majbthrd / pico-debug Goto Github PK

virtual debug pod for RP2040 "Raspberry Pi Pico" with no added hardware

Assembly 0.16% C 99.84%

cmsis-dap arm microcontroller rp2040 raspberry-pi-pico debug tinyusb cortex-m debugging pico

pico-debug's Introduction

Description

RP2040 has two ARM Cortex-M0+ cores, and the second core normally remains dormant.

pico-debug runs on one core in a RP2040 and provides a USB CMSIS-DAP interface to debug the other core. No hardware is added; it is as if there were a virtual debug pod built-in.

Boot the RP2040 with the BOOTSEL button pressed, copy over pico-debug.uf2, and it immediately reboots as a CMSIS-DAP adapter. pico-debug loads as a RAM only .uf2 image, meaning that it is never written to flash and doesn't replace existing user code.

To cater to different user situations, there are two versions of pico-debug to download: MAXRAM and GIMMECACHE

Most users (including all arduino-pico users) should use the GIMMECACHE version.

With pico-debug-maxram, all 264kBytes of SRAM on the RP2040 is available for running user code; pico-debug shoehorns itself entirely into the 16kBytes of XIP_SRAM (aka flash cache).

With pico-debug-gimmecache, 248kBytes (94% of total) of SRAM is available for running user code; pico-debug gives plenty of elbow room by occupying only 6% near the very top of SRAM, and unlike MAXRAM, leaves the flash cache operational.

If viewing this on github, pre-built binaries are available for download on the right under "Releases".

Why pico-debug exists

pico-debug provides a debugger with only one RP2040 board instead of another debugger’s approach with two RP2040 boards plus fiddly wiring; this makes this capability more accessible to all users and means that any RP2040-based design can have this latent debug capability without added cost.

pico-debug uses the CMSIS-DAP standard, making it compatible with the considerable amount of software development that has already gone into an array of existing CMSIS-DAP compatible IDEs. This standards-based approach seems far preferable to re-inventing the wheel with yet another proprietary debugger protocol.

How to use

Please read howto/README.md for instructions on how to start using pico-debug.

Caveats whilst using pico-debug

The executive summary is:

pico-debug uses the USB port to provide debugging to the user, so the user's app can't be simultaneously using the USB port! :)

The specifics are:

MAXRAM only: the flash cache cannot be used by the user code, as pico-debug is using this memory
GIMMECACHE only: SRAM 0x2003C000 to 0x2003FFFF must not be used by user code
user code cannot reconfigure the PLL_USB, as the USB peripheral needs this
after loading the pico-debug .uf2 and subsequently starting to run user code, CLK_SYS starts in a configuration where it is being fed by the 48MHz PLL_USB; Pico SDK users shouldn't care, but bare-metal developers might want to know this
the USB peripheral is used to provide the debugger, so the user code cannot use it as well

License

TinyUSB and code specific to pico-debug is licensed under the MIT license.

ARM's CMSIS_5 code is licensed under the Apache 2.0 license.

pico-debug's People

Contributors

Stargazers

Watchers

pico-debug's Issues

Missing serial and manufacturer information

Hello,

Blackmagic probe for PC supports CMSIS DAP probe. I tried both uf2s download from Releases. My recognition for CMSIS Dap stumbles on the missing iManufacturer and iSerial entries. It is a good habit to provide these.

openocd build error for macOS

I have referred to the #5, but it didn't work for me.
After used that commands, it shows the error: hidapi is required for the CMSIS-DAP Compliant Debugger as before.

Pico Debug SDK: What are the differences between official SDK and Pico Debug SDK?

Hello majbthrd,

I like your work very much and used it for effective debugging of my projects :)

I'm always looking for ways to simplify things, and working from within an IDE, it would be good to use only one SDK. When I compile my projects with the official SDK, I can not debug them with GDB: It loads, and when I step into a program, it terminated.

Can you explain what changes you made to the official SDK?

Segger Embedded Studio in Windows

After dropping in the pico-debug-gimmecache.uf2, it reboots as cnsis-dap, but openocd can't find it:

C:\0work\rp2040\openocd_picoprobe>openocd -f cmsis-dap.cfg -c "transport select swd" -c "adapter speed 4000" -f target/rp2040-core0.cfg
Open On-Chip Debugger 0.10.0+dev-g14c0d0d-dirty (2021-01-27-15:43)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Error: The specified debug interface was not found (cmsis-dap)
The following debug adapters are available:

I can't find cmsis-dap in the Device Manager.
Zadig find it, not sure what is the proper driver (if any).
Could you please provide a bit more detailed (step by step) instruction how to use it in Segger Studio? Your demo program compiled in Studio, but not sure how to debug it (either with pico-debug or jlink).
regards,
Jozsef

pico-debug is not recognised in Win11 for Arm in Parallel Desktop (for Mac M1)

I use Apple Mac M1 with Parallel Desktop + Win11 for Arm. The cmsis-dap from pico-debug cannot be recognised correctly as shown below:

meanwhile, the RP1-PR2 can be recognised:

Pico-debug used to work in Parallel Desktop + Win10 for Arm but I don't know why it doesn't work in Win11.

