Debugprobe release v2.2.1

This release is a point release because unknown/stale submodule(s)
caused a regression with long UART TX strings that subsequently could
not be reproduced.

The build artifacts for this release were compiled on a Raspberry Pi 5
running Raspberry Pi OS (Debian 12) instead of Ubuntu 22.04 on amd64.

CMakeLists.txt

@@ -9,8 +9,12 @@ project(debugprobe)
 
 pico_sdk_init()
 
+if (${PICO_SDK_VERSION_MAJOR} LESS 2)
+	message(SEND_ERROR "Version 2 of the Pico SDK is required to compile this project. Please update your installation at ${PICO_SDK_PATH}")
+endif ()
+
 add_executable(debugprobe
-        src/led.c
+        src/probe_config.c
         src/main.c
         src/usb_descriptors.c
         src/probe.c
@@ -47,12 +51,20 @@ target_compile_definitions (debugprobe PRIVATE
 
 option (DEBUG_ON_PICO "Compile firmware for the Pico instead of Debug Probe" OFF)
 if (DEBUG_ON_PICO)
-    target_compile_definitions (debugprobe PRIVATE 
+    target_compile_definitions (debugprobe PRIVATE
 	DEBUG_ON_PICO=1
     )
-    set_target_properties(debugprobe PROPERTIES 
-        OUTPUT_NAME "debugprobe_on_pico"
-    )
+    if (PICO_BOARD STREQUAL "pico")
+        set_target_properties(debugprobe PROPERTIES
+            OUTPUT_NAME "debugprobe_on_pico"
+        )
+    elseif (PICO_BOARD STREQUAL "pico2")
+        set_target_properties(debugprobe PROPERTIES
+            OUTPUT_NAME "debugprobe_on_pico2"
+        )
+    else ()
+        error("Unsupported board ${PICO_BOARD}" PICO_BOARD)
+    endif ()
 endif ()
 
 

FreeRTOS_Kernel_import.cmake

@@ -1,3 +1,4 @@
+# SPDX-License-Identifier: BSD-3-clause
 # This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
 
 # This can be dropped into an external project to help locate the FreeRTOS kernel
@@ -10,38 +11,68 @@ if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
     message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
 endif ()
 
-set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
-# undo the above
-set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
-
-if (NOT FREERTOS_KERNEL_PATH)
-    # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
-    get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
-    get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
-    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
-        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+# first pass we look in old tree; second pass we look in new tree
+foreach(SEARCH_PASS RANGE 0 1)
+    if (SEARCH_PASS)
+        # ports may be moving to submodule in the future
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/Community-Supported-Ports/GCC")
+        set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../../..")
+    else()
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC")
+        set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
     endif()
-    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
-        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
-        message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
-    elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
-        set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
-        message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
-    endif()
-endif ()
 
-if (NOT FREERTOS_KERNEL_PATH)
-    foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
-        # check if FreeRTOS-Kernel exists under directory that included us
-        set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
-        get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
-        if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
-            get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
-            message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+    if(PICO_PLATFORM STREQUAL "rp2040")
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2040")
+    else()
+        if (PICO_PLATFORM STREQUAL "rp2350-riscv")
+            set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_RISC-V")
+        else()
+            set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_ARM_NTZ")
+        endif()
+    endif()
+
+    if (NOT FREERTOS_KERNEL_PATH)
+        # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+        get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+        get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+        if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+            get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+        endif()
+        if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+            get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+            message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+            break()
+        elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+            set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+            message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
             break()
         endif()
-    endforeach()
-endif()
+    endif ()
+
+    if (NOT FREERTOS_KERNEL_PATH)
+        foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+            # check if FreeRTOS-Kernel exists under directory that included us
+            set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+            get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+            if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+                get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+                message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+                break()
+            endif()
+        endforeach()
+        if (FREERTOS_KERNEL_PATH)
+            break()
+        endif()
+    endif()
+
+    # user must have specified
+    if (FREERTOS_KERNEL_PATH)
+        if (EXISTS "${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+            break()
+        endif()
+    endif()
+endforeach ()
 
 if (NOT FREERTOS_KERNEL_PATH)
     message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
@@ -54,8 +85,8 @@ if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
     message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
 endif()
 if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
-    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain a '${PICO_PLATFORM}' port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
 endif()
 set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
 
-add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
+add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)

LICENSE

@@ -0,0 +1,23 @@
+Unless otherwise indicated in individual files, this project is licenced as:
+
+MIT License
+
+Copyright (c) 2024 Raspberry Pi Ltd
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -47,6 +47,21 @@ This will build with the configuration for the Pico and call the output program
 
 Note that if you first ran through the whole sequence to compile for the Debug Probe, then you don't need to start back at the top. You can just go back to the `cmake` step and start from there.
 
