From 623743995b40f2ba651005b4374ac252b7f0f0d9 Mon Sep 17 00:00:00 2001
From: Nav <nav@navnav.me>
Date: Sun, 27 Oct 2024 00:25:42 +0100
Subject: [PATCH] Made the EDBG CMSIS-DAP command delay optional for all debug
 tools, and disabled it by default. The command delay was really choking
 Bloom's EDBG driver, causing a very noticeable drag on Bloom's performance.
 It's much faster with the command delay disabled. There was a good reason for
 why I introduced this some time ago. Without it, some EDBG debug tools were
 misbehaving - I remember that for certain. But now, I cannot seem to
 reproduce these issues. Very odd. If the issues do reappear, I may have to
 enable the command delay by default, again, for some debug tools. For now, if
 any users experience issues, I'll just suggest they manually enable the
 command delay via their project config. Also, I'm not going to document this
 new config option, as I would prefer the user to approach me if they
 experience issues as a result of this, so that I'll know if it needs
 revisiting.

---
 src/DebugToolDrivers/CMakeLists.txt           |  1 +
 .../Microchip/AtmelICE/AtmelIce.cpp           |  3 +-
 .../Microchip/AtmelICE/AtmelIce.hpp           |  2 +-
 .../Microchip/CuriosityNano/CuriosityNano.cpp |  3 +-
 .../Microchip/CuriosityNano/CuriosityNano.hpp |  2 +-
 src/DebugToolDrivers/Microchip/EdbgDevice.cpp | 30 ++++++++++++--
 src/DebugToolDrivers/Microchip/EdbgDevice.hpp |  5 +++
 .../Microchip/EdbgToolConfig.cpp              | 30 ++++++++++++++
 .../Microchip/EdbgToolConfig.hpp              | 21 ++++++++++
 .../Microchip/JtagIce3/JtagIce3.cpp           |  3 +-
 .../Microchip/JtagIce3/JtagIce3.hpp           |  2 +-
 .../Microchip/MplabPickit4/MplabPickit4.cpp   |  3 +-
 .../Microchip/MplabPickit4/MplabPickit4.hpp   |  2 +-
 .../Microchip/MplabSnap/MplabSnap.cpp         |  3 +-
 .../Microchip/MplabSnap/MplabSnap.hpp         |  2 +-
 .../Microchip/PowerDebugger/PowerDebugger.cpp |  3 +-
 .../Microchip/PowerDebugger/PowerDebugger.hpp |  2 +-
 .../Microchip/XplainedMini/XplainedMini.cpp   |  3 +-
 .../Microchip/XplainedMini/XplainedMini.hpp   |  2 +-
 .../Microchip/XplainedNano/XplainedNano.cpp   |  3 +-
 .../Microchip/XplainedNano/XplainedNano.hpp   |  2 +-
 .../Microchip/XplainedPro/XplainedPro.cpp     |  3 +-
 .../Microchip/XplainedPro/XplainedPro.hpp     |  2 +-
 .../Protocols/CMSIS-DAP/CmsisDapInterface.hpp |  6 ++-
 .../TargetControllerComponent.cpp             | 41 ++++++++++---------
 25 files changed, 136 insertions(+), 43 deletions(-)
 create mode 100644 src/DebugToolDrivers/Microchip/EdbgToolConfig.cpp
 create mode 100644 src/DebugToolDrivers/Microchip/EdbgToolConfig.hpp

diff --git a/src/DebugToolDrivers/CMakeLists.txt b/src/DebugToolDrivers/CMakeLists.txt
index faf0f242..7f035ce4 100755
--- a/src/DebugToolDrivers/CMakeLists.txt
+++ b/src/DebugToolDrivers/CMakeLists.txt
@@ -32,6 +32,7 @@ target_sources(
 