By the way, other CMSIS-DAP devices can be recognised, so there must be some differences in implementation.

I know this configuration is very special, but it is the only way I can connect a debugger in Apple Mac M1.

Thank you in advance.

Question about the printf statements

Hi,

Given that the debugger 'owns' the USB port, how can I see the printf statements?

Any way to use pico-debug over UART?

I need to debug code that uses tinyUSB for it's core functionality (basically, re-implementing the usb mass storage flash interface in normal userspace code alongside serial interfaces), is there any way to use pico-debug without using the USB interface?

Or alternatively, using it via a second pico with an interconnect to SWD and SWCLK?

So far pico-debug is the only debugger I've gotten to work, as picoprobe doesn't seem to have any documentation.

Is there any way to use serial port in this daplink?

Hi,I wonder if there is some way to use uart in this virtual debug pod, so we can use the "printf()" function to print log in a serial monitor.

Crash after a few steps with simple blink

I am unable to step through a simple blink program on my Raspberry Pi Pico using pico-debug (gimmecache).

Here are the steps I am taking;

Connect the Pico with BOOT button pressed
Copy pico-debug-gimmecache.u2f to the mass storage of the Pi Pico
Start openocd with the following command : openocd -f board/pico-debug.cfg From there, openocd starts correctly (version 0.11.0) on port 3333
Start gdb with the following command : arm-none-eabi-gdb blink.elf
Then I enter tar ext :3333 in the gdb console
I run load, then break main. Here I get a message with the following note : Note: automatically using hardware breakpoints for read-only addresses.
continue

As soon as I enter an s command to step through the code, I get the following error message in the gdb console :

CMSIS-DAP command CMD_DISCONNECT failed.
error writing data: No such device
CMSIS-DAP command CMD_CONNECT failed.
error writing data: No such device
CMSIS-DAP command CMD_DISCONNECT failed.
error writing data: No such device
CMSIS-DAP command CMD_CONNECT failed.
error writing data: No such device
error writing data: No such device

I see the same messages in the openocd window,

I met a problem "Error: Sequence 4 not supported"

openocd build for Mac Users

Firstly thanks for all the good work here

Just wanted to add some extra notes for Mac users following your openocd build notes

If you get the error:-

configure: error: hidapi is required for the CMSIS-DAP Compliant Debugger

Then take the following steps:-

git clone https://github.com/signal11/hidapi.git
cd hidapi
./bootstrap
./configure --enable-static --disable-shared
make

export HIDAPI_LIBS="-L`pwd`/mac/.libs -lhidapi"
export PKG_CONFIG_PATH="`pwd`/pc"

Then change back to the openocd directory and configure as per your instructions.
The environment variables above will ensure that hidapi is found and linked.

OpenBSD compatibility

OpenBSD has libusb, has OpenOCD build from master without significant change (just sed -ri 's/([^_])(hid_init)/\1hidapi_\2/' src/jtag/drivers/*.c [EDIT: that change is because of a name clash with OpenBSD own library API]), and openocd works fine with things like STM32. Great!

With pico-debug attached, I see
lsusb.openbsd.txt.

Comparing with lsusb.wsl.txt from #16 (under WSL environment):