+# Building for the Pico 2
+
+If using an existing debugprobe clone:
+- You must completely regenerate your build directory, or use a different one.
+- You must also sync and update submodules as rp2350 needs a downstream FreeRTOS port for now.
+- `PICO_SDK_PATH` must point to a version 2.0.0 or greater install.
+
+
+```
+git submodule sync
+git submodule update --init
+mkdir build-pico2
+cd build-pico2
+cmake -DDEBUG_ON_PICO=1 -DPICO_BOARD=pico2 -DPICO_PLATFORM=rp2350 ../
+```
 
 # TODO
 - AutoBaud selection, as PIO is a capable frequency counter

include/DAP_config.h

@@ -502,8 +502,8 @@ It is recommended to provide the following LEDs for status indication:
            - 0: Connect LED OFF: debugger is not connected to CMSIS-DAP Debug Unit.
 */
 __STATIC_INLINE void LED_CONNECTED_OUT (uint32_t bit) {
-#ifdef DEBUGPROBE_DAP_CONNECTED_LED
-  gpio_put(DEBUGPROBE_DAP_CONNECTED_LED, bit);
+#ifdef PROBE_DAP_CONNECTED_LED
+  gpio_put(PROBE_DAP_CONNECTED_LED, bit);
 #endif
 }
 
@@ -513,8 +513,8 @@ __STATIC_INLINE void LED_CONNECTED_OUT (uint32_t bit) {
            - 0: Target Running LED OFF: program execution in target stopped.
 */
 __STATIC_INLINE void LED_RUNNING_OUT (uint32_t bit) {
-#ifdef DEBUGPROBE_DAP_RUNNING_LED
-  gpio_put(DEBUGPROBE_DAP_RUNNING_LED, bit);
+#ifdef PROBE_DAP_RUNNING_LED
+  gpio_put(PROBE_DAP_RUNNING_LED, bit);
 #endif
 }
 
@@ -561,7 +561,16 @@ Status LEDs. In detail the operation of Hardware I/O and LED pins are enabled an
  - LED output pins are enabled and LEDs are turned off.
 */
 __STATIC_INLINE void DAP_SETUP (void) {
-  probe_gpio_init();
+// We synchronously setup probe IOs when the respective PIO program is loaded - not at start of day
+
+#ifdef PROBE_DAP_CONNECTED_LED
+    gpio_init(PROBE_DAP_CONNECTED_LED);
+    gpio_set_dir(PROBE_DAP_CONNECTED_LED, GPIO_OUT);
+#endif
+#ifdef PROBE_DAP_RUNNING_LED
+    gpio_init(PROBE_DAP_RUNNING_LED);
+    gpio_set_dir(PROBE_DAP_RUNNING_LED, GPIO_OUT);
+#endif
 }
 
 /** Reset Target Device with custom specific I/O pin or command sequence.

include/board_example_config.h

@@ -60,7 +60,7 @@
 #endif
 
 /* PIO config for PROBE_IO_OEN - note that SWDIOEN and SWCLK are both side_set signals, so must be consecutive. */
-#if defined(PROBE_IO_SWDIOEN)
+#if defined(PROBE_IO_OEN)
 #define PROBE_PIN_SWDIOEN (PROBE_PIN_OFFSET + 0)
 #define PROBE_PIN_SWCLK (PROBE_PIN_OFFSET + 1)
 #define PROBE_PIN_SWDIO (PROBE_PIN_OFFSET + 2)

pico_sdk_import.cmake

@@ -1,3 +1,4 @@
+# SPDX-License-Identifier: BSD-3-Clause
 # This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
 
 # This can be dropped into an external project to help locate this SDK

src/FreeRTOSConfig.h

@@ -110,6 +110,13 @@
 #define configSUPPORT_PICO_SYNC_INTEROP         1
 #define configSUPPORT_PICO_TIME_INTEROP         1
 