         # Microchip EDBG debug tools
         ${CMAKE_CURRENT_SOURCE_DIR}/Microchip/EdbgDevice.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/Microchip/EdbgToolConfig.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/Microchip/AtmelICE/AtmelIce.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/Microchip/PowerDebugger/PowerDebugger.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/Microchip/MplabSnap/MplabSnap.cpp
diff --git a/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.cpp b/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.cpp
index 73e84433..9d633ecb 100644
--- a/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.cpp
+++ b/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.cpp
@@ -2,8 +2,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    AtmelIce::AtmelIce()
+    AtmelIce::AtmelIce(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             AtmelIce::USB_VENDOR_ID,
             AtmelIce::USB_PRODUCT_ID,
             AtmelIce::CMSIS_HID_INTERFACE_NUMBER,
diff --git a/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.hpp b/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.hpp
index 14b68db3..a5837a05 100644
--- a/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.hpp
+++ b/src/DebugToolDrivers/Microchip/AtmelICE/AtmelIce.hpp
@@ -22,7 +22,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint8_t USB_CONFIGURATION_INDEX = 0;
         static const inline std::uint8_t CMSIS_HID_INTERFACE_NUMBER = 0;
 
-        AtmelIce();
+        AtmelIce(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "Atmel-ICE";
diff --git a/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.cpp b/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.cpp
index 833ea8e1..6129c079 100644
--- a/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.cpp
+++ b/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.cpp
@@ -2,8 +2,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    CuriosityNano::CuriosityNano()
+    CuriosityNano::CuriosityNano(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             CuriosityNano::USB_VENDOR_ID,
             CuriosityNano::USB_PRODUCT_ID,
             CuriosityNano::CMSIS_HID_INTERFACE_NUMBER,
diff --git a/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.hpp b/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.hpp
index b6b831af..31fa9c5c 100644
--- a/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.hpp
+++ b/src/DebugToolDrivers/Microchip/CuriosityNano/CuriosityNano.hpp
@@ -21,7 +21,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint16_t USB_PRODUCT_ID = 0x2175;
         static const inline std::uint8_t CMSIS_HID_INTERFACE_NUMBER = 0;
 
-        CuriosityNano();
+        CuriosityNano(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "Curiosity Nano";
diff --git a/src/DebugToolDrivers/Microchip/EdbgDevice.cpp b/src/DebugToolDrivers/Microchip/EdbgDevice.cpp
index 4765b3c4..2617dd0e 100644
--- a/src/DebugToolDrivers/Microchip/EdbgDevice.cpp
+++ b/src/DebugToolDrivers/Microchip/EdbgDevice.cpp
@@ -1,8 +1,10 @@
 #include "EdbgDevice.hpp"
 
 #include "src/DebugToolDrivers/USB/HID/HidInterface.hpp"
+#include "src/DebugToolDrivers/Protocols/CMSIS-DAP/CmsisDapInterface.hpp"
 #include "src/DebugToolDrivers/Microchip/Protocols/EDBG/AVR/CommandFrames/AvrCommandFrames.hpp"
 
+#include "src/Exceptions/InvalidConfig.hpp"
 #include "src/TargetController/Exceptions/DeviceFailure.hpp"
 #include "src/TargetController/Exceptions/DeviceInitializationFailure.hpp"
 
@@ -14,6 +16,7 @@ namespace DebugToolDrivers::Microchip
     using Exceptions::DeviceInitializationFailure;
 
     EdbgDevice::EdbgDevice(
+        const DebugToolConfig& debugToolConfig,
         std::uint16_t vendorId,
         std::uint16_t productId,
         std::uint8_t cmsisHidInterfaceNumber,
@@ -21,12 +24,14 @@ namespace DebugToolDrivers::Microchip
         std::optional<std::uint8_t> configurationIndex
     )
         : UsbDevice(vendorId, productId)
+        , toolConfig(EdbgToolConfig{debugToolConfig})
         , cmsisHidInterfaceNumber(cmsisHidInterfaceNumber)
         , supportsTargetPowerManagement(supportsTargetPowerManagement)
         , configurationIndex(configurationIndex)
     {}
 
     void EdbgDevice::init() {
+        using ::DebugToolDrivers::Protocols::CmsisDap::CmsisDapInterface;
         using Microchip::Protocols::Edbg::EdbgInterface;
         using Microchip::Protocols::Edbg::EdbgTargetPowerManagementInterface;
 
