Debugprobe release v2.2.2

Point release to address high uart TX baud rate corruption, at the
expense of throughput.

Also skip over an attempt at UART/SDK optimisation that caused issues
for users.

.gitmodules

@@ -3,4 +3,4 @@
 	url = https://github.com/ARM-software/CMSIS_5
 [submodule "freertos"]
 	path = freertos
-	url = https://github.com/raspberrypi/FreeRTOS-Kernel
+	url = https://github.com/FreeRTOS/FreeRTOS-Kernel

CMakeLists.txt

@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.12)
 
 include(pico_sdk_import.cmake)
 
-set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/freertos)
-include(freertos/portable/ThirdParty/GCC/RP2350_ARM_NTZ/FreeRTOS_Kernel_import.cmake)
+set(FREERTOS_KERNEL_PATH "${CMAKE_CURRENT_LIST_DIR}/freertos")
+include(FreeRTOS_Kernel_import.cmake)
 
 project(debugprobe)
 
@@ -15,7 +15,6 @@ endif ()
 
 add_executable(debugprobe
         src/probe_config.c
-        src/led.c
         src/main.c
         src/usb_descriptors.c
         src/probe.c
@@ -41,8 +40,8 @@ target_include_directories(debugprobe PRIVATE
 
 target_compile_options(debugprobe PRIVATE -Wall)
 
-pico_generate_pio_header(debugprobe ${CMAKE_CURRENT_LIST_DIR}/src/probe.pio)
-pico_generate_pio_header(debugprobe ${CMAKE_CURRENT_LIST_DIR}/src/probe_oen.pio)
+pico_generate_pio_header(debugprobe "${CMAKE_CURRENT_LIST_DIR}/src/probe.pio")
+pico_generate_pio_header(debugprobe "${CMAKE_CURRENT_LIST_DIR}/src/probe_oen.pio")
 
 target_include_directories(debugprobe PRIVATE src)
 
@@ -52,12 +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 ()
+        message(SEND_ERROR "Unsupported board ${PICO_BOARD}")
+    endif ()
 endif ()
 
 

FreeRTOS_Kernel_import.cmake

@@ -0,0 +1,92 @@
+# 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
+# It should be include()ed prior to project(). Alternatively this file may
+# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
+# respectively.
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+    set(FREERTOS_KERNEL_PATH "$ENV{FREERTOS_KERNEL_PATH}")
+    message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+endif ()
+
+# 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(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: '${FREERTOS_KERNEL_PATH}'")
+            break()
+        endif()
+    endif ()
+
+    if (NOT FREERTOS_KERNEL_PATH)
+        foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+            # check if FreeRTOS-Kernel exists under directory that included us
+            set(SEARCH_ROOT "${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.")
+endif()
+
+set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
+
+get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS "${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 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)

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

@@ -22,7 +22,7 @@ cd debugprobe
 ```
 Initialize and update the submodules:
 ```
- git submodule update --init
+ git submodule update --init --recursive
 ```
 Then create and switch to the build directory:
 ```

include/DAP_config.h

@@ -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.

pico_sdk_import.cmake

@@ -1,10 +1,11 @@
+# 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
 # It should be include()ed prior to project()
 
 if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
-    set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    set(PICO_SDK_PATH "$ENV{PICO_SDK_PATH}")
     message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
 endif ()
 
@@ -14,7 +15,7 @@ if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
 endif ()
 
 if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
-    set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+    set(PICO_SDK_FETCH_FROM_GIT_PATH "$ENV{PICO_SDK_FETCH_FROM_GIT_PATH}")
     message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
 endif ()
 
@@ -25,7 +26,7 @@ set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPAT
 if (NOT PICO_SDK_PATH)
     if (PICO_SDK_FETCH_FROM_GIT)
         include(FetchContent)
-        set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+        set(FETCHCONTENT_BASE_DIR_SAVE "${FETCHCONTENT_BASE_DIR}")
         if (PICO_SDK_FETCH_FROM_GIT_PATH)
             get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
         endif ()
@@ -48,9 +49,9 @@ if (NOT PICO_SDK_PATH)
         if (NOT pico_sdk)
             message("Downloading Raspberry Pi Pico SDK")
             FetchContent_Populate(pico_sdk)
-            set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+            set(PICO_SDK_PATH "${pico_sdk_SOURCE_DIR}")
         endif ()
-        set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+        set(FETCHCONTENT_BASE_DIR "${FETCHCONTENT_BASE_DIR_SAVE}")
     else ()
         message(FATAL_ERROR
                 "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
@@ -59,15 +60,15 @@ if (NOT PICO_SDK_PATH)
 endif ()
 
 get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
-if (NOT EXISTS ${PICO_SDK_PATH})
+if (NOT EXISTS "${PICO_SDK_PATH}")
     message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
 endif ()
 
-set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
-if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+set(PICO_SDK_INIT_CMAKE_FILE "${PICO_SDK_PATH}/pico_sdk_init.cmake")
+if (NOT EXISTS "${PICO_SDK_INIT_CMAKE_FILE}")
     message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
 endif ()
 
-set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
 
-include(${PICO_SDK_INIT_CMAKE_FILE})
+include("${PICO_SDK_INIT_CMAKE_FILE}")

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);

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

@@ -42,9 +42,9 @@
 #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
@@ -58,10 +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 {
@@ -72,8 +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);
 }
@@ -95,16 +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();
     }
 
@@ -188,6 +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

@@ -30,7 +30,6 @@
 #include <hardware/clocks.h>
 #include <hardware/gpio.h>
 
-#include "led.h"
 #include "probe_config.h"
 #include "probe.h"
 #include "tusb.h"
@@ -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_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_config.h

@@ -75,7 +75,7 @@
  * is issued. At high datarates this leads to huge variation in instantaneous
  * throughput on USB, so a large runway is needed.
  */
-#define CFG_TUD_CDC_RX_BUFSIZE 128
+#define CFG_TUD_CDC_RX_BUFSIZE 64
 #define CFG_TUD_CDC_TX_BUFSIZE 4096
 
 #define CFG_TUD_VENDOR_RX_BUFSIZE 8192

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          = 0x0201, // Version 02.01
+    .bcdDevice          = 0x0222, // Version 02.22
     .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;
-}
+}