--- lsusb.openbsd.txt	Sat May 21 13:44:27 2022
+++ lsusb.wsl.txt	Sat May 21 13:44:03 2022
@@ -1,29 +1,28 @@
-Bus 000 Device 006: ID 1209:2488 InterBiometrics
+Bus 001 Device 006: ID 1209:2488 Generic Peter Lawrence CMSIS-DAP Dapper Miser
 Device Descriptor:
   bLength                18
   bDescriptorType         1
-  bcdUSB               1.10
-  bDeviceClass            0 (Defined at Interface level)
+  bcdUSB               2.00
+  bDeviceClass            0
   bDeviceSubClass         0
   bDeviceProtocol         0
   bMaxPacketSize0        64
-  idVendor           0x1209 InterBiometrics
-  idProduct          0x2488
-  bcdDevice           10.04
+  idVendor           0x1209 Generic
+  idProduct          0x2488 Peter Lawrence CMSIS-DAP Dapper Miser
+  bcdDevice           10.03
   iManufacturer           2 pico-debug
   iProduct                1 CMSIS-DAP
-  iSerial                 3 E660D4A0A72B4329
+  iSerial                 3 E66038B713297738
   bNumConfigurations      1
   Configuration Descriptor:
     bLength                 9
     bDescriptorType         2
-    wTotalLength           41
+    wTotalLength       0x0029
     bNumInterfaces          1
     bConfigurationValue     1
     iConfiguration          0
-    bmAttributes         0xa0
+    bmAttributes         0x80
       (Bus Powered)
-      Remote Wakeup
     MaxPower              100mA
     Interface Descriptor:
       bLength                 9
@@ -32,8 +31,8 @@
       bAlternateSetting       0
       bNumEndpoints           2
       bInterfaceClass         3 Human Interface Device
-      bInterfaceSubClass      1 Boot Interface Subclass
-      bInterfaceProtocol      1 Keyboard
+      bInterfaceSubClass      0
+      bInterfaceProtocol      0
       iInterface              0
         HID Device Descriptor:
           bLength                 9
@@ -42,33 +41,9 @@
           bCountryCode            0 Not supported
           bNumDescriptors         1
           bDescriptorType        34 Report
-          wDescriptorLength      34
-          Report Descriptor: (length is 34)
-            Item(Global): Usage Page, data= [ 0x00 0xff ] 65280
-                            (null)
-            Item(Local ): Usage, data= [ 0x01 ] 1
-                            (null)
-            Item(Main  ): Collection, data= [ 0x01 ] 1
-                            Application
-            Item(Local ): Usage, data= [ 0x02 ] 2
-                            (null)
-            Item(Global): Logical Minimum, data= [ 0x00 ] 0
-            Item(Global): Logical Maximum, data= [ 0xff 0x00 ] 255
-            Item(Global): Report Size, data= [ 0x08 ] 8
-            Item(Global): Report Count, data= [ 0x40 ] 64
-            Item(Main  ): Input, data= [ 0x02 ] 2
-                            Data Variable Absolute No_Wrap Linear
-                            Preferred_State No_Null_Position Non_Volatile Bitfield
-            Item(Local ): Usage, data= [ 0x03 ] 3
-                            (null)
-            Item(Global): Logical Minimum, data= [ 0x00 ] 0
-            Item(Global): Logical Maximum, data= [ 0xff 0x00 ] 255
-            Item(Global): Report Size, data= [ 0x08 ] 8
-            Item(Global): Report Count, data= [ 0x40 ] 64
-            Item(Main  ): Output, data= [ 0x02 ] 2
-                            Data Variable Absolute No_Wrap Linear
-                            Preferred_State No_Null_Position Non_Volatile Bitfield
-            Item(Main  ): End Collection, data=none
+          wDescriptorLength      32
+         Report Descriptors:
+           ** UNAVAILABLE **
       Endpoint Descriptor:
         bLength                 7
         bDescriptorType         5
@@ -89,3 +64,7 @@
           Usage Type               Data
         wMaxPacketSize     0x0040  1x 64 bytes
         bInterval               1
+can't get device qualifier: Resource temporarily unavailable
+can't get debug descriptor: Resource temporarily unavailable
+Device Status:     0x0000
+  (Bus Powered)

So far so good, but I have the same error messae as #16 when running OpenOCD (Open On-Chip Debugger 0.11.0+dev-g0a36acb-dirty (2022-05-21-13:58), I bet that is recent enough :D).

$ doas openocd -f board/pico-debug.cfg -c 'debug_level 4'
Open On-Chip Debugger 0.11.0+dev-g0a36acb-dirty (2022-05-21-13:58)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Warn : Could not determine executable path, using configured BINDIR.
cortex_m reset_config sysresetreq

User : 6 4 options.c:63 configuration_output_handler(): debug_level: 4
User : 7 4 options.c:63 configuration_output_handler():
Info : 8 4 server.c:309 add_service(): Listening on port 6666 for tcl connections
Info : 9 4 server.c:309 add_service(): Listening on port 4444 for telnet connections
Debug: 10 4 command.c:166 script_debug(): command - init
Debug: 11 4 command.c:166 script_debug(): command - target init
Debug: 12 4 command.c:166 script_debug(): command - target names
Debug: 13 4 command.c:166 script_debug(): command - rp2040.cpu cget -event gdb-flash-erase-start
Debug: 14 4 command.c:166 script_debug(): command - rp2040.cpu configure -event gdb-flash-erase-start reset init
Debug: 15 4 command.c:166 script_debug(): command - rp2040.cpu cget -event gdb-flash-write-end
Debug: 16 4 command.c:166 script_debug(): command - rp2040.cpu configure -event gdb-flash-write-end reset halt
Debug: 17 4 command.c:166 script_debug(): command - rp2040.cpu cget -event gdb-attach
Debug: 18 4 command.c:166 script_debug(): command - rp2040.cpu configure -event gdb-attach halt 1000
Debug: 19 4 target.c:1662 handle_target_init_command(): Initializing targets...
Debug: 20 4 semihosting_common.c:130 semihosting_common_init():
Debug: 21 5 cmsis_dap_usb_bulk.c:182 cmsis_dap_usb_open(): enumerating interfaces of 0x8086:0x0000
Debug: 22 7 cmsis_dap_usb_bulk.c:182 cmsis_dap_usb_open(): enumerating interfaces of 0x4b50:0xef9c
Debug: 23 8 cmsis_dap_usb_bulk.c:182 cmsis_dap_usb_open(): enumerating interfaces of 0x8087:0x0a2b
Debug: 24 23 cmsis_dap_usb_bulk.c:182 cmsis_dap_usb_open(): enumerating interfaces of 0x04f2:0xb5ab
Debug: 25 37 cmsis_dap_usb_bulk.c:182 cmsis_dap_usb_open(): enumerating interfaces of 0x0bda:0x0316
Debug: 26 41 cmsis_dap_usb_bulk.c:162 cmsis_dap_usb_open(): found product string of 0x1209:0x2488 'CMSIS-DAP'
Debug: 27 41 cmsis_dap_usb_bulk.c:182 cmsis_dap_usb_open(): enumerating interfaces of 0x1209:0x2488
Debug: 28 41 cmsis_dap_usb_bulk.c:249 cmsis_dap_usb_open(): skipping interface 0, endpoint[0] is not bulk out
Error: 29 68 cmsis_dap_usb_hid.c:209 cmsis_dap_hid_write(): error writing data: (null)
Error: 30 68 cmsis_dap.c:461 cmsis_dap_cmd_dap_info(): CMSIS-DAP command CMD_INFO failed.
Debug: 31 68 command.c:556 run_command(): Command 'init' failed with error code -107
User : 32 68 command.c:619 command_run_line():
Debug: 33 68 target.c:2205 target_free_all_working_areas_restore(): freeing all working areas