@@ -52,12 +57,29 @@ namespace DebugToolDrivers::Microchip
         this->edbgInterface = std::make_unique<EdbgInterface>(std::move(cmsisHidInterface));
 
         /*
-         * The EDBG/CMSIS-DAP interface doesn't operate properly when sending commands too quickly.
+         * Sometimes, some EDBG tools misbehave when we send commands too quickly, even though we wait for a response
+         * for each command we send...
          *
-         * Because of this, we have to enforce a minimum time gap between commands. See comment
-         * in CmsisDapInterface class declaration for more info.
+         * Because of this, we make available the option to enforce a minimum time gap between commands. This prevents
+         * the tool from misbehaving, but effectively chokes the EDBG driver, causing a drag on Bloom's performance.
+         *
+         * The command delay is disabled by default for all EDBG tools, but the user can enable it via their project
+         * config.
          */
-        this->edbgInterface->setMinimumCommandTimeGap(std::chrono::milliseconds{35});
+        if (this->toolConfig.cmsisCommandDelay.has_value()) {
+            const auto& cmsisCommandDelay = *(this->toolConfig.cmsisCommandDelay);
+
+            if (cmsisCommandDelay > CmsisDapInterface::CMSIS_COMMAND_DELAY_MAX) {
+                throw Exceptions::InvalidConfig{
+                    "CMSIS command delay value (" + std::to_string(cmsisCommandDelay.count())
+                        + " ms) is too high. Maximum value: " + std::to_string(
+                            CmsisDapInterface::CMSIS_COMMAND_DELAY_MAX.count()
+                        ) + " ms"
+                };
+            }
+
+            this->edbgInterface->setCommandDelay(cmsisCommandDelay);
+        }
 
         // We don't need to claim the CMSISDAP interface here as the HIDAPI will have already done so.
         if (!this->sessionStarted) {
diff --git a/src/DebugToolDrivers/Microchip/EdbgDevice.hpp b/src/DebugToolDrivers/Microchip/EdbgDevice.hpp
index aa309678..0e0a9bc6 100644
--- a/src/DebugToolDrivers/Microchip/EdbgDevice.hpp
+++ b/src/DebugToolDrivers/Microchip/EdbgDevice.hpp
@@ -7,6 +7,9 @@
 #include "src/DebugToolDrivers/DebugTool.hpp"
 #include "src/DebugToolDrivers/USB/UsbDevice.hpp"
 
+#include "EdbgToolConfig.hpp"
+#include "src/ProjectConfig.hpp"
+
 #include "Protocols/EDBG/EdbgInterface.hpp"
 #include "Protocols/EDBG/AVR/EdbgAvr8Interface.hpp"
 #include "Protocols/EDBG/AVR/EdbgAvrIspInterface.hpp"
@@ -30,6 +33,7 @@ namespace DebugToolDrivers::Microchip
     {
     public:
         EdbgDevice(
+            const DebugToolConfig& debugToolConfig,
             std::uint16_t vendorId,
             std::uint16_t productId,
             std::uint8_t cmsisHidInterfaceNumber,
@@ -85,6 +89,7 @@ namespace DebugToolDrivers::Microchip
         void endSession();
 
     protected:
+        EdbgToolConfig toolConfig;
         bool initialised = false;
 
