十分鐘快速自制CMSIS_DAP仿真器，將ST-LINK-V2變身DAP仿真器！
（一）簡介
說到單片機仿真器(下載器)首先想到的就是J-LINK和ST-LINK，很多人可能還是第一次聽說DAP仿真器，那么就先介紹一下，
CMSIS DAP是ARM官方推出的開源仿真器，支持所有的Cortex-A/R/M器件，支持JTAG/SWD介面，有以下特點：
- 完全開源，沒有著作權限制，所以相應的價格會很便宜
- 不需要安裝驅動，即插即用
- 在新版本的DAP里集成了串口，除了下載除錯外還能充當USB轉串口模塊，一機兩用
- 性能方面已經可以滿足一般用戶的需求
市面上基本所有的離線下載器基本都是基于CMSIS_DAP方案來的，例如正點原子的離線下載器、無線下載器等，還有就是國產單片機廠家做的除錯器，例如GD32出的GD-LINK，都是基于CMSIS DAP方案改的，
而ST-LINK是ST官方出的，目前有V1、V2、V3版本，并且閉源，正版的很貴！你買到的很便宜，可能也就十幾三十幾塊錢得樣子，這是因為這都是盜版的！網上早就有人把ST-LINK-V2的韌體給破解出來的，而且原理圖也有，所以市面上的便宜貨都是根據官方的原理圖做出來的板子，然后下載進韌體就完成了一個ST-LINK除錯器！但是他們是沒有ST-LINK的韌體源代碼的！
什么是在線除錯下載？
在線除錯器就是用keil或者iar等軟體對目標MCU進行除錯和下載程式，適用于開發階段，像是ST-LINK、J-LINK就是在線除錯器，
什么是離線下載？
當專案開發中已經接近尾聲或者已經成熟后，那么每生產一塊板子就需要刷程式，但是刷程式就需要連接到PC機上通過軟體刷，這樣的話就非常的麻煩，那么有沒有一種方式是做一個小板子，把下載程式的功能集成到這個小板子中，這樣的話刷程式就是用這個小板子給目標MCU刷程式，就是手持式的，
有！就是離線下載器！
離線下載器的功能說簡單點就是Keil下載程式的功能！
關于本篇
教程持續更新，最終的目的是做一個在線除錯+離線下載完整功能的仿真器，
本篇教程就先實作用keil能夠在線除錯下載程式和除錯的功能，這是實作完整功能最簡單的一步，
（二）除錯器的原理
在教程開始之前，我覺得有必要說一下除錯器的原理以及他是怎么作業的，怎么把程式下載到目標MCU的，這里以KEIL+ST-LINK為例進行說明，
我們使用keil下載程式的時候，必須要選定一個下載演算法，如下所示：
當你使用STM32的時候必須要安裝pack包，而下載演算法就在pack包內，安裝好后就在keil軟體的安裝目錄下了，具體在這里：
Keil會根據你當前工程使用的芯片，自動去識別應該用哪一個下載演算法，例如我目前這個工程是用的STM32F103C8這個芯片，FLASH容量是64K的，屬于這個系列的小容量，那么KEIL就自動給我識別了STM32F103x_128.FLM這個下載演算法，
那么這個下載演算法是什么東西？
進入這個目錄后，他有一個工程，而這個工程就是下載演算法的模板工程，我們打開看一下：
打開工程后很簡單的，就只有兩個檔案，函式也很簡單都是對FLASH的操作，編譯一下看看：
AXF（ARM Executable File）是ARM芯片使用的檔案格式，它除了包含bin代碼外，還包括了輸出給除錯器的除錯資訊
看到沒！編譯完了之后生成了STM32F103x_16.axf檔案，然后只是做了一個檔案復制并且重命名成了STM32F10x_16.FLM檔案！
現在對下載演算法就明確了，下載演算法其實就是對目標MCU的FLASH的一系列操作函式！
那么KEIL給目標MCU下載程式的時候，其實就是決議出編譯好的.axf檔案，然后通過USB連接線經過ST-LINK先將下載演算法加載進目標MCU的記憶體中并運行，由于.axf檔案中包含的資訊很多，其中就有當程式加載進記憶體后函式在記憶體中的地址，這個地址也可以通過.map檔案查看(.map檔案也是keil在編譯完工程后生成的)，知道函式在記憶體中的地址，就可以在外部通過特定的進行呼叫，所以STLINK就是接收來自KEIL的韌體程式，然后操控目標單片機記憶體中的FLASH的操作函式，在通過SWD協議將韌體下載進目標MCU的FLASH中，就這樣實作了程式下載，后面我們會做離線下載器那么也就明確了，可以將接收KEIL的下發韌體這一個步驟變成本地SD卡存盤韌體，這樣不就實作了離線~
現在keil整個下載程式的流程清楚了后，我們的CMSIS_DAP就可以分成兩步驟進行：
- 第一步：實作KEIL通過USB和DAP的通信
- 第二步：DAP通過SWD協議將收到韌體下載進目標MCU
對于第一步，我們使用STM32CubeMX軟體生成工程，然后對原始碼進行一個簡單的修改就可以完成，如果你對USB沒有一個充分的了解，本章教程可以先不用管為什么這么修改源代碼，跟著步驟來即可，我的另一篇博客有對USB相關知識的掃盲，可以幫助你快速了解：https://blog.csdn.net/qq153471503/article/details/116053851
對于第二步，我們需要移植自ARM官方的CMSIS_DAP原始碼，源代碼在Keil軟體的安裝目錄下，ARM官方的代碼是基于LPC單片機的，但是不妨礙我們移植使用：
我們需要的就是上圖中這三個檔案夾中的源檔案以及USBD_User_HID_0.c檔案即可，這個檔案在這里：
（三）工程配置
緊接上文，現在開始實作第一步，由于我目前手頭沒有現成的硬體，然后我想起ST-LINK其實也是個STM32F103C8單片機，那么我用STLINK的板子不就行了，而且在網上還能找到原理圖，省去了自己做板子驗證的步驟，等軟體除錯完畢后，在做板子把它做得小巧精致些，
它的原理圖是這樣的：
從原理圖上可知，使用的引腳分布如下：
- JTAG_nTRST（PB1）
- JTAG_nRESET（PB0）
- JTAG_TDI（PA7）
- JTAG_TMS（PB14，這個引腳也是SWD模式下的SWDIO引腳）
- JTAG_TCK（PB13/PA5，這個引腳也是SWD模式下的SWCLK引腳）
- JTAG_TDO（PA6/PA10）
- LED燈（PA9，低電平為紅燈，高電平為綠燈）
對于JTAG_TCK，這是時鐘信號引腳，官方用了PB13和PA5兩個引腳，我猜測是因為為了提高抗干擾能力，JTAG和SWD兩種模式下，使用不同的引腳當做時鐘信號，JTAG_TMS引腳同理，
對于JTAG_TDO，當JTAG模式時，這是JTAG的資料輸入引腳，當使用SWD模式時，這個引腳可以作為除錯輸出的作用，所以也是分成了兩個引腳來用，
在本教程中，我們就各只用一個IO就可以，不搞那么麻煩，
下面開始貼一下我的配置，時鐘配置到72M，并開啟USB配置成48M，如下：
