Merge pull request #1083 from flit/feature/rp2040

Raspberry Pi Pico (RP2040) support

docs/options.md

@@ -492,3 +492,21 @@ the J-Link logs, but this is harmless. J-Link does not support a "none" or "unkn
 </td></tr>
 
 </table>
+
+## Picoprobe options
+
+These session options are available when the Picoprobe debug probe plugin is active.
+
+<table>
+
+<tr><th>Option Name</th><th>Type</th><th>Default</th><th>Description</th></tr>
+
+<tr><td>picoprobe.safeswd</td>
+<td>bool</td>
+<td>False</td>
+<td>
+Use safer but slower SWD transfer function with Picoprobe.
+Default is False, so possible WAIT or FAULT SWD acknowldeges and protocol errors will not be caught immediately.
+</td></tr>
+
+</table>

pyocd/probe/cmsis_dap_probe.py

@@ -176,7 +176,10 @@ def open(self):
                 self.Capability.SWJ_SEQUENCE,
                 self.Capability.BANKED_DP_REGISTERS,
                 self.Capability.APv2_ADDRESSES,
+                self.Capability.JTAG_SEQUENCE,
                 }
+            if self._link.has_swd_sequence:
+                self._caps.add(self.Capability.SWD_SEQUENCE)
             if self._link.has_swo():
                 self._caps.add(self.Capability.SWO)
         except DAPAccess.Error as exc:
@@ -214,6 +217,18 @@ def swj_sequence(self, length, bits):
         except DAPAccess.Error as exc:
             six.raise_from(self._convert_exception(exc), exc)
 
+    def swd_sequence(self, sequences):
+        try:
+            self._link.swd_sequence(sequences)
+        except DAPAccess.Error as exc:
+            six.raise_from(self._convert_exception(exc), exc)
+
+    def jtag_sequence(self, cycles, tms, read_tdo, tdi):
+        try:
+            self._link.jtag_sequence(cycles, tms, read_tdo, tdi)
+        except DAPAccess.Error as exc:
+            six.raise_from(self._convert_exception(exc), exc)
+
     def disconnect(self):
         try:
             self._link.disconnect()

pyocd/probe/debug_probe.py

@@ -65,6 +65,12 @@ class Capability(Enum):
 
         ## @brief whether the probe automatically handles access of banked DAP registers.
         MANAGED_DPBANKSEL = 5
+
+        ## @brief Whether the probe supports the swd_sequence() API.
+        SWD_SEQUENCE = 6
+
+        ## @brief Whether the probe supports the jtag_sequence() API.
+        JTAG_SEQUENCE = 7
 
     @classmethod
     def get_all_connected_probes(cls, unique_id=None, is_explicit=False):
@@ -229,6 +235,37 @@ def swj_sequence(self, length, bits):
         """
         pass
 
+    def swd_sequence(self, sequences):
+        """! @brief Send a sequences of bits on the SWDIO signal.
+        
+        Each sequence in the _sequences_ parameter is a tuple with 1 or 2 members in this order:
+        - 0: int: number of TCK cycles from 1-64
+        - 1: int: the SWDIO bit values to transfer. The presence of this tuple member indicates the sequence is
+            an output sequence; the absence means that the specified number of TCK cycles of SWDIO data will be
+            read and returned.
+        
+        @param self
+        @param sequences A sequence of sequence description tuples as described above.
+        
+        @return A 2-tuple of the response status, and a sequence of bytes objects, one for each input
+            sequence. The length of the bytes object is (<TCK-count> + 7) / 8. Bits are in LSB first order.
+        """
+        raise NotImplementedError()
+
+    def jtag_sequence(self, cycles, tms, read_tdo, tdi):
+        """! @brief Send JTAG sequence.
+        
+        @param self
+        @param cycles Number of TCK cycles, from 1-64.
+        @param tms Fixed TMS value. Either 0 or 1.
+        @param read_tdo Boolean indicating whether TDO should be read.
+        @param tdi Integer with the TDI bit values to be transferred each TCK cycle. The LSB is
+            sent first.
+        
+        @return Either an integer with TDI bit values, or None, if _read_tdo_ was false.
+        """
+        raise NotImplementedError()
+
     def set_clock(self, frequency):
         """! @brief Set the frequency for JTAG and SWD in Hz.