         /**
diff --git a/src/DebugToolDrivers/Microchip/EdbgToolConfig.cpp b/src/DebugToolDrivers/Microchip/EdbgToolConfig.cpp
new file mode 100644
index 00000000..58f8ec64
--- /dev/null
+++ b/src/DebugToolDrivers/Microchip/EdbgToolConfig.cpp
@@ -0,0 +1,30 @@
+#include "EdbgToolConfig.hpp"
+
+#include "src/Helpers/YamlUtilities.hpp"
+#include "src/Logger/Logger.hpp"
+
+namespace DebugToolDrivers::Microchip
+{
+    EdbgToolConfig::EdbgToolConfig(const DebugToolConfig& toolConfig)
+        : DebugToolConfig(toolConfig)
+    {
+        const auto& toolNode = toolConfig.toolNode;
+
+        const auto edbgDriverNode = toolNode["edbgDriver"];
+        if (edbgDriverNode) {
+            if (edbgDriverNode["cmsisCommandDelay"]) {
+                if (YamlUtilities::isCastable<std::uint16_t>(edbgDriverNode["cmsisCommandDelay"])) {
+                    this->cmsisCommandDelay = std::chrono::milliseconds{
+                        edbgDriverNode["cmsisCommandDelay"].as<std::uint16_t>()
+                    };
+
+                } else {
+                    Logger::error(
+                        "Invalid EDBG driver config parameter ('cmsisCommandDelay') provided - must be a 16-bit "
+                            "unsigned integer. The parameter will be ignored."
+                    );
+                }
+            }
+        }
+    }
+}
diff --git a/src/DebugToolDrivers/Microchip/EdbgToolConfig.hpp b/src/DebugToolDrivers/Microchip/EdbgToolConfig.hpp
new file mode 100644
index 00000000..4db4bd6e
--- /dev/null
+++ b/src/DebugToolDrivers/Microchip/EdbgToolConfig.hpp
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <optional>
+#include <chrono>
+#include <yaml-cpp/yaml.h>
+
+#include "src/ProjectConfig.hpp"
+
+namespace DebugToolDrivers::Microchip
+{
+    /**
+     * Extending the generic DebugToolConfig struct to accommodate EDBG configuration parameters.
+     */
+    struct EdbgToolConfig: public DebugToolConfig
+    {
+    public:
+        std::optional<std::chrono::milliseconds> cmsisCommandDelay = std::nullopt;
+
+        explicit EdbgToolConfig(const DebugToolConfig& toolConfig);
+    };
+}
diff --git a/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.cpp b/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.cpp
index df2bb2f3..e3ac6a65 100644
--- a/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.cpp
+++ b/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.cpp
@@ -2,8 +2,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    JtagIce3::JtagIce3()
+    JtagIce3::JtagIce3(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             JtagIce3::USB_VENDOR_ID,
             JtagIce3::USB_PRODUCT_ID,
             JtagIce3::CMSIS_HID_INTERFACE_NUMBER,
diff --git a/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.hpp b/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.hpp
index 58a738e1..1cb4cf9c 100644
--- a/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.hpp
+++ b/src/DebugToolDrivers/Microchip/JtagIce3/JtagIce3.hpp
@@ -22,7 +22,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint8_t USB_CONFIGURATION_INDEX = 0;
         static const inline std::uint8_t CMSIS_HID_INTERFACE_NUMBER = 0;
 
-        JtagIce3();
+        JtagIce3(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "JTAGICE3";
diff --git a/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.cpp b/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.cpp
index 15e7fd2c..94282c25 100644
--- a/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.cpp
+++ b/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.cpp
@@ -5,8 +5,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    MplabPickit4::MplabPickit4()
+    MplabPickit4::MplabPickit4(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             MplabPickit4::USB_VENDOR_ID,
             MplabPickit4::USB_PRODUCT_ID,
             MplabPickit4::CMSIS_HID_INTERFACE_NUMBER
diff --git a/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.hpp b/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.hpp
index 2a142610..d2741396 100644
--- a/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.hpp
+++ b/src/DebugToolDrivers/Microchip/MplabPickit4/MplabPickit4.hpp
@@ -29,7 +29,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint16_t NON_EDBG_USB_VENDOR_ID = 0x04d8;
         static const inline std::uint16_t NON_EDBG_USB_PRODUCT_ID = 0x9012;
 
-        MplabPickit4();
+        MplabPickit4(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "MPLAB PICkit 4";
diff --git a/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.cpp b/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.cpp
index a2a8e96d..2cd7008d 100644
--- a/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.cpp
+++ b/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.cpp
@@ -5,8 +5,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    MplabSnap::MplabSnap()
+    MplabSnap::MplabSnap(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             MplabSnap::USB_VENDOR_ID,
             MplabSnap::USB_PRODUCT_ID,
             MplabSnap::CMSIS_HID_INTERFACE_NUMBER
diff --git a/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.hpp b/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.hpp
index f38100ba..e68b8f2b 100644
--- a/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.hpp
+++ b/src/DebugToolDrivers/Microchip/MplabSnap/MplabSnap.hpp
@@ -32,7 +32,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint16_t NON_EDBG_USB_PRODUCT_ID = 0x9018;
         static const inline std::uint16_t NON_EDBG_USB_PRODUCT_ID_ALTERNATIVE = 0x9017;
 