下載程式的除錯介面配置為SWD模式：
USB的配置如下：
IO引腳的配置如下：
這就是全部的配置內容，然后生成代碼就可以了！
（四）移植DAP原始碼
將DAP加入我們的工程，如下所示：
對于DAP原始碼的移植，我們主要就是修改DAP_config.h和USBD_User_HID_0.c倆檔案，其中DAP_config.h是修改的GPIO以及DAP的一些默認配置引數，USBD_User_HID_0.c就是USB與PC的函式介面了，由于原CMSIS_DAP工程是基于LCP單片機并且跑了系統的，而我沒有跑系統，所以就需要將USBD_User_HID_0.c檔案中使用系統了的API換成輪訓方式即可，下面貼一下我的配置：
DAP_config.h檔案：
/*
* Copyright (c) 2013-2017 ARM Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* ----------------------------------------------------------------------
*
* $Date: 1. December 2017
* $Revision: V2.0.0
*
* Project: CMSIS-DAP Configuration
* Title: DAP_config.h CMSIS-DAP Configuration File (Template)
*
*---------------------------------------------------------------------------*/
#ifndef __DAP_CONFIG_H__
#define __DAP_CONFIG_H__
//**************************************************************************************************
/**
\defgroup DAP_Config_Debug_gr CMSIS-DAP Debug Unit Information
\ingroup DAP_ConfigIO_gr
@{
Provides definitions about the hardware and configuration of the Debug Unit.
This information includes:
- Definition of Cortex-M processor parameters used in CMSIS-DAP Debug Unit.
- Debug Unit Identification strings (Vendor, Product, Serial Number).
- Debug Unit communication packet size.
- Debug Access Port supported modes and settings (JTAG/SWD and SWO).
- Optional information about a connected Target Device (for Evaluation Boards).
*/
#include "main.h"
/// Processor Clock of the Cortex-M MCU used in the Debug Unit.
/// This value is used to calculate the SWD/JTAG clock speed.
#define CPU_CLOCK 72000000U ///< Specifies the CPU Clock in Hz.
/// Number of processor cycles for I/O Port write operations.
/// This value is used to calculate the SWD/JTAG clock speed that is generated with I/O
/// Port write operations in the Debug Unit by a Cortex-M MCU. Most Cortex-M processors
/// require 2 processor cycles for a I/O Port Write operation. If the Debug Unit uses
/// a Cortex-M0+ processor with high-speed peripheral I/O only 1 processor cycle might be
/// required.
#define IO_PORT_WRITE_CYCLES 2U ///< I/O Cycles: 2=default, 1=Cortex-M0+ fast I/0.
/// Indicate that Serial Wire Debug (SWD) communication mode is available at the Debug Access Port.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define DAP_SWD 1 ///< SWD Mode: 1 = available, 0 = not available.
/// Indicate that JTAG communication mode is available at the Debug Port.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define DAP_JTAG 1 ///< JTAG Mode: 1 = available, 0 = not available.
/// Configure maximum number of JTAG devices on the scan chain connected to the Debug Access Port.
/// This setting impacts the RAM requirements of the Debug Unit. Valid range is 1 .. 255.
#define DAP_JTAG_DEV_CNT 8U ///< Maximum number of JTAG devices on scan chain.
/// Default communication mode on the Debug Access Port.
