  BIT(7) | (request << 1) | BIT(0);
+		/* Add parity bit */
+		if (parity & 0x01U) {
+			sw_request_lut[request] |= BIT(5);
+		}
+	}
+
+	LOG_HEXDUMP_DBG(sw_request_lut, sizeof(sw_request_lut), "request lut");
+}


Why compute it at runtime instead of just having fixed const array with the values (with comment stating how the values were generated)? Using precomputed array would save a bit of RAM and code.

this was done with the latest changes 👍🏻

samples/subsys/dap/src/main.c

drivers/dp/swdp_bitbang.c

MaureenHelm · 2023-03-02T17:22:31Z

@flit fyi

drivers/dp/swdp_bitbang.c

nordicjm

Was not able to get this working with an nrf52840dk connected to an nrf52832, ACK timed out for every request. Re-wired the nrf52832 directly to a DAPLINK programmer (without nRESET) and it works fine through that using pyocd.

dts/bindings/misc/zephyr,swdp-gpio.yaml

cfriedt · 2023-03-10T15:29:47Z

I love this - thanks @jfischer-no 👍

dts/bindings/misc/zephyr,swdp-gpio.yaml

jfischer-no · 2023-04-18T22:09:58Z

Rebased. I have not addressed all the comments yet, will do so later.

raveslave · 2023-04-19T10:18:34Z

shouldn't this make use of CMSIS-DAP v2 (USB bulk) instead of HID?
or at least provide an option to choose bulk/v2 vs hid as larger packages and high-speed usb is important for speed

Use CMSIS-DAP v2.x instead that provides high-speed SWO trace streaming and does not require driver installation in modern operating systems (Mac OS, Linux, Windows).

jfischer-no · 2023-04-19T12:02:55Z

shouldn't this make use of CMSIS-DAP v2 (USB bulk) instead of HID?
or at least provide an option to choose bulk/v2 vs hid as larger packages and high-speed usb is important for speed

No. USB transfer is only an option, it is not the main scope of this PR, it is there for demonstration and testing. Bit-bang controller performance is far far away from the possible USB FS interrupt transfers maximum bandwidth. I see no need to discuss this until we have stable API with few fast SWDP controllers. Also, no one forces you to use sample in this PR, you are free to implement own host backend.

raveslave · 2023-04-19T17:38:37Z

shouldn't this make use of CMSIS-DAP v2 (USB bulk) instead of HID?
or at least provide an option to choose bulk/v2 vs hid as larger packages and high-speed usb is important for speed

No. USB transfer is only an option, it is not the main scope of this PR, it is there for demonstration and testing. Bit-bang controller performance is far far away from the possible USB FS interrupt transfers maximum bandwidth.

yes, true for swd communication which needs a mcu-specific optimization for speed.

but for vendor-commands running over daplink you can make use of the packet-size and added speed of v2 compared to HID, even when using FS phy's

flit · 2023-04-19T18:03:34Z

Regardless of performance, I strongly recommend switching the example/test to use CMSIS-DAP v2 / bulk endpoints. HID for CMSIS-DAP is deprecated and should no longer be used for new code or examples.

Fwiw, bit bang SWD is able to achieve 2-10 MHz, sometimes even higher, depending on the MCU and how well the code is implemented (eg, direct register writes with constant register addresses and bit masks). However, the duty cycle tends to be all over the place (not a problem protocol-wise, but ugly as hell on a scope 😝). Point being that on some controller MCUs, you can achieve faster SWD performance with bulk.

te-johan · 2023-04-24T08:59:16Z

Great work @jfischer-no! I've tested to integrate it into a probe we have and it was rather simple to get it going. Added support for nxp lpc series and could run it with 512 byte packet size on high speed usb.
I could not get HID to work but i repurposed another usb class driver(midi) I had to get the CMSIS-DAPv2 bulk interface to work.

please feel free to integrate them into your rebase branch. I did not include the usb class driver since i do not have it in the zephyr tree.
https://github.com/te-johan/zephyr/tree/cmsis-dap-lpc-fixes

maxd-nordic · 2023-06-09T14:13:15Z

FYI: I'm currently working on updating this to CMSIS-DAPv2. Generic device support and simpler PIN configurations are already there. I based it on @te-johan 's version.
https://github.com/maxd-nordic/sdk-zephyr/tree/pr-cmsis-dap-rebase-additions

te-johan · 2023-06-09T14:21:13Z

I can upstream my cmsis-dapv2 class driver next week.
I’ve also fixed some reset issues as well as bumped the specification to 1.3 to support raspberry pico.
It can easily be lifted to 2.1.1 since all new features are optional.

edit:I see that you also added swd sequence support.

maxd-nordic · 2023-06-12T08:41:41Z

@te-johan I'm sure we can find a way to merge our additions.

include/zephyr/drivers/swdp.h

+	 * @param turnaround Line turnaround cycles
+	 * @param data_phase Always generate Data Phase (also on WAIT/FAULT)
+	 * @return 0 on success, or error code
+	*/


maxd-nordic · 2024-06-11T08:04:34Z

samples/subsys/dap/sample.yaml

+    build_only: true
+    platform_allow: nrf52840dk_nrf52840
+    integration_platforms:
+      - nrf52840dk_nrf52840


Suggested change

- nrf52840dk_nrf52840

- nrf52840dk/nrf52840

(occurs multiple times)

I reworked sample configuration and removed thingy91 which is only supported in NCS.

