add daplink without submodule

lib/free-dap/LICENSE

@@ -0,0 +1,27 @@
+Copyright (c) 2016, Alex Taradov <[email protected]>
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of free-dap nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

lib/free-dap/README.md

@@ -0,0 +1,100 @@
+# Free-DAP
+
+This is a free and open implementation of the CMSIS-DAP debugger firmware.
+
+Both SWD and JTAG protocols are supported. However JTAG was not well tested due to lack of
+good targets. If you have any issues with it - let me know and I'll try to help.
+
+## Platform requirements
+
+To create a CMSIS-DAP compliant debugger, your platform must:
+ * Implement USB HID (and raw bulk for CMSIS-DAP v2) device able to receive and send arbitrary payloads
+ * Provide configuration file dap_config.h with definitions for hardware-dependent calls
+ * Call dap_init() at the initialization time
+ * Call dap_process_request() for every received request and send the response back
+
+## CMSIS-DAP version support
+
+Free-DAP library itself is protocol agnostic and implementation of the specific version
+of the CMSIS-DAP protocol (v1 or v2) is up to the individual platforms.
+
+Currently RP2040 and SAM D11 implementaitons were updated to support CMSIS-DAP v2.
+Other platforms would be updated if requested or needed by me.
+
+## Configuration
+
+For complete list of settings see one of the existing configuration file, they are
+pretty obvious.
+
+To configure clock frequency you need to specify two parameters:
+  * DAP_CONFIG_DELAY_CONSTANT - clock timing constant. This constant can be determined
+    by calling dap_clock_test() with varying parameter value and measuring the frequency
+    on the SWCLK pin. Delay constant value is the value of the parameter at which
+    output frequency equals to 1 kHz.
+  * DAP_CONFIG_FAST_CLOCK - threshold for switching to fast clock routines. This value
+    defines the frequency, at which more optimal pin manipulation functions are used.
+    This is the frequency produced by dap_clock_test(1) on the SWCLK pin.
+    You can also measure maximum achievable frequency on your platform by calling dap_clock_test(0).
+
+Your configuration file will need to define the following pin manipulation functions:
+
+ * DAP_CONFIG_SWCLK_TCK_write()
+ * DAP_CONFIG_SWDIO_TMS_write()
+ * DAP_CONFIG_TDO_write()
+ * DAP_CONFIG_nTRST_write()
+ * DAP_CONFIG_nRESET_write()
+ * DAP_CONFIG_SWCLK_TCK_read()
+ * DAP_CONFIG_SWDIO_TMS_read()
+ * DAP_CONFIG_TDI_read()
+ * DAP_CONFIG_TDO_read()
+ * DAP_CONFIG_nTRST_read()
+ * DAP_CONFIG_nRESET_read()
+ * DAP_CONFIG_SWCLK_TCK_set()
+ * DAP_CONFIG_SWCLK_TCK_clr()
+ * DAP_CONFIG_SWDIO_TMS_in()
+ * DAP_CONFIG_SWDIO_TMS_out()
+
+Note that all pin manipulation functions are required even if one of the interfaces (JTAG or SWD) is not enabled.
+
+Additionally configuration file must provide basic initialization and control functions:
+
+ * DAP_CONFIG_SETUP()
+ * DAP_CONFIG_DISCONNECT()
+ * DAP_CONFIG_CONNECT_SWD()
+ * DAP_CONFIG_CONNECT_JTAG()
+ * DAP_CONFIG_LED()
+ * DAP_CONFIG_DELAY()
+
+## Tools
+
+A complete RP2040 build requres bin2uf2 utility to generate UF2 file suitable for the RP2040 MSC bootloader.
+This utility can be downloded [here](https://github.com/ataradov/tools/tree/master/bin2uf2).
+
+## Binaries
+
+Generally there are no pre-built binaries due to effort required to maintain
+them and low potential benefit because of custom hardware requirement.
+
+For RP2040 and Raspberry Pi Pico board specifically there is a binary, since
+it is a standard and a widely available board that has a nonvolatile bootloader.
+
+The UF2 file is located [here](bin/free_dap_rp2040.uf2). Simply boot into
+a BootROM MSC mode and copy that file to the drive.
+
+I will try to do my best to keep this binary in sync with the code updates, but
+it is a manual process, so I may forget. Let me know if you have any issues.
+
+The pins used are as follows:
+
+| GPIO | Function |
+|:---:|:---|
+| 11 | SWCLK/TCK |
+| 12 | SWDIO/TMS |
+| 13 | TDI |
+| 14 | TDO |
+| 15 | nRESET |
+| 0 | VCP TX |
+| 1 | VCP RX |
+| 2 | VCP Status |
+| 25 (LED) | DAP Status |
+