/// Used for the command \ref DAP_Connect when Port Default mode is selected.
#define DAP_DEFAULT_PORT 1U ///< Default JTAG/SWJ Port Mode: 1 = SWD, 2 = JTAG.
/// Default communication speed on the Debug Access Port for SWD and JTAG mode.
/// Used to initialize the default SWD/JTAG clock frequency.
/// The command \ref DAP_SWJ_Clock can be used to overwrite this default setting.
#define DAP_DEFAULT_SWJ_CLOCK 10000000U ///< Default SWD/JTAG clock frequency in Hz.
/// Maximum Package Size for Command and Response data.
/// This configuration settings is used to optimize the communication performance with the
/// debugger and depends on the USB peripheral. Typical vales are 64 for Full-speed USB HID or WinUSB,
/// 1024 for High-speed USB HID and 512 for High-speed USB WinUSB.
#define DAP_PACKET_SIZE 64U ///< Specifies Packet Size in bytes.
/// Maximum Package Buffers for Command and Response data.
/// This configuration settings is used to optimize the communication performance with the
/// debugger and depends on the USB peripheral. For devices with limited RAM or USB buffer the
/// setting can be reduced (valid range is 1 .. 255).
#define DAP_PACKET_COUNT 8U ///< Specifies number of packets buffered.
/// Indicate that UART Serial Wire Output (SWO) trace is available.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define SWO_UART 0 ///< SWO UART: 1 = available, 0 = not available.
/// Maximum SWO UART Baudrate.
#define SWO_UART_MAX_BAUDRATE 10000000U ///< SWO UART Maximum Baudrate in Hz.
/// Indicate that Manchester Serial Wire Output (SWO) trace is available.
/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
#define SWO_MANCHESTER 0 ///< SWO Manchester: 1 = available, 0 = not available.
/// SWO Trace Buffer Size.
#define SWO_BUFFER_SIZE 4096U ///< SWO Trace Buffer Size in bytes (must be 2^n).
/// SWO Streaming Trace.
#define SWO_STREAM 0 ///< SWO Streaming Trace: 1 = available, 0 = not available.
/// Clock frequency of the Test Domain Timer. Timer value is returned with \ref TIMESTAMP_GET.
#define TIMESTAMP_CLOCK 72000000U ///< Timestamp clock in Hz (0 = timestamps not supported).
/// Debug Unit is connected to fixed Target Device.
/// The Debug Unit may be part of an evaluation board and always connected to a fixed
/// known device. In this case a Device Vendor and Device Name string is stored which
/// may be used by the debugger or IDE to configure device parameters.
#define TARGET_DEVICE_FIXED 0 ///< Target Device: 1 = known, 0 = unknown;
#if TARGET_DEVICE_FIXED
#define TARGET_DEVICE_VENDOR "ARM" ///< String indicating the Silicon Vendor
#define TARGET_DEVICE_NAME "Cortex-M4" ///< String indicating the Target Device
#endif
/** Get Vendor ID string.
\param str Pointer to buffer to store the string.
\return String length.
*/
__STATIC_INLINE uint8_t DAP_GetVendorString (char *str)
{
(void)str;
return (0U);
}
/** Get Product ID string.
\param str Pointer to buffer to store the string.
\return String length.
*/
__STATIC_INLINE uint8_t DAP_GetProductString (char *str)
{
(void)str;
return (0U);
}
/** Get Serial Number string.
\param str Pointer to buffer to store the string.
\return String length.
*/
__STATIC_INLINE uint8_t DAP_GetSerNumString (char *str)
{
(void)str;
return (0U);
}
///@}
//**************************************************************************************************
/**
\defgroup DAP_Config_PortIO_gr CMSIS-DAP Hardware I/O Pin Access
\ingroup DAP_ConfigIO_gr
@{
Standard I/O Pins of the CMSIS-DAP Hardware Debug Port support standard JTAG mode
and Serial Wire Debug (SWD) mode. In SWD mode only 2 pins are required to implement the debug
interface of a device. The following I/O Pins are provided:
JTAG I/O Pin | SWD I/O Pin | CMSIS-DAP Hardware pin mode
---------------------------- | -------------------- | ---------------------------------------------
TCK: Test Clock | SWCLK: Clock | Output Push/Pull
TMS: Test Mode Select | SWDIO: Data I/O | Output Push/Pull; Input (for receiving data)
TDI: Test Data Input | | Output Push/Pull
TDO: Test Data Output | | Input
nTRST: Test Reset (optional) | | Output Open Drain with pull-up resistor
nRESET: Device Reset | nRESET: Device Reset | Output Open Drain with pull-up resistor
DAP Hardware I/O Pin Access Functions
-------------------------------------
The various I/O Pins are accessed by functions that implement the Read, Write, Set, or Clear to
these I/O Pins.
For the SWDIO I/O Pin there are additional functions that are called in SWD I/O mode only.
This functions are provided to achieve faster I/O that is possible with some advanced GPIO
peripherals that can independently write/read a single I/O pin without affecting any other pins
of the same I/O port. The following SWDIO I/O Pin functions are provided:
- \ref PIN_SWDIO_OUT_ENABLE to enable the output mode from the DAP hardware.
- \ref PIN_SWDIO_OUT_DISABLE to enable the input mode to the DAP hardware.
