Debug tool device driver for the MPLAB PICkit 4

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;
+}