Debug tool device driver for the MPLAB PICkit 4

CMakeLists.txt

@@ -86,6 +86,7 @@ add_executable(Bloom
     src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.cpp
     src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.cpp
     src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.cpp
+    src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.cpp
     src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.cpp
     src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.cpp
     src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.cpp

src/DebugToolDrivers/DebugTools.hpp

@@ -5,6 +5,7 @@
 #include "src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.hpp"
 #include "src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.hpp"
 #include "src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.hpp"
+#include "src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.hpp"
 #include "src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.hpp"
 #include "src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.hpp"
 #include "src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.hpp"

src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.cpp

@@ -0,0 +1,94 @@
+#include "MplabPickit4.hpp"
+
+#include "src/TargetController/Exceptions/DeviceFailure.hpp"
+#include "src/TargetController/Exceptions/DeviceInitializationFailure.hpp"
+
+using namespace Bloom::DebugToolDrivers;
+using namespace Bloom::DebugToolDrivers::Protocols::CmsisDap::Edbg::Avr;
+using namespace Bloom::Exceptions;
+
+void MplabPickit4::init() {
+    UsbDevice::init();
+
+    // TODO: Move away from hard-coding the CMSIS-DAP/EDBG interface number
+    auto& usbHidInterface = this->getEdbgInterface().getUsbHidInterface();
+    usbHidInterface.setNumber(0);
+    usbHidInterface.setLibUsbDevice(this->libUsbDevice);
+    usbHidInterface.setLibUsbDeviceHandle(this->libUsbDeviceHandle);
+    usbHidInterface.setVendorId(this->vendorId);
+    usbHidInterface.setProductId(this->productId);
+
+    if (!usbHidInterface.isInitialised()) {
+        usbHidInterface.init();
+    }
+
+    this->getEdbgInterface().setMinimumCommandTimeGap(std::chrono::milliseconds(35));
+
+    // We don't need to claim the CMSISDAP interface here as the HIDAPI will have already done so.
+    if (!this->sessionStarted) {
+        this->startSession();
+    }
+
+    this->edbgAvr8Interface = std::make_unique<EdbgAvr8Interface>(this->edbgInterface);
+
+    /*
+     * Like the MPLAB Snap, the PICkit 4 doesn't seem to operate correctly when actioning the masked memory read
+     * command. The data returned in response to the command appears to be completely incorrect.
+     *
+     * For the above reason, we avoid using the masked memory read command by implementing the masking on our end.
+     * See the EdbgAvr8Interface class for more.
+     */
+    this->edbgAvr8Interface->setAvoidMaskedMemoryRead(true);
+
+    this->setInitialised(true);
+}
+
+void MplabPickit4::close() {
+    if (this->sessionStarted) {
+        this->endSession();
+    }
+
+    this->getEdbgInterface().getUsbHidInterface().close();
+    UsbDevice::close();
+}
+
+std::string MplabPickit4::getSerialNumber() {
+    auto response = this->getEdbgInterface().sendAvrCommandFrameAndWaitForResponseFrame(
+        CommandFrames::Discovery::Query(CommandFrames::Discovery::QueryContext::SERIAL_NUMBER)
+    );
+
+    if (response.getResponseId() != CommandFrames::Discovery::ResponseId::OK) {
+        throw DeviceInitializationFailure(
+            "Failed to fetch serial number from device - invalid Discovery Protocol response ID."
+        );
+    }
+
+    auto data = response.getPayloadData();
+    return std::string(data.begin(), data.end());
+}
+
+void MplabPickit4::startSession() {
+    auto response = this->getEdbgInterface().sendAvrCommandFrameAndWaitForResponseFrame(
+        CommandFrames::HouseKeeping::StartSession()
+    );
+
+    if (response.getResponseId() == CommandFrames::HouseKeeping::ResponseId::FAILED) {
+        // Failed response returned!
+        throw DeviceInitializationFailure("Failed to start session with MPLAB PICkit 4!");
+    }
+
+    this->sessionStarted = true;
+}
+
+void MplabPickit4::endSession() {
+    auto response = this->getEdbgInterface().sendAvrCommandFrameAndWaitForResponseFrame(
+        CommandFrames::HouseKeeping::EndSession()
+    );
+
+    if (response.getResponseId() == CommandFrames::HouseKeeping::ResponseId::FAILED) {
+        // Failed response returned!
+        throw DeviceFailure("Failed to end session with MPLAB PICkit 4!");
+    }
+
+    this->sessionStarted = false;
+}