- \ref PIN_SWDIO_IN to read from the SWDIO I/O pin with utmost possible speed.
- \ref PIN_SWDIO_OUT to write to the SWDIO I/O pin with utmost possible speed.
*/
// Configure DAP I/O pins ------------------------------
/** Setup JTAG I/O pins: TCK, TMS, TDI, TDO, nTRST, and nRESET.
Configures the DAP Hardware I/O pins for JTAG mode:
- TCK, TMS, TDI, nTRST, nRESET to output mode and set to high level.
- TDO to input mode.
*/
__STATIC_INLINE void PORT_JTAG_SETUP (void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TCK_GPIO_Port, JTAG_TCK_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TMS_GPIO_Port, JTAG_TMS_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_nRESET_GPIO_Port, JTAG_nRESET_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin, GPIO_PIN_SET);
// LED
GPIO_InitStruct.Pin = LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
// TCK
GPIO_InitStruct.Pin = JTAG_TCK_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_TCK_GPIO_Port, &GPIO_InitStruct);
// TMS
GPIO_InitStruct.Pin = JTAG_TMS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
// TDI
GPIO_InitStruct.Pin = JTAG_TDI_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_TDI_GPIO_Port, &GPIO_InitStruct);
// nRESET
GPIO_InitStruct.Pin = JTAG_nRESET_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_nRESET_GPIO_Port, &GPIO_InitStruct);
// nTRST
GPIO_InitStruct.Pin = JTAG_nTRST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_nTRST_GPIO_Port, &GPIO_InitStruct);
// TDO
GPIO_InitStruct.Pin = JTAG_TDO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(JTAG_TDO_GPIO_Port, &GPIO_InitStruct);
}
/** Setup SWD I/O pins: SWCLK, SWDIO, and nRESET.
Configures the DAP Hardware I/O pins for Serial Wire Debug (SWD) mode:
- SWCLK, SWDIO, nRESET to output mode and set to default high level.
- TDI, nTRST to HighZ mode (pins are unused in SWD mode).
*/
__STATIC_INLINE void PORT_SWD_SETUP (void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TCK_GPIO_Port, JTAG_TCK_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TMS_GPIO_Port, JTAG_TMS_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_nRESET_GPIO_Port, JTAG_nRESET_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin, GPIO_PIN_SET);
// LED
GPIO_InitStruct.Pin = LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
// TCK
GPIO_InitStruct.Pin = JTAG_TCK_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_TCK_GPIO_Port, &GPIO_InitStruct);
// TMS
GPIO_InitStruct.Pin = JTAG_TMS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
// nRESET
GPIO_InitStruct.Pin = JTAG_nRESET_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_nRESET_GPIO_Port, &GPIO_InitStruct);
// TDI TDO nTRST
HAL_GPIO_DeInit(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin);
HAL_GPIO_DeInit(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin);
HAL_GPIO_DeInit(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin);
}
/** Disable JTAG/SWD I/O Pins.
Disables the DAP Hardware I/O pins which configures:
- TCK/SWCLK, TMS/SWDIO, TDI, TDO, nTRST, nRESET to High-Z mode.
*/
__STATIC_INLINE void PORT_OFF (void)
{
HAL_GPIO_DeInit(JTAG_TCK_GPIO_Port, JTAG_TCK_Pin);
HAL_GPIO_DeInit(JTAG_TMS_GPIO_Port, JTAG_TMS_Pin);
HAL_GPIO_DeInit(JTAG_nRESET_GPIO_Port, JTAG_nRESET_Pin);
HAL_GPIO_DeInit(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin);
HAL_GPIO_DeInit(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin);
HAL_GPIO_DeInit(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin);
}
// SWCLK/TCK I/O pin -------------------------------------
/** SWCLK/TCK I/O pin: Get Input.
\return Current status of the SWCLK/TCK DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_SWCLK_TCK_IN (void)
{
return JTAG_TCK_GPIO_Port->ODR & JTAG_TCK_Pin ? 1 : 0;
}
/** SWCLK/TCK I/O pin: Set Output to High.
Set the SWCLK/TCK DAP hardware I/O pin to high level.
*/
__STATIC_FORCEINLINE void PIN_SWCLK_TCK_SET (void)
{
JTAG_TCK_GPIO_Port->BSRR = JTAG_TCK_Pin;
}
/** SWCLK/TCK I/O pin: Set Output to Low.
Set the SWCLK/TCK DAP hardware I/O pin to low level.
*/
__STATIC_FORCEINLINE void PIN_SWCLK_TCK_CLR (void)
{
JTAG_TCK_GPIO_Port->BRR = JTAG_TCK_Pin;
}
// SWDIO/TMS Pin I/O --------------------------------------
/** SWDIO/TMS I/O pin: Get Input.
\return Current status of the SWDIO/TMS DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_SWDIO_TMS_IN (void)
{
return JTAG_TMS_GPIO_Port->ODR & JTAG_TMS_Pin ? 1 : 0;
}
/** SWDIO/TMS I/O pin: Set Output to High.
Set the SWDIO/TMS DAP hardware I/O pin to high level.
*/
__STATIC_FORCEINLINE void PIN_SWDIO_TMS_SET (void)
{
JTAG_TMS_GPIO_Port->BSRR = JTAG_TMS_Pin;
}
/** SWDIO/TMS I/O pin: Set Output to Low.