-        MplabSnap();
+        MplabSnap(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "MPLAB Snap";
diff --git a/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.cpp b/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.cpp
index a03bd624..98384efc 100644
--- a/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.cpp
+++ b/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.cpp
@@ -2,8 +2,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    PowerDebugger::PowerDebugger()
+    PowerDebugger::PowerDebugger(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             PowerDebugger::USB_VENDOR_ID,
             PowerDebugger::USB_PRODUCT_ID,
             PowerDebugger::CMSIS_HID_INTERFACE_NUMBER,
diff --git a/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.hpp b/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.hpp
index f4244b3a..3fe77c6c 100644
--- a/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.hpp
+++ b/src/DebugToolDrivers/Microchip/PowerDebugger/PowerDebugger.hpp
@@ -22,7 +22,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint8_t USB_CONFIGURATION_INDEX = 0;
         static const inline std::uint8_t CMSIS_HID_INTERFACE_NUMBER = 0;
 
-        PowerDebugger();
+        PowerDebugger(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "Power Debugger";
diff --git a/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.cpp b/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.cpp
index 90adef06..04823346 100644
--- a/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.cpp
+++ b/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.cpp
@@ -2,8 +2,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    XplainedMini::XplainedMini()
+    XplainedMini::XplainedMini(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             XplainedMini::USB_VENDOR_ID,
             XplainedMini::USB_PRODUCT_ID,
             XplainedMini::CMSIS_HID_INTERFACE_NUMBER,
diff --git a/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.hpp b/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.hpp
index 5b4213a6..d0ace1d5 100644
--- a/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.hpp
+++ b/src/DebugToolDrivers/Microchip/XplainedMini/XplainedMini.hpp
@@ -21,7 +21,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint16_t USB_PRODUCT_ID = 0x2145;
         static const inline std::uint8_t CMSIS_HID_INTERFACE_NUMBER = 0;
 
-        XplainedMini();
+        XplainedMini(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "Xplained Mini";
diff --git a/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.cpp b/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.cpp
index 2ed782e3..e372d88d 100644
--- a/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.cpp
+++ b/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.cpp
@@ -2,8 +2,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    XplainedNano::XplainedNano()
+    XplainedNano::XplainedNano(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             XplainedNano::USB_VENDOR_ID,
             XplainedNano::USB_PRODUCT_ID,
             XplainedNano::CMSIS_HID_INTERFACE_NUMBER,
diff --git a/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.hpp b/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.hpp
index 2089eaa1..4acfdf64 100644
--- a/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.hpp
+++ b/src/DebugToolDrivers/Microchip/XplainedNano/XplainedNano.hpp
@@ -21,7 +21,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint16_t USB_PRODUCT_ID = 0x2145;
         static const inline std::uint8_t CMSIS_HID_INTERFACE_NUMBER = 0;
 
-        XplainedNano();
+        XplainedNano(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "Xplained Nano";
diff --git a/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.cpp b/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.cpp
index 7169f465..95bd2661 100644
--- a/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.cpp
+++ b/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.cpp
@@ -2,8 +2,9 @@
 
 namespace DebugToolDrivers::Microchip
 {
-    XplainedPro::XplainedPro()
+    XplainedPro::XplainedPro(const DebugToolConfig& debugToolConfig)
         : EdbgDevice(
+            debugToolConfig,
             XplainedPro::USB_VENDOR_ID,
             XplainedPro::USB_PRODUCT_ID,
             XplainedPro::CMSIS_HID_INTERFACE_NUMBER,
diff --git a/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.hpp b/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.hpp
index 35704f26..75cd6785 100644
--- a/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.hpp
+++ b/src/DebugToolDrivers/Microchip/XplainedPro/XplainedPro.hpp
@@ -21,7 +21,7 @@ namespace DebugToolDrivers::Microchip
         static const inline std::uint16_t USB_PRODUCT_ID = 0x2111;
         static const inline std::uint8_t CMSIS_HID_INTERFACE_NUMBER = 0;
 