src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.hpp

@@ -0,0 +1,76 @@
+#pragma once
+
+#include <cstdint>
+#include <vector>
+#include <memory>
+
+#include "src/DebugToolDrivers/DebugTool.hpp"
+#include "src/DebugToolDrivers/USB/UsbDevice.hpp"
+#include "src/DebugToolDrivers/USB/HID/HidInterface.hpp"
+#include "src/DebugToolDrivers/Protocols/CMSIS-DAP/CmsisDapInterface.hpp"
+#include "src/DebugToolDrivers/Protocols/CMSIS-DAP/VendorSpecific/EDBG/EdbgInterface.hpp"
+#include "src/DebugToolDrivers/Protocols/CMSIS-DAP/VendorSpecific/EDBG/AVR/EdbgAvr8Interface.hpp"
+#include "src/DebugToolDrivers/Protocols/CMSIS-DAP/VendorSpecific/EDBG/AVR/CommandFrames/AvrCommandFrames.hpp"
+
+namespace Bloom::DebugToolDrivers
+{
+    /**
+     * Like the MPLAB Snap, the PICkit 4 is a hybrid device. It can present itself as an EDBG (Embedded Debugger)
+     * device via a firmware update, issued by Microchip software (the MPLAB IDE and IPE).
+     *
+     * This debug tool driver currently only supports the device when in AVR mode. Because the device uses different
+     * vendor & product IDs depending on the mode, it is easy to determine which is which. In fact, Bloom will not even
+     * recognise the device if it's not in AVR mode.
+     *
+     * USB Setup (when in AVR/EDBG mode):
+     *  Vendor ID: 0x03eb (1003)
+     *  Product ID: 0x2177 (8567)
+     */
+    class MplabPickit4: public DebugTool, public Usb::UsbDevice
+    {
+    public:
+        static const std::uint16_t USB_VENDOR_ID = 1003;
+        static const std::uint16_t USB_PRODUCT_ID = 8567;
+
+        MplabPickit4(): UsbDevice(MplabPickit4::USB_VENDOR_ID, MplabPickit4::USB_PRODUCT_ID) {}
+
+        void init() override;
+
+        void close() override;
+
+        Protocols::CmsisDap::Edbg::EdbgInterface& getEdbgInterface()  {
+            return this->edbgInterface;
+        }
+
+        TargetInterfaces::Microchip::Avr::Avr8::Avr8Interface* getAvr8Interface() override {
+            return this->edbgAvr8Interface.get();
+        }
+
+        std::string getName() override {
+            return "MPLAB PICkit 4";
+        };
+
+        /**
+         * Retrieves the device serial number via the Discovery Protocol.
+         *
+         * @return
+         */
+        std::string getSerialNumber() override;
+
+        /**
+         * Starts a session with the EDBG-based tool using the housekeeping protocol.
+         */
+        void startSession();
+
+        /**
+         * Ends the active session with the debug tool.
+         */
+        void endSession();
+
+    private:
+        Protocols::CmsisDap::Edbg::EdbgInterface edbgInterface = Protocols::CmsisDap::Edbg::EdbgInterface();
+        std::unique_ptr<Protocols::CmsisDap::Edbg::Avr::EdbgAvr8Interface> edbgAvr8Interface = nullptr;
+
+        bool sessionStarted = false;
+    };
+}

src/TargetController/TargetController.hpp

@@ -118,6 +118,12 @@ namespace Bloom
                         return std::make_unique<DebugToolDrivers::MplabSnap>();
                     }
                 },
+                {
+                    "pickit-4",
+                    [] {
+                        return std::make_unique<DebugToolDrivers::MplabPickit4>();
+                    }
+                },
                 {
                     "xplained-pro",
                     [] {