Set the SWDIO/TMS DAP hardware I/O pin to low level.
*/
__STATIC_FORCEINLINE void PIN_SWDIO_TMS_CLR (void)
{
JTAG_TMS_GPIO_Port->BRR = JTAG_TMS_Pin;
}
/** SWDIO I/O pin: Get Input (used in SWD mode only).
\return Current status of the SWDIO DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_SWDIO_IN (void)
{
return JTAG_TMS_GPIO_Port->IDR & JTAG_TMS_Pin ? 1 : 0;
}
/** SWDIO I/O pin: Set Output (used in SWD mode only).
\param bit Output value for the SWDIO DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE void PIN_SWDIO_OUT (uint32_t bit)
{
if(bit & 0X01)
{
JTAG_TMS_GPIO_Port->BSRR = JTAG_TMS_Pin;
}
else
{
JTAG_TMS_GPIO_Port->BRR = JTAG_TMS_Pin;
}
}
/** SWDIO I/O pin: Switch to Output mode (used in SWD mode only).
Configure the SWDIO DAP hardware I/O pin to output mode. This function is
called prior \ref PIN_SWDIO_OUT function calls.
*/
__STATIC_FORCEINLINE void PIN_SWDIO_OUT_ENABLE (void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = JTAG_TMS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
}
/** SWDIO I/O pin: Switch to Input mode (used in SWD mode only).
Configure the SWDIO DAP hardware I/O pin to input mode. This function is
called prior \ref PIN_SWDIO_IN function calls.
*/
__STATIC_FORCEINLINE void PIN_SWDIO_OUT_DISABLE (void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = JTAG_TMS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
}
// TDI Pin I/O ---------------------------------------------
/** TDI I/O pin: Get Input.
\return Current status of the TDI DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_TDI_IN (void)
{
return JTAG_TDI_GPIO_Port->ODR & JTAG_TDI_Pin ? 1 : 0;
}
/** TDI I/O pin: Set Output.
\param bit Output value for the TDI DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE void PIN_TDI_OUT (uint32_t bit)
{
if(bit & 0X01)
{
JTAG_TDI_GPIO_Port->BSRR = JTAG_TDI_Pin;
}
else
{
JTAG_TDI_GPIO_Port->BRR = JTAG_TDI_Pin;
}
}
// TDO Pin I/O ---------------------------------------------
/** TDO I/O pin: Get Input.
\return Current status of the TDO DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_TDO_IN (void)
{
return JTAG_TDO_GPIO_Port->IDR & JTAG_TDO_Pin ? 1 : 0;
}
// nTRST Pin I/O -------------------------------------------
/** nTRST I/O pin: Get Input.
\return Current status of the nTRST DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_nTRST_IN (void)
{
return JTAG_nTRST_GPIO_Port->ODR & JTAG_nTRST_Pin ? 1 : 0;
}
/** nTRST I/O pin: Set Output.
\param bit JTAG TRST Test Reset pin status:
- 0: issue a JTAG TRST Test Reset.
- 1: release JTAG TRST Test Reset.
*/
__STATIC_FORCEINLINE void PIN_nTRST_OUT (uint32_t bit)
{
if(bit & 0X01)
{
JTAG_nTRST_GPIO_Port->BSRR = JTAG_nTRST_Pin;
}
else
{
JTAG_nTRST_GPIO_Port->BRR = JTAG_nTRST_Pin;
}
}
// nRESET Pin I/O------------------------------------------
/** nRESET I/O pin: Get Input.
\return Current status of the nRESET DAP hardware I/O pin.
*/
__STATIC_FORCEINLINE uint32_t PIN_nRESET_IN (void)
{
return JTAG_nRESET_GPIO_Port->ODR & JTAG_nRESET_Pin ? 1 : 0;
}
/** nRESET I/O pin: Set Output.
\param bit target device hardware reset pin status:
- 0: issue a device hardware reset.
- 1: release device hardware reset.
*/
__STATIC_FORCEINLINE void PIN_nRESET_OUT (uint32_t bit)
{
if(bit & 0X01)
{
JTAG_nRESET_GPIO_Port->BSRR = JTAG_nRESET_Pin;
}
else
{
JTAG_nRESET_GPIO_Port->BRR = JTAG_nRESET_Pin;
}
}
///@}
//**************************************************************************************************
/**
\defgroup DAP_Config_LEDs_gr CMSIS-DAP Hardware Status LEDs
\ingroup DAP_ConfigIO_gr
@{
CMSIS-DAP Hardware may provide LEDs that indicate the status of the CMSIS-DAP Debug Unit.
It is recommended to provide the following LEDs for status indication:
- Connect LED: is active when the DAP hardware is connected to a debugger.
- Running LED: is active when the debugger has put the target device into running state.
*/
/** Debug Unit: Set status of Connected LED.
\param bit status of the Connect LED.
- 1: Connect LED ON: debugger is connected to CMSIS-DAP Debug Unit.
- 0: Connect LED OFF: debugger is not connected to CMSIS-DAP Debug Unit.
*/
__STATIC_INLINE void LED_CONNECTED_OUT (uint32_t bit)
{
if(bit & 0X01)
{
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); // 拉低是亮黃燈
}
else
{
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET); // 拉高是亮紅燈
}
}
/** Debug Unit: Set status Target Running LED.