+/* RP2350 grows some features */
+#define configENABLE_FPU                        1
+#define configENABLE_MPU                        0
+#define configENABLE_TRUSTZONE                  0
+#define configRUN_FREERTOS_SECURE_ONLY          1
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+
 #include <assert.h>
 /* Define to trap errors during development. */
 #define configASSERT(x)                         assert(x)

src/cdc_uart.c

@@ -26,7 +26,6 @@
 #include <pico/stdlib.h>
 #include "FreeRTOS.h"
 #include "task.h"
-
 #include "tusb.h"
 
 #include "probe_config.h"
@@ -58,6 +57,17 @@ void cdc_uart_init(void) {
     gpio_set_pulls(PROBE_UART_RX, 1, 0);
     uart_init(PROBE_UART_INTERFACE, PROBE_UART_BAUDRATE);
 
+#ifdef PROBE_UART_TX_LED
+    tx_led_debounce = 0;
+    gpio_init(PROBE_UART_TX_LED);
+    gpio_set_dir(PROBE_UART_TX_LED, GPIO_OUT);
+#endif
+#ifdef PROBE_UART_RX_LED
+    rx_led_debounce = 0;
+    gpio_init(PROBE_UART_RX_LED);
+    gpio_set_dir(PROBE_UART_RX_LED, GPIO_OUT);
+#endif
+
 #ifdef PROBE_UART_HWFC
     /* HWFC implies that hardware flow control is implemented and the
      * UART operates in "full-duplex" mode (See USB CDC PSTN120 6.3.12).
@@ -191,7 +201,8 @@ void tud_cdc_line_coding_cb(uint8_t itf, cdc_line_coding_t const* line_coding)
    */
   uint32_t micros = (1000 * 1000 * 16 * 10) / MAX(line_coding->bit_rate, 1);
   /* Modifying state, so park the thread before changing it. */
-  vTaskSuspend(uart_taskhandle);
+  if (tud_cdc_connected())
+    vTaskSuspend(uart_taskhandle);
   interval = MAX(1, micros / ((1000 * 1000) / configTICK_RATE_HZ));
   debounce_ticks = MAX(1, configTICK_RATE_HZ / (interval * DEBOUNCE_MS));
   probe_info("New baud rate %ld micros %ld interval %lu\n",
@@ -245,7 +256,10 @@ void tud_cdc_line_coding_cb(uint8_t itf, cdc_line_coding_t const* line_coding)
   }
 
   uart_set_format(PROBE_UART_INTERFACE, data_bits, stop_bits, parity);
-  vTaskResume(uart_taskhandle);
+  /* Windows likes to arbitrarily set/get line coding after dtr/rts changes, so
+   * don't resume if we shouldn't */
+  if(tud_cdc_connected())
+    vTaskResume(uart_taskhandle);
 }
 
 void tud_cdc_line_state_cb(uint8_t itf, bool dtr, bool rts)
@@ -259,7 +273,7 @@ void tud_cdc_line_state_cb(uint8_t itf, bool dtr, bool rts)
 
   /* CDC drivers use linestate as a bodge to activate/deactivate the interface.
    * Resume our UART polling on activate, stop on deactivate */
-  if (!dtr && !rts) {
+  if (!dtr) {
     vTaskSuspend(uart_taskhandle);
 #ifdef PROBE_UART_RX_LED
     gpio_put(PROBE_UART_RX_LED, 0);
@@ -278,6 +292,9 @@ void tud_cdc_send_break_cb(uint8_t itf, uint16_t wValue) {
     case 0:
     uart_set_break(PROBE_UART_INTERFACE, false);
     timed_break = false;
+#ifdef PROBE_UART_TX_LED
+    tx_led_debounce = 0;
+#endif
     break;
     case 0xffff:
     uart_set_break(PROBE_UART_INTERFACE, true);