Move low-level GPIO functions to a separate file and use GPIO driver API if low-level GPIO support is not available for the platform. Allows alternative pin configuration using only two pins, clk and dio. Improve binding description. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

Add API to read count bits from SWDIO into data LSB first. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

Implement wait for SWJ pins command. Signed-off-by: Maximilian Deubel <[email protected]>

Add support for DAP_INFO string elements. Signed-off-by: Maximilian Deubel <[email protected]>

Add ID_DAP_UART_* command definitions and react properly to unsupported UART commands. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

DAP SWD sequence command is a requirement to support CMSIS-DAPv2. Raise supported version to "2.1.0". Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

Add CMSIS DAP sample using USB as interface. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

Use k_timepoint_t for timeout handling in the swj_pins function. Signed-off-by: Maximilian Deubel <[email protected]>

Hardcode the lookup table for SWDP requests. This is an optimization to save some space. Documentation was added to understand the values. Signed-off-by: Maximilian Deubel <[email protected]>

This patch adds documentation for the SWDP API. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

jfischer-no added the Experimental Experimental features not enabled by default label Jan 14, 2023

jfischer-no requested review from henrikbrixandersen and carlescufi January 14, 2023 00:52

jfischer-no requested review from nashif, galak and MaureenHelm as code owners January 14, 2023 00:52

zephyrbot added the area: Devicetree Binding PR modifies or adds a Device Tree binding label Jan 14, 2023

carlescufi requested review from desowin and gmarull January 14, 2023 08:21

desowin reviewed Jan 16, 2023

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pdgendt reviewed Jan 16, 2023

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teburd requested review from nordicjm, pdgendt and desowin February 23, 2023 16:28

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jfischer-no self-assigned this Mar 23, 2023

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jfischer-no force-pushed the pr-cmsis-dap-rebase branch from f91d393 to 36daa53 Compare April 18, 2023 22:08

jfischer-no dismissed rerickson1’s stale review via b12c90b June 11, 2024 07:49

jfischer-no force-pushed the pr-cmsis-dap-rebase branch from 16669ee to b12c90b Compare June 11, 2024 07:49

maxd-nordic reviewed Jun 11, 2024

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include/zephyr/drivers/swdp.h Outdated

* @param turnaround Line turnaround cycles

* @param data_phase Always generate Data Phase (also on WAIT/FAULT)

* @return 0 on success, or error code

*/

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maxd-nordic reviewed Jun 11, 2024

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maxd-nordic and others added 6 commits June 11, 2024 12:25

drivers: swdp_bitbang: add SW output sequence

3422925

Add API to read count bits from SWDIO into data LSB first. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

dap: implement wait for SWJ pins command

13f954d

Implement wait for SWJ pins command. Signed-off-by: Maximilian Deubel <[email protected]>

dap: add support for DAP_INFO string elements

72acab5

Add support for DAP_INFO string elements. Signed-off-by: Maximilian Deubel <[email protected]>

dap: react properly to unsupported UART commands

7bfc110

Add ID_DAP_UART_* command definitions and react properly to unsupported UART commands. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

dap: implement DAP SWD sequence command

832fc70

DAP SWD sequence command is a requirement to support CMSIS-DAPv2. Raise supported version to "2.1.0". Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

jfischer-no force-pushed the pr-cmsis-dap-rebase branch from b12c90b to 89577c9 Compare June 11, 2024 10:27

jfischer-no added this to the v3.7.0 milestone Jun 11, 2024

carlescufi requested review from mniestroj, cfriedt and rerickson1 June 11, 2024 11:32

rerickson1 previously approved these changes Jun 11, 2024

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tmon-nordic previously approved these changes Jun 12, 2024

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jfischer-no and others added 4 commits June 13, 2024 09:45

samples: debug: add CMSIS DAP sample using USB as interface

75b50a1

Add CMSIS DAP sample using USB as interface. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

dap: fix timeout handling

c663d04

Use k_timepoint_t for timeout handling in the swj_pins function. Signed-off-by: Maximilian Deubel <[email protected]>

driver: swdp_bitbang: hardcode request lut

b469d41

Hardcode the lookup table for SWDP requests. This is an optimization to save some space. Documentation was added to understand the values. Signed-off-by: Maximilian Deubel <[email protected]>

drivers: swdp: document API

a4f7311

This patch adds documentation for the SWDP API. Signed-off-by: Maximilian Deubel <[email protected]> Signed-off-by: Johann Fischer <[email protected]>

jfischer-no dismissed stale reviews from tmon-nordic and rerickson1 via a4f7311 June 13, 2024 07:46

jfischer-no force-pushed the pr-cmsis-dap-rebase branch from 89577c9 to a4f7311 Compare June 13, 2024 07:46

tmon-nordic approved these changes Jun 13, 2024

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mniestroj approved these changes Jun 14, 2024

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henrikbrixandersen approved these changes Jun 14, 2024

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fabiobaltieri approved these changes Jun 14, 2024

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aescolar merged commit 96112ad into zephyrproject-rtos:main Jun 14, 2024
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cfriedt mentioned this pull request Jun 25, 2024

tracing: add gpio tracing capabilities and sample #74199

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Add SWDP driver interface API and bit-bang driver, add CMSIS-DAP compatible controller #53798

Add SWDP driver interface API and bit-bang driver, add CMSIS-DAP compatible controller #53798

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Add SWDP driver interface API and bit-bang driver, add CMSIS-DAP compatible controller #53798

Add SWDP driver interface API and bit-bang driver, add CMSIS-DAP compatible controller #53798

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