\param bit status of the Target Running LED.
- 1: Target Running LED ON: program execution in target started.
- 0: Target Running LED OFF: program execution in target stopped.
*/
__STATIC_INLINE void LED_RUNNING_OUT (uint32_t bit)
{
if(bit & 0X01)
{
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); // 拉低是亮黃燈
}
else
{
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET); // 拉高是亮紅燈
}
}
///@}
//**************************************************************************************************
/**
\defgroup DAP_Config_Timestamp_gr CMSIS-DAP Timestamp
\ingroup DAP_ConfigIO_gr
@{
Access function for Test Domain Timer.
The value of the Test Domain Timer in the Debug Unit is returned by the function \ref TIMESTAMP_GET. By
default, the DWT timer is used. The frequency of this timer is configured with \ref TIMESTAMP_CLOCK.
*/
/** Get timestamp of Test Domain Timer.
\return Current timestamp value.
*/
__STATIC_INLINE uint32_t TIMESTAMP_GET (void)
{
return (DWT->CYCCNT);
}
///@}
//**************************************************************************************************
/**
\defgroup DAP_Config_Initialization_gr CMSIS-DAP Initialization
\ingroup DAP_ConfigIO_gr
@{
CMSIS-DAP Hardware I/O and LED Pins are initialized with the function \ref DAP_SETUP.
*/
/** Setup of the Debug Unit I/O pins and LEDs (called when Debug Unit is initialized).
This function performs the initialization of the CMSIS-DAP Hardware I/O Pins and the
Status LEDs. In detail the operation of Hardware I/O and LED pins are enabled and set:
- I/O clock system enabled.
- all I/O pins: input buffer enabled, output pins are set to HighZ mode.
- for nTRST, nRESET a weak pull-up (if available) is enabled.
- LED output pins are enabled and LEDs are turned off.
*/
__STATIC_INLINE void DAP_SETUP (void)
{
PORT_JTAG_SETUP();
}
/** Reset Target Device with custom specific I/O pin or command sequence.
This function allows the optional implementation of a device specific reset sequence.
It is called when the command \ref DAP_ResetTarget and is for example required
when a device needs a time-critical unlock sequence that enables the debug port.
\return 0 = no device specific reset sequence is implemented.\n
1 = a device specific reset sequence is implemented.
*/
__STATIC_INLINE uint8_t RESET_TARGET (void)
{
return (1U); // change to '1' when a device reset sequence is implemented
}
///@}
#endif /* __DAP_CONFIG_H__ */
USBD_User_HID_0.c檔案：
/*------------------------------------------------------------------------------
* MDK Middleware - Component ::USB:Device
* Copyright (c) 2004-2017 ARM Germany GmbH. All rights reserved.
*------------------------------------------------------------------------------
* Name: USBD_User_HID_0.c
* Purpose: USB Device Human Interface Device class (HID) User module
* Rev.: V6.2.3
*----------------------------------------------------------------------------*/
/**
* \addtogroup usbd_hidFunctions
*
* USBD_User_HID_0.c implements the application specific functionality of the
* HID class and is used to receive and send data reports to the USB Host.
*
* The implementation must match the configuration file USBD_Config_HID_0.h.
* The following values in USBD_Config_HID_0.h affect the user code:
*
* - 'Endpoint polling Interval' specifies the frequency of requests
* initiated by USB Host for \ref USBD_HIDn_GetReport.
*
* - 'Number of Output Reports' configures the values for \em rid of
* \ref USBD_HIDn_SetReport.
*
* - 'Number of Input Reports' configures the values for \em rid of
* \ref USBD_HIDn_GetReport and \ref USBD_HID_GetReportTrigger.
*
* - 'Maximum Input Report Size' specifies the maximum value for:
* - return of \ref USBD_HIDn_GetReport
* - len of \ref USBD_HID_GetReportTrigger.
*
* - 'Maximum Output Report Size' specifies the maximum value for \em len
* in \ref USBD_HIDn_SetReport for rtype=HID_REPORT_OUTPUT
*
* - 'Maximum Feature Report Size' specifies the maximum value for \em len
* in \ref USBD_HIDn_SetReport for rtype=HID_REPORT_FEATURE
*
*/
//! [code_USBD_User_HID]
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
#include "DAP_config.h"
#include "DAP.h"
#include "usbd_custom_hid_if.h"
#define HID_REPORT_INPUT 0x81
#define HID_REPORT_OUTPUT 0x91
#define HID_REPORT_FEATURE 0xB1
#define USBD_HID_REQ_EP_CTRL 0x01
#define USBD_HID_REQ_PERIOD_UPDATE 0x02
#define USBD_HID_REQ_EP_INT 0x03
static volatile uint16_t USB_RequestIndexI; // Request Index In
static volatile uint16_t USB_RequestIndexO; // Request Index Out
static volatile uint16_t USB_RequestCountI; // Request Count In
static volatile uint16_t USB_RequestCountO; // Request Count Out
static volatile uint16_t USB_ResponseIndexI; // Response Index In
static volatile uint16_t USB_ResponseIndexO; // Response Index Out
static volatile uint16_t USB_ResponseCountI; // Response Count In
static volatile uint16_t USB_ResponseCountO; // Response Count Out
static volatile uint8_t USB_ResponseIdle; // Response Idle Flag
static volatile uint32_t USB_EventFlags;
static uint8_t USB_Request [DAP_PACKET_COUNT][DAP_PACKET_SIZE]; // Request Buffer
static uint8_t USB_Response[DAP_PACKET_COUNT][DAP_PACKET_SIZE]; // Response Buffer
extern USBD_HandleTypeDef hUsbDeviceFS;
// Called during USBD_Initialize to initialize the USB HID class instance.