src/led.c

@@ -1,52 +0,0 @@
-/*
- * The MIT License (MIT)
- *
- * Copyright (c) 2021 a-pushkin on GitHub
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- */
-
-#include <pico/stdlib.h>
-#include <stdint.h>
-
-#include "probe_config.h"
-
-void led_init(void) {
-#ifdef PROBE_USB_CONNECTED_LED
-    gpio_init(PROBE_USB_CONNECTED_LED);
-    gpio_set_dir(PROBE_USB_CONNECTED_LED, GPIO_OUT);
-#endif
-#ifdef PROBE_DAP_CONNECTED_LED
-    gpio_init(PROBE_DAP_CONNECTED_LED);
-    gpio_set_dir(PROBE_DAP_CONNECTED_LED, GPIO_OUT);
-#endif
-#ifdef PROBE_DAP_RUNNING_LED
-    gpio_init(PROBE_DAP_RUNNING_LED);
-    gpio_set_dir(PROBE_DAP_RUNNING_LED, GPIO_OUT);
-#endif
-#ifdef PROBE_UART_RX_LED
-    gpio_init(PROBE_UART_RX_LED);
-    gpio_set_dir(PROBE_UART_RX_LED, GPIO_OUT);
-#endif
-#ifdef PROBE_UART_TX_LED
-    gpio_init(PROBE_UART_TX_LED);
-    gpio_set_dir(PROBE_UART_TX_LED, GPIO_OUT);
-#endif
-}

src/led.h

@@ -1,31 +0,0 @@
-/*
- * The MIT License (MIT)
- *
- * Copyright (c) 2021 a-pushkin on GitHub
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- */
-
-#ifndef LED_H
-#define LED_H
-
-void led_init(void);
-
-#endif

src/main.c

@@ -31,16 +31,20 @@
 #include <stdio.h>
 #include <string.h>
 
+#if PICO_SDK_VERSION_MAJOR >= 2
+#include "bsp/board_api.h"
+#else
 #include "bsp/board.h"
+#endif
 #include "tusb.h"
 
 #include "probe_config.h"
 #include "probe.h"
 #include "cdc_uart.h"
 #include "get_serial.h"
-#include "led.h"
 #include "tusb_edpt_handler.h"
 #include "DAP.h"
+#include "hardware/structs/usb.h"
 
 // UART0 for debugprobe debug
 // UART1 for debugprobe to target device
@@ -54,10 +58,45 @@ static uint8_t RxDataBuffer[CFG_TUD_HID_EP_BUFSIZE];
 #define TUD_TASK_PRIO  (tskIDLE_PRIORITY + 2)
 #define DAP_TASK_PRIO  (tskIDLE_PRIORITY + 1)
 
-TaskHandle_t dap_taskhandle, tud_taskhandle;
+TaskHandle_t dap_taskhandle, tud_taskhandle, mon_taskhandle;
+
+static int was_configured;
+
+void dev_mon(void *ptr)
+{
+    uint32_t sof[3];
+    int i = 0;
+    TickType_t wake;
+    wake = xTaskGetTickCount();
+    do {
+        /* ~5 SOF events per tick */
+        xTaskDelayUntil(&wake, 100);
+        if (tud_connected() && !tud_suspended()) {
+            sof[i++] = usb_hw->sof_rd & USB_SOF_RD_BITS;
+            i = i % 3;
+        } else {
+            for (i = 0; i < 3; i++)
+                sof[i] = 0;
+        }
+        if ((sof[0] | sof[1] | sof[2]) != 0) {
+            if ((sof[0] == sof[1]) && (sof[1] == sof[2])) {
+                probe_info("Watchdog timeout! Resetting USBD\n");
+                /* uh oh, signal disconnect (implicitly resets the controller) */
+                tud_deinit(0);
+                /* Make sure the port got the message */
+                xTaskDelayUntil(&wake, 1);
+                tud_init(0);
+            }
+        }
+    } while (1);
+}
 
 void usb_thread(void *ptr)
 {
+#ifdef PROBE_USB_CONNECTED_LED
+    gpio_init(PROBE_USB_CONNECTED_LED);
+    gpio_set_dir(PROBE_USB_CONNECTED_LED, GPIO_OUT);
+#endif
     TickType_t wake;
     wake = xTaskGetTickCount();
     do {
@@ -68,8 +107,11 @@ void usb_thread(void *ptr)
         else
             gpio_put(PROBE_USB_CONNECTED_LED, 0);
 #endif
+        // If suspended or disconnected, delay for 1ms (20 ticks)
+        if (tud_suspended() || !tud_connected())
+            xTaskDelayUntil(&wake, 20);
         // Go to sleep for up to a tick if nothing to do
-        if (!tud_task_event_ready())
+        else if (!tud_task_event_ready())
             xTaskDelayUntil(&wake, 1);
     } while (1);
 }
@@ -80,6 +122,8 @@ void usb_thread(void *ptr)
 #endif
 
 int main(void) {
+    // Declare pins in binary information
+    bi_decl_config();
 
     board_init();
     usb_serial_init();
@@ -89,16 +133,13 @@ int main(void) {
 
     DAP_Setup();
 
