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samples: debug: add CMSIS DAP sample using USB HID as interface
Add cmsis dap sample using USB HID as interface. Signed-off-by: Johann Fischer <[email protected]>
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‎samples/subsys/dap/CMakeLists.txt‎

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# Copyright (c) 2023 Nordic Semiconductor ASA
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(dap)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/subsys/dap/README.rst‎

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.. _dap-sample:
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DAP Sample Application
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######################
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Overview
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********
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This sample app demonstrates use of a SWDP interface driver and CMSIS DAP
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controller through USB HID interface.
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Requirements
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************
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This sample requires simple circuit consisting of a few Dual-Supply Bus
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Transceivers connected to Arduino GPIOs, look for ARM microcontroller-based
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Hardware Interface Circuits (HICs) for detailed information.
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Building and Running
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********************
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In order for our debug adapter to be recognized by pyOCD we need to change
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Zephyr's VID/PID to IDs known to pyOCD, this is up to the user.
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The following commands build and flash DAP sample.
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.. zephyr-app-commands::
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:zephyr-app: samples/subsys/dap
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:board: nrf52840dk_nrf52840
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:goals: flash
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:compact:
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Connect HIC to the target and try some pyOCD commands, for example:
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.. code-block:: console
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pyocd commander -t nrf52840
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0029527 W Board ID FE5D is not recognized [mbed_board]
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Connected to NRF52840 [Sleeping]: FE5D244DFE1F33DB
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pyocd> read32 0x20004f18 32
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20004f18: 20001160 2000244c 00000000 0000e407 | ..` .$L........|
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20004f28: ffffffff ffffffff 00000000 aaaaaaaa |................|
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pyocd> halt
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Successfully halted device
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pyocd> reg
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general registers:
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lr: 0x00009cdd r7: 0x00000000 (0)
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pc: 0x000033ca r8: 0x00000000 (0)
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r0: 0x00000000 (0) r9: 0x00000000 (0)
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r1: 0x20002854 (536881236) r10: 0x00000000 (0)
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r2: 0x20000be4 (536873956) r11: 0x00000000 (0)
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r3: 0x00000000 (0) r12: 0x00000000 (0)
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r4: 0x200017e8 (536877032) sp: 0x20002898
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r5: 0x20001867 (536877159) xpsr: 0x61000000 (1627389952)
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r6: 0x00000000 (0)

‎samples/subsys/dap/app.overlay‎

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/*
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* Copyright (c) 2023 Nordic Semiconductor ASA
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/ {
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dp0 {
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compatible = "zephyr,swdp-gpio";
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status = "okay";
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clk-gpios = <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 */
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dout-gpios = <&arduino_header 9 GPIO_ACTIVE_HIGH>; /* D3 */
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din-gpios = <&arduino_header 8 GPIO_PULL_UP>; /* D2 */
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dnoe-gpios = <&arduino_header 12 GPIO_ACTIVE_HIGH>; /* D6 */
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noe-gpios = <&arduino_header 11 GPIO_ACTIVE_HIGH>; /* D5 */
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reset-gpios = <&arduino_header 13 GPIO_ACTIVE_HIGH>; /* D7 */
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port-write-cycles = <2>;
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};
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};

‎samples/subsys/dap/prj.conf‎

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CONFIG_USB_DEVICE_STACK=y
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CONFIG_USB_DEVICE_PRODUCT="Zephyr CMSIS-DAP"
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CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n
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CONFIG_USB_DEVICE_HID=y
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CONFIG_ENABLE_HID_INT_OUT_EP=y
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CONFIG_HID_INTERRUPT_EP_MPS=64
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CONFIG_USB_HID_POLL_INTERVAL_MS=1
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# Change to VID/PID from a known HIC or it will not be recognized.
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CONFIG_USB_DEVICE_VID=0x2fe3
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CONFIG_USB_DEVICE_PID=0x0204
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CONFIG_DAP=y
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CONFIG_NET_BUF=y
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CONFIG_LOG=y
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CONFIG_DAP_LOG_LEVEL_INF=y
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CONFIG_DP_DRIVER_LOG_LEVEL_INF=y

‎samples/subsys/dap/sample.yaml‎

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sample:
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name: DAP HID
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tests:
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sample.dap.hid:
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build_only: true
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platform_allow: nrf52840dk_nrf52840
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integration_platforms:
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- nrf52840dk_nrf52840
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depends_on: usb_device
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tags: usb