For now, I have no question or request, just documenting this and gathering clues.
In case that is a bothering, feel free to close this and I will document it somewhere else.

breakpoint has to be set twice?

Hi, I am not sure if it's an issue with pico-debug or my settings. When I tried to debug LED blinking code in the SDK examples, I have to load the ELF 2x. Here is the log:

yibing@copper:~/project/rpi_pico/test_led/build$ gdb-multiarch test_led.elf
GNU gdb (Ubuntu 8.1.1-0ubuntu1) 8.1.1
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
http://www.gnu.org/software/gdb/bugs/.
Find the GDB manual and other documentation resources online at:
http://www.gnu.org/software/gdb/documentation/.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from test_led.elf...done.
(gdb) target remote localhost:3333
Remote debugging using localhost:3333
time_reached (t=...) at /home/yibing/project/rpi_pico/sdk/src/rp2_common/hardware_timer/include/hardware/timer.h:116
116 uint32_t hi_target = (uint32_t)(target >> 32u);
(gdb) load
Loading section .text, size 0x3fd4 lma 0x20000000
Loading section .rodata, size 0xeb8 lma 0x20003fd8
Loading section .binary_info, size 0x14 lma 0x20004e90
Loading section .data, size 0xb8 lma 0x20004eb0
Start address 0x20000000, load size 20312
Transfer rate: 23 KB/sec, 4062 bytes/write.
(gdb) monitor reset init
[rp2040.cpu] halted due to debug-request, current mode: Thread
xPSR: 0xf1000000 pc: 0x000000ea msp: 0x20041f00
(gdb) b main
Breakpoint 1 at 0x200002b0: file /home/yibing/project/rpi_pico/test_led/test_led.c, line 9.
(gdb) cont
Continuing.
^C
Program received signal SIGINT, Interrupt.
0x100011c8 in ?? ()
(gdb) load
Loading section .text, size 0x3fd4 lma 0x20000000
Loading section .rodata, size 0xeb8 lma 0x20003fd8
Loading section .binary_info, size 0x14 lma 0x20004e90
Loading section .data, size 0xb8 lma 0x20004eb0
Start address 0x20000000, load size 20312
Transfer rate: 23 KB/sec, 4062 bytes/write.
(gdb) b main
Note: breakpoint 1 also set at pc 0x200002b0.
Breakpoint 2 at 0x200002b0: file /home/yibing/project/rpi_pico/test_led/test_led.c, line 9.
(gdb) cont
Continuing.

Breakpoint 1, main () at /home/yibing/project/rpi_pico/test_led/test_led.c:9
9 int main() {
(gdb)

You see that the first "cont/continue" command, gdb doesn't stop at main(). It does after I loaded it the 2nd time and set the BP again.

BTW, my C code is set to run from RAM with "pico_set_binary_type(test_led no_flash)" in CMakeLists.txt.

Thanks
Mark

Support for Adafruit Feather RP2040?

I followed the exact steps detailed under howto folder and after copying pico-debug-gimmecache.uf2, Feather RP2040 does not boot as an CMSIS adapter. It seems the uf2 need to be built with Feather RP2040 with different config.

Add basic usage instructions

First off, this is really cool!

I gave it a go yesterday, but I could not quite get it to work. The UF2 file works as expected, but I could not figure out which OpenOCD branch / which initialization settings to use. I've tried the rp2040_cmsisdap and the rp2040_singlecore branches.

The rp2040_cmsisdap branch was launched with the following command:

./src/openocd -s tcl -f interface/cmsis-dap.cfg -c "cmsis_dap_vid_pid 0x1209 0x2488" -c "transport select swd" -c "adapter speed 4000" -f target/rp2040.cfg

This gave me the following output:

Open On-Chip Debugger 0.10.0+dev-g7e5ea1861-dirty (2021-02-06-12:25)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
swd
adapter speed: 4000 kHz

Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : RP2040 Flash Bank Command
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
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 4000 kHz
Error: Sequence 4 not supported
Info : DAP init failed


Error: Sequence 3 not supported
Error: Sequence 4 not supported

For the rp2040_singlecore branch (this was before 5e8624d):