-    led_init();
-
     probe_info("Welcome to debugprobe!\n");
 
     if (THREADED) {
-        /* UART needs to preempt USB as if we don't, characters get lost */
-        xTaskCreate(cdc_thread, "UART", configMINIMAL_STACK_SIZE, NULL, UART_TASK_PRIO, &uart_taskhandle);
         xTaskCreate(usb_thread, "TUD", configMINIMAL_STACK_SIZE, NULL, TUD_TASK_PRIO, &tud_taskhandle);
-        /* Lowest priority thread is debug - need to shuffle buffers before we can toggle swd... */
-        xTaskCreate(dap_thread, "DAP", configMINIMAL_STACK_SIZE, NULL, DAP_TASK_PRIO, &dap_taskhandle);
+#if PICO_RP2040
+        xTaskCreate(dev_mon, "WDOG", configMINIMAL_STACK_SIZE, NULL, TUD_TASK_PRIO, &mon_taskhandle);
+#endif
         vTaskStartScheduler();
     }
 
@@ -182,6 +223,48 @@ bool tud_vendor_control_xfer_cb(uint8_t rhport, uint8_t stage, tusb_control_requ
 }
 #endif
 
+void tud_suspend_cb(bool remote_wakeup_en)
+{
+  probe_info("Suspended\n");
+  /* Were we actually configured? If not, threads don't exist */
+  if (was_configured) {
+	  vTaskSuspend(uart_taskhandle);
+	  vTaskSuspend(dap_taskhandle);
+  }
+  /* slow down clk_sys for power saving ? */
+}
+
+void tud_resume_cb(void)
+{
+  probe_info("Resumed\n");
+  if (was_configured) {
+	  vTaskResume(uart_taskhandle);
+	  vTaskResume(dap_taskhandle);
+  }
+}
+
+void tud_unmount_cb(void)
+{
+  probe_info("Disconnected\n");
+  vTaskSuspend(uart_taskhandle);
+  vTaskSuspend(dap_taskhandle);
+  vTaskDelete(uart_taskhandle);
+  vTaskDelete(dap_taskhandle);
+  was_configured = 0;
+}
+
+void tud_mount_cb(void)
+{
+  probe_info("Connected, Configured\n");
+  if (!was_configured) {
+    /* UART needs to preempt USB as if we don't, characters get lost */
+    xTaskCreate(cdc_thread, "UART", configMINIMAL_STACK_SIZE, NULL, UART_TASK_PRIO, &uart_taskhandle);
+    /* Lowest priority thread is debug - need to shuffle buffers before we can toggle swd... */
+    xTaskCreate(dap_thread, "DAP", configMINIMAL_STACK_SIZE, NULL, DAP_TASK_PRIO, &dap_taskhandle);
+    was_configured = 1;
+  }
+}
+
 void vApplicationTickHook (void)
 {
 };

src/probe.c

@@ -30,9 +30,8 @@
 #include <hardware/clocks.h>
 #include <hardware/gpio.h>
 
-#include "led.h"
 #include "probe_config.h"
-#include "probe.pio.h"
+#include "probe.h"
 #include "tusb.h"
 
 #define DIV_ROUND_UP(m, n)	(((m) + (n) - 1) / (n))
@@ -147,6 +146,7 @@ void probe_write_mode(void) {
 
 void probe_init() {
     if (!probe.initted) {
+        probe_gpio_init();
         uint offset = pio_add_program(pio0, &probe_program);
         probe.offset = offset;
 
