CMSIS DAP/DAP Link Debugger (#1897)

* Apps: DAP Link
* API: furi_hal_console_init

Co-authored-by: あく <alleteam@gmail.com>

.gitmodules

@@ -31,3 +31,6 @@
 [submodule "lib/cxxheaderparser"]
 	path = lib/cxxheaderparser
 	url = https://github.com/robotpy/cxxheaderparser.git
+[submodule "applications/plugins/dap_link/lib/free-dap"]
+	path = applications/plugins/dap_link/lib/free-dap
+	url = https://github.com/ataradov/free-dap.git

applications/plugins/dap_link/README.md

@@ -0,0 +1,105 @@
+# Flipper Zero as CMSIS DAP/DAP Link
+Flipper Zero as a [Free-DAP](https://github.com/ataradov/free-dap) based SWD\JTAG debugger. Free-DAP is a free and open source firmware implementation of the [CMSIS-DAP](https://www.keil.com/pack/doc/CMSIS_Dev/DAP/html/index.html) debugger.
+
+## Protocols
+SWD, JTAG , CMSIS-DAP v1 (18 KiB/s), CMSIS-DAP v2 (46 KiB/s), VCP (USB-UART).
+
+WinUSB for driverless installation for Windows 8 and above.
+
+## Usage
+
+### VSCode + Cortex-Debug
+  Set `"device": "cmsis-dap"`
+
+<details>
+  <summary>BluePill configuration example</summary>
+
+  ```json
+{
+    "name": "Attach (DAP)",
+    "cwd": "${workspaceFolder}",
+    "executable": "./build/firmware.elf",
+    "request": "attach",
+    "type": "cortex-debug",
+    "servertype": "openocd",
+    "device": "cmsis-dap",
+    "configFiles": [
+        "interface/cmsis-dap.cfg",
+        "target/stm32f1x.cfg",
+    ],
+},
+  ```
+</details>
+
+<details>
+  <summary>Flipper Zero configuration example</summary>
+
+  ```json
+{
+    "name": "Attach (DAP)",
+    "cwd": "${workspaceFolder}",
+    "executable": "./build/latest/firmware.elf",
+    "request": "attach",
+    "type": "cortex-debug",
+    "servertype": "openocd",
+    "device": "cmsis-dap",
+    "svdFile": "./debug/STM32WB55_CM4.svd",
+    "rtos": "FreeRTOS",
+    "configFiles": [
+        "interface/cmsis-dap.cfg",
+        "./debug/stm32wbx.cfg",
+    ],
+    "postAttachCommands": [
+        "source debug/flipperapps.py",
+    ],
+},
+  ```
+</details>
+
+### OpenOCD
+Use `interface/cmsis-dap.cfg`. You will need OpenOCD v0.11.0.
+
+Additional commands: 
+* `cmsis_dap_backend hid` for CMSIS-DAP v1 protocol.
+* `cmsis_dap_backend usb_bulk` for CMSIS-DAP v2 protocol.
+* `cmsis_dap_serial DAP_Oyevoxo` use DAP-Link running on Flipper named `Oyevoxo`.
+* `cmsis-dap cmd 81` - reboot connected DAP-Link.
+
+<details>
+  <summary>Flash BluePill</summary>
+
+  ```
+openocd -f interface/cmsis-dap.cfg -f target/stm32f1x.cfg -c init -c "program build/firmware.bin reset exit 0x8000000"
+  ```
+</details>
+
+<details>
+  <summary>Flash Flipper Zero using DAP v2 protocol</summary>
+
+  ```
+openocd -f interface/cmsis-dap.cfg -c "cmsis_dap_backend usb_bulk" -f debug/stm32wbx.cfg -c init -c "program build/latest/firmware.bin reset exit 0x8000000"
+  ```
+</details>
+
+<details>
+  <summary>Reboot connected DAP-Link on Flipper named Oyevoxo</summary>
+
+  ```
+openocd -f interface/cmsis-dap.cfg -c "cmsis_dap_serial DAP_Oyevoxo" -c "transport select swd" -c "adapter speed 4000000" -c init -c "cmsis-dap cmd 81" -c "exit"
+  ```
+</details>
+
+### PlatformIO
+Use `debug_tool = cmsis-dap` and `upload_protocol = cmsis-dap`. [Documentation](https://docs.platformio.org/en/latest/plus/debug-tools/cmsis-dap.html#debugging-tool-cmsis-dap). Remember that Windows 8 and above do not require drivers.
+
+<details>
+  <summary>BluePill platformio.ini example</summary>
+
+  ```
+[env:bluepill_f103c8]
+platform = ststm32
+board = bluepill_f103c8
+debug_tool = cmsis-dap
+upload_protocol = cmsis-dap
+  ```
+</details>