./src/openocd -s tcl -f interface/cmsis-dap.cfg -c "cmsis_dap_vid_pid 0x1209 0x2488" -c "transport select swd" -c "adapter speed 4000" -f target/rp2040-core1.cfg

The OpenOCD server started without problem, but when I issue a load command from GDB, the OpenOCD server hangs:

Open On-Chip Debugger 0.10.0+dev-g937c0aa1d-dirty (2021-02-06-12:45)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
swd
adapter speed: 4000 kHz

Info : Hardware thread awareness created
Info : RP2040 Flash Bank Command
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
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 4000 kHz
Error: Sequence 4 not supported
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x10000001
Info : rp2040.core1: hardware has 4 breakpoints, 2 watchpoints
Info : starting gdb server for rp2040.core1 on 3333
Info : Listening on port 3333 for gdb connections
Info : accepting 'gdb' connection on tcp/3333
Warn : target was in unknown state when halt was requested
Info : RP2040 B0 Flash Probe: 2097152 bytes @10000000, in 512 sectors

Warn : target not halted
target halted due to debug-request, current mode: Thread
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
Info : Writing 24500 bytes starting at 0x0
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_DISCONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_CONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_DISCONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_CONNECT failed.
Error: error writing data: hid_error is not implemented yet
^CError: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_DISCONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_CONNECT failed.
/bin/bash: line 1:  7445 Killed: 9               ./src/openocd -s tcl -f interface/cmsis-dap.cfg -c "cmsis_dap_vid_pid 0x1209 0x2488" -c "transport select swd" -c "adapter speed 4000" -f target/rp2040-core1.cfg

Could you add some basic usage instructions to the readme? Thanks!

MacOS: CMSIS-DAP command CMD_DISCONNECT failed

Brilliant project - unfortunately I seem to be running into an issue.

I've downloaded the precompiled pico-debug-gimmecache.uf2 and loaded it onto my raspberry pi pico.
I've also compiled the accompanying openocd. I can connect gdb to it, load software, inspect registers, etc. However, when I try to continue in gdb, stuff breaks down, and i get a long sequence of CMSIS-DAP command XXX failed and hid_error is not implemented yet.

gdb output looks like this

(gdb) tar ext localhost:3333
Remote debugging using localhost:3333
0x2003bd12 in ?? ()
(gdb) load
Loading section .boot2, size 0x100 lma 0x10000000
Loading section .text, size 0x5830 lma 0x10000100
Loading section .rodata, size 0x394 lma 0x10005930
Loading section .binary_info, size 0x24 lma 0x10005cc4
Loading section .data, size 0x2e0 lma 0x10005ce8
Start address 0x100001e8, load size 24520
Transfer rate: 8 KB/sec, 4086 bytes/write.
(gdb) info registers
r0             0x2	2
r1             0x1	1
r2             0x2003c0a9	537116841
r3             0xd0000000	-805306368
r4             0xffffffff	-1
r5             0xffffffff	-1
r6             0xb007c0d3	-1341669165
r7             0x4005801c	1074102300
r8             0xffffffff	-1
r9             0xffffffff	-1
r10            0xffffffff	-1
r11            0xffffffff	-1
r12            0x40008000	1073774592
sp             0x20040000	0x20040000
lr             0x2003bd13	537115923
pc             0x100001e8	0x100001e8 <_entry_point>
xPSR           0x21000000	553648128
msp            0x20041f00	0x20041f00
psp            0xfffffffc	0xfffffffc
primask        0x0	0
basepri        0x0	0
faultmask      0x0	0
control        0x0	0
(gdb) monitor reset init
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
(gdb) continue
Continuing.
error writing data: hid_error is not implemented yet

Program stopped.
0x000000ee in ?? ()

openocd output looks like this (I've put in a few newlines right before doing continue in GDB) :

Info : rp2040.core0: hardware has 4 breakpoints, 2 watchpoints
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections
Info : accepting 'gdb' connection on tcp/3333
Warn : target was in unknown state when halt was requested
Info : RP2040 B0 Flash Probe: 2097152 bytes @10000000, in 512 sectors

target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
Info : Writing 24520 bytes starting at 0x0
Warn : keep_alive() was not invoked in the 1000 ms timelimit. GDB alive packet not sent! (1781 ms). Workaround: increase "set remotetimeout" in GDB
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
target halted due to debug-request, current mode: Thread 
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00


        
Error: error writing data: hid_error is not implemented yet
Warn : target rp2040.core0 is not halted (gdb fileio)
Polling target rp2040.core0 failed, trying to reexamine
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_DISCONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_CONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_DISCONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_CONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_SWD_Configure failed.
Error: error writing data: hid_error is not implemented yet
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_DISCONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_CONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_SWD_Configure failed.
Error: error writing data: hid_error is not implemented yet
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_DISCONNECT failed.
Error: error writing data: hid_error is not implemented yet
Error: CMSIS-DAP command CMD_CONNECT failed.

(The output is way longer than this, but nothing new.)

Any thoughts on what could be causing this, or suggestions on troubleshooting?

