connectivity_bridge: add debug feature

This patch adds a cmsis-dap probe feature to the connectivity_bridge.

Signed-off-by: Maximilian Deubel <[email protected]>

applications/connectivity_bridge/boards/thingy91x_nrf5340_cpuapp.conf

@@ -38,3 +38,8 @@ CONFIG_DK_LIBRARY=y
 # Bootloader firmware information
 CONFIG_FW_INFO=y
 CONFIG_SECURE_BOOT_STORAGE=y
+CONFIG_DAP=y
+CONFIG_DP_DRIVER=y
+
+CONFIG_CMSIS_DAP_DEVICE_VENDOR="Nordic Semiconductor ASA"
+CONFIG_CMSIS_DAP_DEVICE_NAME="nrf91"

applications/connectivity_bridge/boards/thingy91x_nrf5340_cpuapp.overlay

@@ -12,7 +12,7 @@
 		clk-gpios = <&gpio0 25 GPIO_ACTIVE_HIGH>;
 		dio-gpios = <&gpio0 27 GPIO_ACTIVE_HIGH>;
 		reset-gpios = <&gpio1 7 GPIO_ACTIVE_HIGH>;
-		port-write-cycles = <2>;
+		port-write-cycles = <12>;
 	};
 
 	zephyr,user {

applications/connectivity_bridge/boards/thingy91x_nrf5340_cpuapp_readme.txt

@@ -5,6 +5,7 @@
 This USB interface has the following functions:
 * Disk drive containing this file and others
 * COM ports for nRF91 debug, trace, and firmware update
+* CMSIS-DAP 2.1 compliant debug probe interface for accessing the nRF91 SiP
 
 COM Ports
 ====================

applications/connectivity_bridge/src/modules/usb_bulk_commands.c

@@ -12,6 +12,8 @@
 #include <bl_storage.h>
 #include <ncs_commit.h>
 
+#include <cmsis_dap.h>
+
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(bulk_commands, CONFIG_BRIDGE_BULK_LOG_LEVEL);
 
@@ -100,12 +102,17 @@ static void nrf53_reset_work_handler(struct k_work *work)
 /* This is a placeholder implementation until proper CMSIS-DAP support is available.
  * Only custom vendor commands are supported.
  */
-size_t dap_execute_cmd(uint8_t *in, uint8_t *out)
+size_t dap_execute_vendor_cmd(uint8_t *in, uint8_t *out)
 {
 	LOG_DBG("got command 0x%02X", in[0]);
-	int ret;
+
+	if (in[0] < ID_DAP_VENDOR0) {
+		return dap_execute_cmd(in, out);
+	}
 
 #if IS_ENABLED(CONFIG_RETENTION_BOOT_MODE)
+	int ret;
+
 	if (in[0] == ID_DAP_VENDOR_NRF53_BOOTLOADER) {
 		ret = bootmode_set(BOOT_MODE_TYPE_BOOTLOADER);
 		if (ret) {

applications/connectivity_bridge/src/modules/usb_bulk_interface.c

@@ -23,6 +23,8 @@ LOG_MODULE_REGISTER(MODULE, CONFIG_BRIDGE_BULK_LOG_LEVEL);
 /* needs to be included after defining logging config */
 #include "usb_bulk_msosv2.h"
 
+#include <cmsis_dap.h>
+
 #define USB_BULK_PACKET_SIZE  64
 #define USB_BULK_PACKET_COUNT 4
 
@@ -41,7 +43,7 @@ static K_FIFO_DEFINE(dap_rx_queue);
 NET_BUF_POOL_FIXED_DEFINE(dapusb_rx_pool, USB_BULK_PACKET_COUNT, USB_BULK_PACKET_SIZE, 0, NULL);
 
 /* Execute CMSIS-DAP command and write reply into output buffer */
-size_t dap_execute_cmd(uint8_t *in, uint8_t *out);
+size_t dap_execute_vendor_cmd(uint8_t *in, uint8_t *out);
 
 /* string descriptor for the interface */
 #define DAP_IFACE_STR_DESC "CMSIS-DAP v2"
@@ -172,7 +174,7 @@ static int dap_usb_process(void)
 	struct net_buf *buf = k_fifo_get(&dap_rx_queue, K_FOREVER);
 	uint8_t ep = dapusb_config.endpoint[DAP_USB_EP_IN_IDX].ep_addr;
 
-	len = dap_execute_cmd(buf->data, tx_buf);
+	len = dap_execute_vendor_cmd(buf->data, tx_buf);
 	LOG_DBG("response length %u, starting with [0x%02X, 0x%02X]", len, tx_buf[0], tx_buf[1]);
 	net_buf_unref(buf);
 
@@ -196,6 +198,8 @@ static int dap_usb_thread_fn(const struct device *dev)
 	return 0;
 }
 
+const struct device *const swd_dev = DEVICE_DT_GET_ONE(zephyr_swdp_gpio);
+
 K_THREAD_DEFINE(dap_usb_thread,
 		CONFIG_BULK_USB_THREAD_STACK_SIZE, dap_usb_thread_fn, NULL, NULL, NULL, 5, 0, 0);
 
@@ -208,11 +212,21 @@ static bool app_event_handler(const struct app_event_header *aeh)
 			/* tell the rest of the system that we are busy. */
 			module_set_state(MODULE_STATE_READY);
 
-			/* Add MS OS 2.0 BOS descriptor to BOS structure */
+			/* add MS OS 2.0 BOS descriptor to BOS structure. */
 			usb_bos_register_cap((void *)&bos_cap_msosv2);
-			/* Point interface index to string descriptor */
+			/* point interface index to string descriptor. */
 			iface_string_desc_init(&dapusb_config);
 
+			if (!device_is_ready(swd_dev)) {
+				LOG_ERR("SWD device is not ready");
+			}
+
+			int ret = dap_setup(swd_dev);
+
+			if (ret) {
+				LOG_ERR("Failed to initialize DAP controller, %d", ret);
+			}
+
 			/* tell the usb_cdc_handler we are done. */
 			module_set_state(MODULE_STATE_STANDBY);
 		}