void USBD_HID0_Initialize (void)
{
// Initialize variables
USB_RequestIndexI = 0U;
USB_RequestIndexO = 0U;
USB_RequestCountI = 0U;
USB_RequestCountO = 0U;
USB_ResponseIndexI = 0U;
USB_ResponseIndexO = 0U;
USB_ResponseCountI = 0U;
USB_ResponseCountO = 0U;
USB_ResponseIdle = 1U;
USB_EventFlags = 0U;
}
// Called during USBD_Uninitialize to de-initialize the USB HID class instance.
void USBD_HID0_Uninitialize (void)
{
}
// \brief Prepare HID Report data to send.
// \param[in] rtype report type:
// - HID_REPORT_INPUT = input report requested
// - HID_REPORT_FEATURE = feature report requested
// \param[in] req request type:
// - USBD_HID_REQ_EP_CTRL = control endpoint request
// - USBD_HID_REQ_PERIOD_UPDATE = idle period expiration request
// - USBD_HID_REQ_EP_INT = previously sent report on interrupt endpoint request
// \param[in] rid report ID (0 if only one report exists).
// \param[out] buf buffer containing report data to send.
// \return number of report data bytes prepared to send or invalid report requested.
// - value >= 0: number of report data bytes prepared to send
// - value = -1: invalid report requested
int32_t USBD_HID0_GetReport (uint8_t rtype, uint8_t req, uint8_t rid, uint8_t *buf)
{
(void)rid;
switch (rtype)
{
case HID_REPORT_INPUT:
switch (req)
{
case USBD_HID_REQ_EP_CTRL: // Explicit USB Host request via Control OUT Endpoint
case USBD_HID_REQ_PERIOD_UPDATE: // Periodic USB Host request via Interrupt OUT Endpoint
break;
case USBD_HID_REQ_EP_INT: // Called after USBD_HID_GetReportTrigger to signal data obtained.
if (USB_ResponseCountI != USB_ResponseCountO)
{
// Load data from response buffer to be sent back
memcpy(buf, USB_Response[USB_ResponseIndexO], DAP_PACKET_SIZE);
USB_ResponseIndexO++;
if (USB_ResponseIndexO == DAP_PACKET_COUNT)
{
USB_ResponseIndexO = 0U;
}
USB_ResponseCountO++;
return ((int32_t)DAP_PACKET_SIZE);
}
else
{
USB_ResponseIdle = 1U;
}
break;
}
break;
case HID_REPORT_FEATURE:
break;
}
return (0);
}
// \brief Process received HID Report data.
// \param[in] rtype report type:
// - HID_REPORT_OUTPUT = output report received
// - HID_REPORT_FEATURE = feature report received
// \param[in] req request type:
// - USBD_HID_REQ_EP_CTRL = report received on control endpoint
// - USBD_HID_REQ_EP_INT = report received on interrupt endpoint
// \param[in] rid report ID (0 if only one report exists).
// \param[in] buf buffer that receives report data.
// \param[in] len length of received report data.
// \return true received report data processed.
// \return false received report data not processed or request not supported.
bool USBD_HID0_SetReport (uint8_t rtype, uint8_t req, uint8_t rid, const uint8_t *buf, int32_t len)
{
(void)req;
(void)rid;
switch (rtype)
{
case HID_REPORT_OUTPUT:
if (len == 0)
{
break;
}
if (buf[0] == ID_DAP_TransferAbort)
{
DAP_TransferAbort = 1U;
break;
}
if ((uint16_t)(USB_RequestCountI - USB_RequestCountO) == DAP_PACKET_COUNT)
{
USB_EventFlags |= 0X80;
break; // Discard packet when buffer is full
}
// Store received data into request buffer
memcpy(USB_Request[USB_RequestIndexI], buf, (uint32_t)len);
USB_RequestIndexI++;
if (USB_RequestIndexI == DAP_PACKET_COUNT)
{
USB_RequestIndexI = 0U;
}
USB_RequestCountI++;
USB_EventFlags |= 0X01;
break;
case HID_REPORT_FEATURE:
break;
}
return true;
}
void USBD_HID0_OutEvent_FS(void)
{
USBD_CUSTOM_HID_HandleTypeDef *hhid = (USBD_CUSTOM_HID_HandleTypeDef *)hUsbDeviceFS.pClassData;
USBD_HID0_SetReport(HID_REPORT_OUTPUT, 0, 0, hhid->Report_buf, USBD_CUSTOMHID_OUTREPORT_BUF_SIZE);
}
void USBD_HID0_InEvent_FS(void)
{
int32_t len;
USBD_CUSTOM_HID_HandleTypeDef *hhid = (USBD_CUSTOM_HID_HandleTypeDef *)hUsbDeviceFS.pClassData;
if ((len=USBD_HID0_GetReport(HID_REPORT_INPUT, USBD_HID_REQ_EP_INT, 0, hhid->Report_buf)) > 0)
{
USBD_HID_GetReportTrigger(0, 0, hhid->Report_buf, len);
}
}
// DAP Thread.