P.S. I'm running on MacOS, and I could compile without the fixes suggested in #5 , but I went back and applied them anyway for good measure. It made no difference to this issue.

pico-debug might interfere "no-flash" image

Hi,

Recently, I have observed some strange behaviour and I suspect that the pico-debug interferes with some SRAM areas during debugging.

RP2040_debug_in_sram.zip

Here are some facts:

The template.uf2 is a "no-flash" image
- Link script is attached: template.lnp
- map file is attached: template.map
- original elf file is attached: template.axf
- It is compiled with Arm Compiler 6.16
It works well using the normal drag&drop method
When I debug it with pico-debug (both pico-debug-gimmecache.uf2 and pico-debug-maxram.uf2 have been tried), the image crash into hardfault.
around memory address 0x2000AC7C, the content is changed. And this area is supposed to be ".text". The map file can verify this.

The project is compiled and debugged in MDK. I have created a tag for you to replicate this issue.

Since the image is smaller than 16KByte, you can use the Evaluation license of MDK to test it.

Here are the steps to replicate the issue in MDK:

Open the project in path "project/MDK"
(if it is not the currently activated project configuration) switch to the project configuration "AC6-DebugInSRAM"
Compile
Press the debug button to start the debug session.
You should see a hardfault.

NOTE: Please use the latest MDK (5.35 or later) to test it.

I need your help.

I really appreciate any help you can provide.

Cheers,
Gabriel

DAP init failed with OpenOCD and arduino-pico

Hiya! Trying to get a basic blink working alongside pico-debug. I'm on Windows 11, and am running into this

openocd -d2 -s C:\Users\aria\.platformio\packages\tool-openocd-rp2040-earlephilhower/share/openocd/scripts -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "adapter speed 1000" -c "program {.pio\build\pico\firmware.elf}  verify reset; shutdown;"
Open On-Chip Debugger 0.11.0-g610f137 (2022-02-11-13:57)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
debug_level: 2

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: 1000 kHz

Info : CMSIS-DAP: SWD  Supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Serial# = E661640843675228
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 1000 kHz
Info : SWD DPIDR 0x0bc12477
Info : SWD DLPIDR 0x00000001
Info : DAP init failed
in procedure 'program'
** OpenOCD init failed **
shutdown command invoked

*** [upload] Error 1

For reference, here is my platformio.ini and main.cpp

#include <Arduino.h>

void setup()
{
  pinMode(LED_BUILTIN, OUTPUT);
}

void loop()
{
  digitalWrite(LED_BUILTIN, HIGH);
  delay(500);
  digitalWrite(LED_BUILTIN, LOW);
  delay(500);
}

[env:pico]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = pico
framework = arduino
board_build.core = earlephilhower
debug_tool = cmsis-dap
upload_protocol = cmsis-dap

Error: unable to find a matching CMSIS-DAP device

Host is reTerminal (Raspberry Pi Compute Module 4 running 32-bit OS).

❯ pwd
/home/pi/Projects/pico/pico-examples/build/picoboard/blinky
❯ ls -al
total 1060
drwxr-xr-x 3 pi pi   4096 Jun 26 15:37 .
drwxr-xr-x 5 pi pi   4096 Jun 26 15:31 ..
drwxr-xr-x 3 pi pi   4096 Jun 26 15:31 CMakeFiles
-rw-r--r-- 1 pi pi   1008 Jun 26 15:31 cmake_install.cmake
-rw-r--r-- 1 pi pi  89295 Jun 26 15:31 Makefile
-rwxr-xr-x 1 pi pi  21312 Jun 26 15:32 picoboard_blinky.bin
-rw-r--r-- 1 pi pi 335999 Jun 26 15:32 picoboard_blinky.dis
-rwxr-xr-x 1 pi pi 257680 Jun 26 15:32 picoboard_blinky.elf
-rw-r--r-- 1 pi pi 245185 Jun 26 15:32 picoboard_blinky.elf.map
-rw-r--r-- 1 pi pi  60004 Jun 26 15:32 picoboard_blinky.hex
-rw-r--r-- 1 pi pi  43008 Jun 26 15:32 picoboard_blinky.uf2
-rw-r--r-- 1 pi pi    336 Jun 26 15:37 pico-debug.cfg
❯ openocd -f ./pico-debug.cfg
Open On-Chip Debugger 0.11.0-g228ede4-dirty (2022-06-24-18:50)
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 : RP2040 Flash Bank Command
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Error: unable to find a matching CMSIS-DAP device

lsusb shows

❯ lsusb
Bus 001 Device 004: ID 1209:2488 Generic Peter Lawrence CMSIS-DAP Dapper Miser
Bus 001 Device 002: ID 0424:2514 Standard Microsystems Corp. USB 2.0 Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

I copied pico-debug.cfg from the openocd source tree:

❯ cat pico-debug.cfg
# SPDX-License-Identifier: GPL-2.0-or-later
# pico-debug is a virtual CMSIS-DAP debug adapter
# it runs on the very same RP2040 target being debugged without additional hardware
# https://github.com/majbthrd/pico-debug

source [find interface/cmsis-dap.cfg]
adapter speed 4000

set CHIPNAME rp2040
source [find target/rp2040-core0.cfg]

What am I missing?

pico-debug.cfg? where is it?