@@ -172,7 +172,7 @@ void probe_deinit(void)
     pio_remove_program(pio0, &probe_program, probe.offset);
 
     probe_assert_reset(1);	// de-assert nRESET
-
+    probe_gpio_deinit();
     probe.initted = 0;
   }
 }

src/probe.pio

@@ -86,6 +86,19 @@ static inline void probe_gpio_init()
     gpio_pull_up(PROBE_PIN_SWDIO);
 }
 
+// DAP interface says all pins have to be High-Z when disabled
+static inline void probe_gpio_deinit()
+{
+#if defined(PROBE_PIN_RESET)
+	gpio_deinit(PROBE_PIN_RESET);
+	gpio_disable_pulls(PROBE_PIN_RESET);
+#endif
+	gpio_deinit(PROBE_PIN_SWCLK);
+	gpio_disable_pulls(PROBE_PIN_SWCLK);
+	gpio_deinit(PROBE_PIN_SWDIO);
+	gpio_disable_pulls(PROBE_PIN_SWDIO);
+}
+
 static inline void probe_sm_init(pio_sm_config* sm_config) {
 
     // Set SWCLK as a sideset pin

src/probe_config.c

@@ -0,0 +1,48 @@
+#include "probe_config.h"
+#include "pico/binary_info.h"
+
+
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+
+void bi_decl_config()
+{
+#ifdef PROBE_PIN_RESET
+    bi_decl(bi_1pin_with_name(PROBE_PIN_RESET, "PROBE RESET"));
+#endif
+
+#ifdef PROBE_PIN_SWCLK
+    bi_decl(bi_1pin_with_name(PROBE_PIN_SWCLK, "PROBE SWCLK"));
+#endif
+
+#ifdef PROBE_PIN_SWDIO
+    bi_decl(bi_1pin_with_name(PROBE_PIN_SWDIO, "PROBE SWDIO"));
+#endif
+
+#ifdef PROBE_PIN_SWDI
+    bi_decl(bi_1pin_with_name(PROBE_PIN_SWDI, "PROBE SWDI"));
+#endif
+
+#ifdef PROBE_PIN_SWDIOEN
+    bi_decl(bi_1pin_with_name(PROBE_PIN_SWDIOEN, "PROBE SWDIOEN"));
+#endif
+
+#ifdef PROBE_CDC_UART
+    bi_decl(bi_program_feature("PROBE UART INTERFACE " STR(PROBE_UART_INTERFACE)));
+    bi_decl(bi_program_feature("PROBE UART BAUDRATE " STR(PROBE_UART_BAUDRATE)));
+    bi_decl(bi_1pin_with_name(PROBE_UART_TX, "PROBE UART TX"));
+    bi_decl(bi_1pin_with_name(PROBE_UART_RX, "PROBE UART RX"));
+#endif
+
+#ifdef PROBE_UART_CTS
+    bi_decl(bi_1pin_with_name(PROBE_UART_CTS, "PROBE UART CTS"));
+#endif
+#ifdef PROBE_UART_RTS
+    bi_decl(bi_1pin_with_name(PROBE_UART_RTS, "PROBE UART RTS"));
+#endif
+#ifdef PROBE_UART_DTR
+    bi_decl(bi_1pin_with_name(PROBE_UART_DTR, "PROBE UART DTR"));
+#endif
+
+}

src/probe_config.h

@@ -72,6 +72,8 @@ do { \
 #endif
 //#include "board_example_config.h"
 
+// Add the configuration to binary information
+void bi_decl_config();
 
 #define PROTO_DAP_V1 1
 #define PROTO_DAP_V2 2

src/probe_oen.pio

@@ -1,3 +1,6 @@
+; SPDX-License-Identifier: MIT
+; Copyright (c) 2023 Raspberry Pi Ltd
+
 ; Output-enable active-low variant of the SWD probe
 
 ; This program is very similar to the one in probe.pio. The only difference is
@@ -60,6 +63,21 @@ static inline void probe_gpio_init()
     gpio_pull_up(PROBE_PIN_SWDIOEN);
 }
 