‎samples/subsys/dap/src/main.c‎

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/*
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* Copyright (c) 2023 Nordic Semiconductor ASA
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/init.h>
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#include <zephyr/device.h>
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#include <zephyr/usb/usb_device.h>
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#include <zephyr/usb/class/usb_hid.h>
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#include <zephyr/net/buf.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(dap_hid, LOG_LEVEL_INF);
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#include <cmsis_dap.h>
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#define DAP_PACKET_SIZE CONFIG_HID_INTERRUPT_EP_MPS
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#if (DAP_PACKET_SIZE < 64U)
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#error "Minimum packet size is 64"
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#endif
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#if (DAP_PACKET_SIZE > 32768U)
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#error "Maximum packet size is 32768"
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#endif
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const static struct device *hid0_dev;
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NET_BUF_POOL_FIXED_DEFINE(ep_out_pool, CONFIG_CMSIS_DAP_PACKET_COUNT,
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DAP_PACKET_SIZE, 0, NULL);
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K_SEM_DEFINE(hid_epin_sem, 0, 1);
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K_FIFO_DEFINE(ep_out_queue);
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static const uint8_t hid_report_desc[] = {
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HID_ITEM(HID_ITEM_TAG_USAGE_PAGE, HID_ITEM_TYPE_GLOBAL, 2), 0x00, 0xFF,
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HID_USAGE(HID_USAGE_GEN_DESKTOP_POINTER),
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HID_COLLECTION(HID_COLLECTION_APPLICATION),
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HID_LOGICAL_MIN8(0x00),
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HID_LOGICAL_MAX16(0xFF, 0x00),
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HID_REPORT_SIZE(8),
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HID_REPORT_COUNT(64),
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HID_USAGE(HID_USAGE_GEN_DESKTOP_POINTER),
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HID_INPUT(0x02),
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HID_REPORT_COUNT(64),
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HID_USAGE(HID_USAGE_GEN_DESKTOP_POINTER),
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HID_OUTPUT(0x02),
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HID_REPORT_COUNT(0x01),
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HID_USAGE(HID_USAGE_GEN_DESKTOP_POINTER),
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HID_FEATURE(0x02),
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HID_END_COLLECTION,
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};
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static void int_in_ready_cb(const struct device *dev)
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{
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ARG_UNUSED(dev);
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k_sem_give(&hid_epin_sem);
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}
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void int_out_ready_cb(const struct device *dev)
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{
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struct net_buf *buf;
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size_t len = 0;
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buf = net_buf_alloc(&ep_out_pool, K_FOREVER);
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hid_int_ep_read(dev, buf->data, buf->size, &len);
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net_buf_add(buf, len);
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if (len == 0) {
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LOG_WRN("drop empty packet");
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net_buf_unref(buf);
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return;
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}
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k_fifo_put(&ep_out_queue, buf);
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}
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static const struct hid_ops ops = {
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.int_in_ready = int_in_ready_cb,
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.int_out_ready = int_out_ready_cb,
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};
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int main(void)
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{
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const struct device *const swd_dev = DEVICE_DT_GET_ONE(zephyr_swdp_gpio);
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uint8_t response_buf[DAP_PACKET_SIZE];
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int ret;
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if (!device_is_ready(swd_dev)) {
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LOG_ERR("SWD device is not ready");
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return -ENODEV;
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}
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ret = dap_setup(swd_dev);
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if (ret) {
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LOG_ERR("Failed to initialize DAP controller (%d)", ret);
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return ret;
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}
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ret = usb_enable(NULL);
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if (ret) {
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LOG_ERR("Failed to enable USB (%d)", ret);
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return ret;
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}
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while (1) {
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struct net_buf *buf;
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size_t len;
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buf = k_fifo_get(&ep_out_queue, K_FOREVER);
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len = dap_execute_cmd(buf->data, response_buf);
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LOG_DBG("response length %u", len);
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net_buf_unref(buf);
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if (hid_int_ep_write(hid0_dev, response_buf, len, NULL)) {
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LOG_ERR("Failed to send a response");
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continue;
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}
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k_sem_take(&hid_epin_sem, K_FOREVER);
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}
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return 0;
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}
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static int hid_dap_preinit(void)
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{
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hid0_dev = device_get_binding("HID_0");
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if (hid0_dev == NULL) {
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LOG_ERR("Cannot get HID_0");
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return -ENODEV;
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}
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usb_hid_register_device(hid0_dev, hid_report_desc,
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sizeof(hid_report_desc), &ops);
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return usb_hid_init(hid0_dev);
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}
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SYS_INIT(hid_dap_preinit, APPLICATION, CONFIG_APPLICATION_INIT_PRIORITY);

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