applications/plugins/dap_link/application.fam

@@ -0,0 +1,24 @@
+App(
+    appid="dap_link",
+    name="DAP Link",
+    apptype=FlipperAppType.PLUGIN,
+    entry_point="dap_link_app",
+    requires=[
+        "gui",
+        "dialogs",
+    ],
+    stack_size=4 * 1024,
+    order=20,
+    fap_icon="dap_link.png",
+    fap_category="Tools",
+    fap_private_libs=[
+        Lib(
+            name="free-dap",
+            cincludes=["."],
+            sources=[
+                "dap.c",
+            ],
+        ),
+    ],
+    fap_icon_assets="icons",
+)

applications/plugins/dap_link/dap_config.h

@@ -0,0 +1,234 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// Copyright (c) 2022, Alex Taradov <alex@taradov.com>. All rights reserved.
+
+#ifndef _DAP_CONFIG_H_
+#define _DAP_CONFIG_H_
+
+/*- Includes ----------------------------------------------------------------*/
+#include <furi_hal_gpio.h>
+
+/*- Definitions -------------------------------------------------------------*/
+#define DAP_CONFIG_ENABLE_JTAG
+
+#define DAP_CONFIG_DEFAULT_PORT DAP_PORT_SWD
+#define DAP_CONFIG_DEFAULT_CLOCK 4200000 // Hz
+
+#define DAP_CONFIG_PACKET_SIZE 64
+#define DAP_CONFIG_PACKET_COUNT 1
+
+#define DAP_CONFIG_JTAG_DEV_COUNT 8
+
+// DAP_CONFIG_PRODUCT_STR must contain "CMSIS-DAP" to be compatible with the standard
+#define DAP_CONFIG_VENDOR_STR "Flipper Zero"
+#define DAP_CONFIG_PRODUCT_STR "Generic CMSIS-DAP Adapter"
+#define DAP_CONFIG_SER_NUM_STR usb_serial_number
+#define DAP_CONFIG_CMSIS_DAP_VER_STR "2.0.0"
+
+#define DAP_CONFIG_RESET_TARGET_FN dap_app_target_reset
+#define DAP_CONFIG_VENDOR_FN dap_app_vendor_cmd
+
+// Attribute to use for performance-critical functions
+#define DAP_CONFIG_PERFORMANCE_ATTR
+
+// A value at which dap_clock_test() produces 1 kHz output on the SWCLK pin
+// #define DAP_CONFIG_DELAY_CONSTANT 19000
+#define DAP_CONFIG_DELAY_CONSTANT 6290
+
+// A threshold for switching to fast clock (no added delays)
+// This is the frequency produced by dap_clock_test(1) on the SWCLK pin
+#define DAP_CONFIG_FAST_CLOCK 2400000 // Hz
+
+/*- Prototypes --------------------------------------------------------------*/
+extern char usb_serial_number[16];
+
+/*- Implementations ---------------------------------------------------------*/
+extern GpioPin flipper_dap_swclk_pin;
+extern GpioPin flipper_dap_swdio_pin;
+extern GpioPin flipper_dap_reset_pin;
+extern GpioPin flipper_dap_tdo_pin;
+extern GpioPin flipper_dap_tdi_pin;
+
+extern void dap_app_vendor_cmd(uint8_t cmd);
+extern void dap_app_target_reset();
+extern void dap_app_disconnect();
+extern void dap_app_connect_swd();
+extern void dap_app_connect_jtag();
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_SWCLK_TCK_write(int value) {
+    furi_hal_gpio_write(&flipper_dap_swclk_pin, value);
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_SWDIO_TMS_write(int value) {
+    furi_hal_gpio_write(&flipper_dap_swdio_pin, value);
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_TDI_write(int value) {
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    furi_hal_gpio_write(&flipper_dap_tdi_pin, value);
+#else
+    (void)value;
+#endif
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_TDO_write(int value) {
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    furi_hal_gpio_write(&flipper_dap_tdo_pin, value);
+#else
+    (void)value;
+#endif
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_nTRST_write(int value) {
+    (void)value;
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_nRESET_write(int value) {
+    furi_hal_gpio_write(&flipper_dap_reset_pin, value);
+}
+
+//-----------------------------------------------------------------------------
+static inline int DAP_CONFIG_SWCLK_TCK_read(void) {
+    return furi_hal_gpio_read(&flipper_dap_swclk_pin);
+}
+
+//-----------------------------------------------------------------------------
+static inline int DAP_CONFIG_SWDIO_TMS_read(void) {
+    return furi_hal_gpio_read(&flipper_dap_swdio_pin);
+}
+
+//-----------------------------------------------------------------------------
+static inline int DAP_CONFIG_TDO_read(void) {
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    return furi_hal_gpio_read(&flipper_dap_tdo_pin);
+#else
+    return 0;
+#endif
+}
+
+//-----------------------------------------------------------------------------