+// DAP interface says all pins have to be High-Z when disabled
+static inline void probe_gpio_deinit()
+{
+#if defined(PROBE_PIN_RESET)
+	gpio_deinit(PROBE_PIN_RESET);
+	gpio_disable_pulls(PROBE_PIN_RESET);
+#endif
+	gpio_deinit(PROBE_PIN_SWCLK);
+	gpio_disable_pulls(PROBE_PIN_SWCLK);
+// Note for SWDIOEN - make sure the driver output enable is removed before removing drive - leave pull-up enabled
+	gpio_deinit(PROBE_PIN_SWDIOEN);
+	gpio_deinit(PROBE_PIN_SWDIO);
+	gpio_disable_pulls(PROBE_PIN_SWDIO);
+}
+
 static inline void probe_sm_init(pio_sm_config* sm_config) {
 
     // Set SWDIOEN and SWCLK as sideset pins

src/tusb_edpt_handler.c

@@ -41,6 +41,15 @@ void dap_edpt_init(void) {
 
 }
 
+bool dap_edpt_deinit(void)
+{
+	memset(DAPRequestBuffer, 0, sizeof(DAPRequestBuffer));
+	memset(DAPResponseBuffer, 0, sizeof(DAPResponseBuffer));
+	USBRequestBuffer.wptr = USBRequestBuffer.rptr = 0;
+	USBResponseBuffer.wptr = USBResponseBuffer.rptr = 0;
+	return true;
+}
+
 void dap_edpt_reset(uint8_t __unused rhport)
 {
 	itf_num = 0;
@@ -198,7 +207,7 @@ void dap_thread(void *ptr)
 			 */
 			n = USBRequestBuffer.rptr;
 			while (USBRequestBuffer.data[n % DAP_PACKET_COUNT][0] == ID_DAP_QueueCommands) {
-				probe_info("%u %u DAP queued cmd %s len %02x\n",
+				probe_info("%lu %lu DAP queued cmd %s len %02x\n",
 					       USBRequestBuffer.wptr, USBRequestBuffer.rptr,
 					       dap_cmd_string[USBRequestBuffer.data[n % DAP_PACKET_COUNT][0]], USBRequestBuffer.data[n % DAP_PACKET_COUNT][1]);
 				USBRequestBuffer.data[n % DAP_PACKET_COUNT][0] = ID_DAP_ExecuteCommands;
@@ -211,7 +220,7 @@ void dap_thread(void *ptr)
 			}
 			// Read a single packet from the USB buffer into the DAP Request buffer
 			memcpy(DAPRequestBuffer, RD_SLOT_PTR(USBRequestBuffer), DAP_PACKET_SIZE);
-			probe_info("%u %u DAP cmd %s len %02x\n",
+			probe_info("%lu %lu DAP cmd %s len %02x\n",
 				       USBRequestBuffer.wptr, USBRequestBuffer.rptr,
 				       dap_cmd_string[DAPRequestBuffer[0]], DAPRequestBuffer[1]);
 			USBRequestBuffer.rptr++;
@@ -227,7 +236,7 @@ void dap_thread(void *ptr)
 			}
 
 			_resp_len = DAP_ExecuteCommand(DAPRequestBuffer, DAPResponseBuffer);
-			probe_info("%u %u DAP resp %s\n",
+			probe_info("%lu %lu DAP resp %s\n",
 					USBResponseBuffer.wptr, USBResponseBuffer.rptr,
 					dap_cmd_string[DAPResponseBuffer[0]]);
 
@@ -262,6 +271,7 @@ void dap_thread(void *ptr)
 usbd_class_driver_t const _dap_edpt_driver =
 {
 		.init = dap_edpt_init,
+		.deinit = dap_edpt_deinit,
 		.reset = dap_edpt_reset,
 		.open = dap_edpt_open,
 		.control_xfer_cb = dap_edpt_control_xfer_cb,

src/usb_descriptors.c

@@ -48,7 +48,7 @@ tusb_desc_device_t const desc_device =
 
     .idVendor           = 0x2E8A, // Pi
     .idProduct          = 0x000c, // CMSIS-DAP Debug Probe
-    .bcdDevice          = 0x0200, // Version 02.00
+    .bcdDevice          = 0x0221, // Version 02.21
     .iManufacturer      = 0x01,
     .iProduct           = 0x02,
     .iSerialNumber      = 0x03,
@@ -244,4 +244,4 @@ TU_VERIFY_STATIC(sizeof(desc_ms_os_20) == MS_OS_20_DESC_LEN, "Incorrect size");
 uint8_t const * tud_descriptor_bos_cb(void)
 {
   return desc_bos;
-}
+}