Hi,
I do not know, how else I could contact you.

I found this software, and at the page:
https://github.com/majbthrd/pico-debug/blob/master/howto/openocd.md
you mention to run openocd like:
openocd -f board/pico-debug.cfg

but:

I cannot find the pico-debug.cfg contents anywhere.
I tried to start this with:
bin/openocd -f scripts/interface/cmsis-dap.cfg
but I get the error JTAG not supported:
xPack OpenOCD, x86_64 Open On-Chip Debugger 0.11.0-00155-ge392e485e (2021-03-15-18:44)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
cmsis-dap
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : CMSIS-DAP: SWD Supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Serial# = E6603828236E6935
Error: CMSIS-DAP: JTAG not supported

How to I get rid of this?
As I understand, only SWD is needed, but I could not find out how to remove JTAG.

Thanks in advance,
Holger

PS: I spent hours now in trying to debug RP2040 on macOS, and I am now desperate to get anything going...

Can't Find Any CMSIS-DAP Device

After I copy uf2 into Pico，it just rebooted and runing previous program, dmesg shows no device has been plugged in after mass storage device disconnected, like this:
'''
sd 6:0:0:0: [sdb] Attached SCSI removable disk
[ 596.680640] usb 1-3: USB disconnect, device number 5
[ 615.822719] usb 1-3: new full-speed USB device number 6 using xhci_hcd
[ 615.972150] usb 1-3: New USB device found, idVendor=2e8a, idProduct=0003, bcdDevice= 1.00
[ 615.972163] usb 1-3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 615.972169] usb 1-3: Product: RP2 Boot
[ 615.972173] usb 1-3: Manufacturer: Raspberry Pi
[ 615.972176] usb 1-3: SerialNumber: E0C912952D54
[ 615.976957] usb-storage 1-3:1.0: USB Mass Storage device detected
[ 615.977542] scsi host6: usb-storage 1-3:1.0
[ 616.991715] scsi 6:0:0:0: Direct-Access RPI RP2 2 PQ: 0 ANSI: 2
[ 616.992297] sd 6:0:0:0: Attached scsi generic sg2 type 0
[ 616.992998] sd 6:0:0:0: [sdb] 262144 512-byte logical blocks: (134 MB/128 MiB)
[ 616.993381] sd 6:0:0:0: [sdb] Write Protect is off
[ 616.993386] sd 6:0:0:0: [sdb] Mode Sense: 03 00 00 00
[ 616.993748] sd 6:0:0:0: [sdb] No Caching mode page found
[ 616.993755] sd 6:0:0:0: [sdb] Assuming drive cache: write through
'''
And, lsusb -t seems doesn't list any new device too.When I try run openocd, it output like this:
'''
Open On-Chip Debugger 0.11.0+dev-00635-g7c6d379cf (2022-04-10-16:45)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Error: Debug adapter doesn't support any transports?
/usr/local/bin/../share/openocd/scripts/target/rp2040-core0.cfg:3: Error:
in procedure 'script'
at file "embedded:startup.tcl", line 26
at file "/usr/local/bin/../share/openocd/scripts/target/rp2040-core0.cfg", line 3
'''

pico-debug under WSL2 using usbipd-win - openocd with debug output reports "skipping interface 0, endpoint[0] is not bulk out"

This may not be supported at this point however I thought it would be useful to ask. I also apologise as this may not be actually a pico-debug "issue" but related to the use of usbipd-win but I would appreciate any thoughts or pointers as this configuration could be useful to others.

I am trying to run pico-debug using an Ubuntu 20.04LTS distribution in the latest WSL2 on Windows 10. To make the physical USB ports available from the Linux WSL2 system I am using the usbipd-win package (https://github.com/dorssel/usbipd-win). I have a udev rules file to allow access to the port from a non root user.

I have downloaded, compiled and installed the openocd package as described in your instructions at https://github.com/majbthrd/pico-debug/blob/master/howto/openocd.md

Once the usbipd Windows service is running I can successfully attach the relevant USB port to the WSL2 Ubuntu instance and lsusb gives me the following response:

Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 006: ID 1209:2488 Generic Peter Lawrence CMSIS-DAP Dapper Miser
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

lsusb -vgives the following for the port in question:

Bus 001 Device 006: ID 1209:2488 Generic Peter Lawrence CMSIS-DAP Dapper Miser
Device Descriptor:
  bLength                18
  bDescriptorType         1
  bcdUSB               2.00
  bDeviceClass            0
  bDeviceSubClass         0
  bDeviceProtocol         0
  bMaxPacketSize0        64
  idVendor           0x1209 Generic
  idProduct          0x2488 Peter Lawrence CMSIS-DAP Dapper Miser
  bcdDevice           10.03
  iManufacturer           2 pico-debug
  iProduct                1 CMSIS-DAP
  iSerial                 3 E66038B713297738
  bNumConfigurations      1
  Configuration Descriptor:
    bLength                 9
    bDescriptorType         2
    wTotalLength       0x0029
    bNumInterfaces          1
    bConfigurationValue     1
    iConfiguration          0
    bmAttributes         0x80
      (Bus Powered)
    MaxPower              100mA
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        0
      bAlternateSetting       0
      bNumEndpoints           2
      bInterfaceClass         3 Human Interface Device
      bInterfaceSubClass      0
      bInterfaceProtocol      0
      iInterface              0
        HID Device Descriptor:
          bLength                 9
          bDescriptorType        33
          bcdHID               1.11
          bCountryCode            0 Not supported
          bNumDescriptors         1
          bDescriptorType        34 Report
          wDescriptorLength      32
         Report Descriptors:
           ** UNAVAILABLE **
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x01  EP 1 OUT
        bmAttributes            3
          Transfer Type            Interrupt
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0040  1x 64 bytes
        bInterval               1
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x81  EP 1 IN
        bmAttributes            3
          Transfer Type            Interrupt
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0040  1x 64 bytes
        bInterval               1
can't get device qualifier: Resource temporarily unavailable
can't get debug descriptor: Resource temporarily unavailable
Device Status:     0x0000
  (Bus Powered)

However, when running "openocd -f board/pico-debug.cfg" I get the following:

Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Error: unable to find a matching CMSIS-DAP device

With the -d option there is additional output relating to the port :

Debug: 61 8 cmsis_dap_usb_bulk.c:161 cmsis_dap_usb_open(): found product string of 0x1209:0x2488 'CMSIS-DAP'
Debug: 62 8 cmsis_dap_usb_bulk.c:181 cmsis_dap_usb_open(): enumerating interfaces of 0x1209:0x2488
Debug: 63 8 cmsis_dap_usb_bulk.c:248 cmsis_dap_usb_open(): skipping interface 0, endpoint[0] is not bulk out

I am not sure whether pico-debug is accessed as an HID or Bulk device but if I run the command:
openocd -f board/pico-debug.cfg -c "cmsis_dap_backend hid" -d

I just get the response:
Error: 61 3 cmsis_dap.c:305 cmsis_dap_open(): unable to find a matching CMSIS-DAP device

Adding LOG_DEBUG() commands into the openocd source and re-building and re-running I can see that its attempts to enumerate an HID device fail in cmsis_dap_usb_hid.c so it then tries to look for a bulk device in cmsis_dap_usb_bulk.c whereupon it fails with the message about endpoint not being bulk out that I show above.

It may be that the usbipd-win implementation is not yet fully featured enough to allow what I am trying to do but as I have no background in USB it is very difficult to know so I would appreciate any thoughts or ideas where to look further.

a small typo in a otherwise extremely good project

$ cd ~/pico/pico-examples/build/picoboard/blinky
$ gdb-multiarch picoboard-blinky.elf

In the above gdb-multiarch command, the elf file name should contain "_", not "-".

In addition, the application must be built before the openocd is built and gdb is started.

Thanks for the good work.

Core 0 with pico-debug resident wakes up at different clock frequency

I expect that pico-debug will need certain resources on the chip to function (the readme lists PLL_USB, for instance), but I was surprised to discover that it seems to change the clock config in ways that affects core 0's boot state.

Using an image that doesn't make any changes to clock configuration,

Booting it from Flash without pico-debug resident sees a core 0 clock frequency of ~6 MHz
Loading pico-debug (gimmecache, specifically) and issuing reset through openocd launches into the same firmware with an apparent clock frequency of... much higher than that.

I assume the debugger switches CLK_SYS_CTRL to generate CLK_SYS from PLL_USB. This would be a good thing to document since it changes the startup behavior of programs.

I'm guessing that most folks aren't noticing this because they're running SDK programs that immediately switch CLK_SYS to PLL_SYS?

Does it work for pico-w ? How to build pico-debug for pico W board?

Does built release .uf2 work for the new pico W board?
Seems like it doesn't ?

Maybe I am setting up launch.json incorrectly ? Maybe I should install something ?

1-gdb-version
Could not start GDB process, does the program exist in filesystem?
Error: spawn arm-none-eabi-gdb ENOENT

Manually running after copying .uf2 release of pico-debug gives this:
openocd -f board/pico-debug.cfg

Open On-Chip Debugger 0.12.0-rc2+dev-00028-g9501b263e (2022-12-11-17:34)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Warn : rp2040-core0.cfg configuration file is deprecated and will be
       removed in the next release. Use following parameters instead:
          -c 'set USE_CORE 0' -f target/rp2040.cfg
cortex_m reset_config sysresetreq

Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Error: unable to open CMSIS-DAP device 0x1209:0x2488
Error: unable to find a matching CMSIS-DAP device

Add USB serial number string

Not having a serial number string makes it difficult to identify uniquely and support multiple connected probes.

A short manufacturer string would be nice, too.

I know they take up memory, but it's useful.

Can I include the two pico-debug-xxxx.uf2 in my repository?

Hi,

Thank you for this fantastic job!
I have made a Pico template for MDK, and it works well!

https://github.com/GorgonMeducer/Pico_Template

I have some questions:

Can I add the two uf2 files, i.e. pico-debug-XXXX.uf2, to my repository?
If it is allowed, what should I do for licensing issue? I need your guidance.