-        XplainedPro();
+        XplainedPro(const DebugToolConfig& debugToolConfig);
 
         std::string getName() override {
             return "Xplained Pro";
diff --git a/src/DebugToolDrivers/Protocols/CMSIS-DAP/CmsisDapInterface.hpp b/src/DebugToolDrivers/Protocols/CMSIS-DAP/CmsisDapInterface.hpp
index c12ad48c..0e6d817a 100644
--- a/src/DebugToolDrivers/Protocols/CMSIS-DAP/CmsisDapInterface.hpp
+++ b/src/DebugToolDrivers/Protocols/CMSIS-DAP/CmsisDapInterface.hpp
@@ -21,6 +21,8 @@ namespace DebugToolDrivers::Protocols::CmsisDap
     class CmsisDapInterface
     {
     public:
+        static constexpr auto CMSIS_COMMAND_DELAY_MAX = std::chrono::milliseconds{200};
+
         explicit CmsisDapInterface(Usb::HidInterface&& usbHidInterface);
 
         virtual ~CmsisDapInterface() = default;
@@ -38,8 +40,8 @@ namespace DebugToolDrivers::Protocols::CmsisDap
             return this->usbHidInterface.inputReportSize;
         }
 
-        void setMinimumCommandTimeGap(std::chrono::milliseconds commandTimeGap) {
-            this->commandDelay = commandTimeGap;
+        void setCommandDelay(std::chrono::milliseconds commandDelay) {
+            this->commandDelay = commandDelay;
         }
 
         /**
diff --git a/src/TargetController/TargetControllerComponent.cpp b/src/TargetController/TargetControllerComponent.cpp
index 53a20dbb..428ce58f 100644
--- a/src/TargetController/TargetControllerComponent.cpp
+++ b/src/TargetController/TargetControllerComponent.cpp
@@ -315,66 +315,69 @@ namespace TargetController
         std::string,
         std::function<std::unique_ptr<DebugTool>()>
     > TargetControllerComponent::getSupportedDebugTools() {
+        using namespace DebugToolDrivers::Microchip;
+        using namespace DebugToolDrivers::Wch;
+
         // The debug tool names in this mapping should always be lower-case.
         return std::map<std::string, std::function<std::unique_ptr<DebugTool>()>> {
             {
                 "atmel-ice",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::AtmelIce>();
+                [this] {
+                    return std::make_unique<AtmelIce>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "power-debugger",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::PowerDebugger>();
+                [this] {
+                    return std::make_unique<PowerDebugger>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "snap",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::MplabSnap>();
+                [this] {
+                    return std::make_unique<MplabSnap>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "pickit-4",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::MplabPickit4>();
+                [this] {
+                    return std::make_unique<MplabPickit4>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "xplained-pro",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::XplainedPro>();
+                [this] {
+                    return std::make_unique<XplainedPro>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "xplained-mini",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::XplainedMini>();
+                [this] {
+                    return std::make_unique<XplainedMini>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "xplained-nano",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::XplainedNano>();
+                [this] {
+                    return std::make_unique<XplainedNano>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "curiosity-nano",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::CuriosityNano>();
+                [this] {
+                    return std::make_unique<CuriosityNano>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "jtagice3",
-                [] {
-                    return std::make_unique<DebugToolDrivers::Microchip::JtagIce3>();
+                [this] {
+                    return std::make_unique<JtagIce3>(this->environmentConfig.debugToolConfig);
                 }
             },
             {
                 "wch-link-e",
                 [this] {
-                    return std::make_unique<DebugToolDrivers::Wch::WchLinkE>(this->environmentConfig.debugToolConfig);
+                    return std::make_unique<WchLinkE>(this->environmentConfig.debugToolConfig);
                 }
             },
         };