Add picoprobe cmsis-dap support

[hathach]

picoprobe have switched to use CMSIS DAP protocol in latest release

• https://github.com/raspberrypi/picoprobe/blob/master/src/picoprobe_config.h#L81

Therefore for new picoprobe implementation, openocd config now must be changes from interface/picoprobe.cfg (custom protocol) to more standard cmsis-dap protocol interface/cmsis-dap.cfg.

From latest getting started with pico

Note: even though the getting started doc does not mention, but I found that adapter speed 5000 is required, otherwise we will get Error: CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed . Check out raspberrypi/openocd#78 for detail.

With correct speed (as part of upload command), it works well and seem to be more reliably than the previous picoprobe implementation. Menu with PR chagnes

/home/hathach/Arduino/hardware/rp2040/rp2040/system/openocd/bin/openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -s /home/hathach/Arduino/hardware/rp2040/rp2040/system/openocd/share/openocd/scripts -c adapter speed 5000 -c program {/tmp/arduino_build_979743/Blink.ino.elf} verify reset exit 
Open On-Chip Debugger 0.11.0-g228ede43d-dirty (2022-12-23-00:38)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'.
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : RP2040 Flash Bank Command
adapter speed: 5000 kHz

Info : Using CMSIS-DAPv2 interface with VID:PID=0x2e8a:0x000c, serial=E660C06213513538
Info : CMSIS-DAP: SWD  Supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Info : CMSIS-DAP: Interface ready
Info : clock speed 5000 kHz
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x00000001
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x10000001
Info : rp2040.core0: hardware has 4 breakpoints, 2 watchpoints
Info : rp2040.core1: hardware has 4 breakpoints, 2 watchpoints
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ea msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ea msp: 0x20041f00
** Programming Started **
Info : RP2040 B0 Flash Probe: 2097152 bytes @10000000, in 512 sectors

target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
Info : Writing 53248 bytes starting at 0x0
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
** Programming Finished **
** Verify Started **
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x00000184 msp: 0x20041f00
** Verified OK **
** Resetting Target **
shutdown command invoked

[earlephilhower]

Thanks, this is great!

One additional change needs to be made, though, to get the release packaged version working right. You'll need to add a new set of sed macros to fix the platform.txt rules paths:

arduino-pico/package/build_boards_manager_package.sh

Lines 112 to 117 in 7afcec8

	sed 's/^tools.picoprobe.cmd=.*//g' | \
	sed 's/^#tools.picoprobe.cmd=/tools.picoprobe.cmd=/g' | \
	sed 's/^tools.picotool.cmd=.*//g' | \
	sed 's/^#tools.picotool.cmd=/tools.picotool.cmd=/g' | \
	sed 's/^tools.picodebug.cmd=.*//g' | \
	sed 's/^#tools.picodebug.cmd=/tools.picodebug.cmd=/g' | \

Also, would it make sense to add the adapter speed 5000 to the TCL file you added? That way it always takes effect?

[maxgerhardt]

Very interesting. I also recently had problems when I flashed the new Picoprobe firmware and suddenly I could not upload to my target RP2040 again. Had to search for an older release to get up an running again. I will also need to pull these changes into platform-raspberrypi and state / document very clearly that the Picoprobe upload now has two possible different configurations (upload_protocol = picoprobe and upload_protocol = cmsis-dap basically), otherwise this will get very confusing.

[earlephilhower]

Would it make sense to just call it CMSIS-DAP and drop the Picoprobe portion of the name? I'm not really up on CMSIS-anything, but if this openocd script could work with any CMSIS-compliant uploader, maybe that would make it easier to distinguish?

[hathach]

sorry, I was busy last few days, and couldn't make changes as request. Thanks for doing that. For the tcl script, yes, I think we should add the speed selection to scrip file. However, to be honest, I haven't tried and run that script yet. I am not so sure on the syntax, please free feel to add it.

PS: the new pico debug probe from https://www.raspberrypi.com/products/debug-probe/ is based on the cmsis dap version aka this PR. So @earlephilhower may be we should just rename this to pi-debug-probe or something. I guess the amount of user that use this ready-to-use probe will increase by the time.

[earlephilhower]

No worries about the package changes, it's not something you'd know unless you delved deep into the guts of the core.

Why didn't they go with USB-C for the connector on the new board? 😞 I'm sure they had their reasons, but it's a pain now with everything else on USB-C.

The board runs the Picoprobe firmware unmodified, AFAICT, so I think the name should still be CMSIS-DAP or Picoprobe CMSIS-DAP.

I can try flashing a new board to the CMSISDAP FW and see if it's just a matter of adding the speed line to the TCL...

[earlephilhower]

Just did a quick check using the upload CMSIS command and the TCL script to start OpenOCD from the CLI (w/ #1218 added) and all seems good. Naming, we'll see if people complain :), but for now I think we're good to go.

[hathach]

yeah, it is a bit weird for no USB-C in 2023 board. I am glad we wrapped this up.