__NO_RETURN void DAP_Thread (void *argument)
{
uint32_t n;
uint32_t flags = 0;
(void)argument;
for (;;)
{
while((USB_EventFlags & 0X81) == 0)
{
;
}
USB_EventFlags &= (~0X81);
// Process pending requests
while (USB_RequestCountI != USB_RequestCountO)
{
// Handle Queue Commands
n = USB_RequestIndexO;
while (USB_Request[n][0] == ID_DAP_QueueCommands)
{
USB_Request[n][0] = ID_DAP_ExecuteCommands;
n++;
if (n == DAP_PACKET_COUNT)
{
n = 0U;
}
if (n == USB_RequestIndexI)
{
while((USB_EventFlags & 0X81) == 0)
{
;
}
flags = USB_EventFlags;
USB_EventFlags &= (~0X81);
if(flags & 0X80)
{
break;
}
}
}
// Execute DAP Command (process request and prepare response)
DAP_ExecuteCommand(USB_Request[USB_RequestIndexO], USB_Response[USB_ResponseIndexI]);
// Update Request Index and Count
USB_RequestIndexO++;
if (USB_RequestIndexO == DAP_PACKET_COUNT)
{
USB_RequestIndexO = 0U;
}
USB_RequestCountO++;
// Update Response Index and Count
USB_ResponseIndexI++;
if (USB_ResponseIndexI == DAP_PACKET_COUNT)
{
USB_ResponseIndexI = 0U;
}
USB_ResponseCountI++;
if (USB_ResponseIdle)
{
if (USB_ResponseCountI != USB_ResponseCountO)
{
// Load data from response buffer to be sent back
n = USB_ResponseIndexO++;
if (USB_ResponseIndexO == DAP_PACKET_COUNT)
{
USB_ResponseIndexO = 0U;
}
USB_ResponseCountO++;
USB_ResponseIdle = 0U;
USBD_HID_GetReportTrigger(0U, 0U, USB_Response[n], DAP_PACKET_SIZE);
}
}
}
}
}
//! [code_USBD_User_HID]
現在其實就是完成了第二步，DAP通過SWD協議將韌體下載進目標單片機FLASH中的步驟，那么下面就開始修改USB的配置，KEIL能通過USB和DAP通信，
修改usbd_custom_hid_if.c檔案，找到CUSTOM_HID_ReportDesc_FS陣列，改為：
/** Usb HID report descriptor. */
__ALIGN_BEGIN static uint8_t CUSTOM_HID_ReportDesc_FS[USBD_CUSTOM_HID_REPORT_DESC_SIZE] __ALIGN_END =
{
/* USER CODE BEGIN 0 */
0x06,0x00,0xFF, /* Usage Page (vendor defined) ($FF00) global */
0x09,0x01, /* Usage (vendor defined) ($01) local */
0xA1,0x01, /* Collection (Application) */
0x15,0x00, /* LOGICAL_MINIMUM (0) */
0x25,0xFF, /* LOGICAL_MAXIMUM (255) */
0x75,0x08, /* REPORT_SIZE (8bit) */
// Input Report
0x95,64, /* Report Length (64 REPORT_SIZE) */
0x09,0x01, /* USAGE (Vendor Usage 1) */
0x81,0x02, /* Input(data,var,absolute) */
// Output Report
0x95,64, /* Report Length (64 REPORT_SIZE) */
0x09,0x01, /* USAGE (Vendor Usage 1) */
0x91,0x02, /* Output(data,var,absolute) */
// Feature Report
0x95,64, /* Report Length (64 REPORT_SIZE) */
0x09,0x01, /* USAGE (Vendor Usage 1) */
0xB1,0x02, /* Feature(data,var,absolute) */
/* USER CODE END 0 */
0xC0 /* END_COLLECTION */
};
匯入USBD_User_HID_0.c檔案中的這四個函式，并新寫一個CUSTOM_HID_InEvent_FS函式：
修改以下幾個函式添加呼叫：
修改usbd_custom_hid_if.h檔案，匯出新增的USBD_HID_GetReportTrigger這個函式宣告：
然后修改usbd_customhid.h檔案的這幾個宏：
然后在改一下USBD_CUSTOM_HID_ItfTypeDef這個結構，需要新增一個函式指標：
然后修改main.c檔案，添加頭檔案包含：
main函式內容如下：
至此，就已經完成了一個CMSIS_DAP仿真器！
下載編譯工程，將程式下載進STLINK的板子中去試試吧！
注：STLINK可能設定了寫保護，需要先解除寫保護才能用KEIL給它下載程式，解除辦法見我的另一篇博客：STM32下載程式問題解決：Can not read memory! Disable Read Out Proyection and try.
（五）測驗CMSIS_DAP仿真器
將程式下載進板子后，USB插入電腦，設備管理器->人體學輸入設備會多出一個USB輸入設備和符合HID標準的供應商定義設備，如下圖：
然后我們打開KEIL，除錯器選擇CMSIS_DAP：
給目標板下載程式：
沒問題！再試試在線除錯：
也沒問題！成功！
ends…
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