+static inline int DAP_CONFIG_TDI_read(void) {
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    return furi_hal_gpio_read(&flipper_dap_tdi_pin);
+#else
+    return 0;
+#endif
+}
+
+//-----------------------------------------------------------------------------
+static inline int DAP_CONFIG_nTRST_read(void) {
+    return 0;
+}
+
+//-----------------------------------------------------------------------------
+static inline int DAP_CONFIG_nRESET_read(void) {
+    return furi_hal_gpio_read(&flipper_dap_reset_pin);
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_SWCLK_TCK_set(void) {
+    LL_GPIO_SetOutputPin(flipper_dap_swclk_pin.port, flipper_dap_swclk_pin.pin);
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_SWCLK_TCK_clr(void) {
+    LL_GPIO_ResetOutputPin(flipper_dap_swclk_pin.port, flipper_dap_swclk_pin.pin);
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_SWDIO_TMS_in(void) {
+    LL_GPIO_SetPinMode(flipper_dap_swdio_pin.port, flipper_dap_swdio_pin.pin, LL_GPIO_MODE_INPUT);
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_SWDIO_TMS_out(void) {
+    LL_GPIO_SetPinMode(flipper_dap_swdio_pin.port, flipper_dap_swdio_pin.pin, LL_GPIO_MODE_OUTPUT);
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_SETUP(void) {
+    furi_hal_gpio_init(&flipper_dap_swdio_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_init(&flipper_dap_swclk_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_init(&flipper_dap_reset_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    furi_hal_gpio_init(&flipper_dap_tdo_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_init(&flipper_dap_tdi_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+#endif
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_DISCONNECT(void) {
+    furi_hal_gpio_init(&flipper_dap_swdio_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_init(&flipper_dap_swclk_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_init(&flipper_dap_reset_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    furi_hal_gpio_init(&flipper_dap_tdo_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_init(&flipper_dap_tdi_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+#endif
+    dap_app_disconnect();
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_CONNECT_SWD(void) {
+    furi_hal_gpio_init(
+        &flipper_dap_swdio_pin, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_write(&flipper_dap_swdio_pin, true);
+
+    furi_hal_gpio_init(
+        &flipper_dap_swclk_pin, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_write(&flipper_dap_swclk_pin, true);
+
+    furi_hal_gpio_init(
+        &flipper_dap_reset_pin, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_write(&flipper_dap_reset_pin, true);
+
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    furi_hal_gpio_init(&flipper_dap_tdo_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_init(&flipper_dap_tdi_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+#endif
+    dap_app_connect_swd();
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_CONNECT_JTAG(void) {
+    furi_hal_gpio_init(
+        &flipper_dap_swdio_pin, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_write(&flipper_dap_swdio_pin, true);
+
+    furi_hal_gpio_init(
+        &flipper_dap_swclk_pin, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_write(&flipper_dap_swclk_pin, true);
+
+    furi_hal_gpio_init(
+        &flipper_dap_reset_pin, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_write(&flipper_dap_reset_pin, true);
+
+#ifdef DAP_CONFIG_ENABLE_JTAG
+    furi_hal_gpio_init(&flipper_dap_tdo_pin, GpioModeInput, GpioPullNo, GpioSpeedVeryHigh);
+
+    furi_hal_gpio_init(
+        &flipper_dap_tdi_pin, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
+    furi_hal_gpio_write(&flipper_dap_tdi_pin, true);
+#endif
+    dap_app_connect_jtag();
+}
+
+//-----------------------------------------------------------------------------
+static inline void DAP_CONFIG_LED(int index, int state) {
+    (void)index;
+    (void)state;
+}
+
+//-----------------------------------------------------------------------------
+__attribute__((always_inline)) static inline void DAP_CONFIG_DELAY(uint32_t cycles) {
+    asm volatile("1: subs %[cycles], %[cycles], #1 \n"
+                 "   bne 1b \n"
+                 : [cycles] "+l"(cycles));
+}
+
+#endif // _DAP_CONFIG_H_