boards: arduino_nano_33_ble: Support TRACE32 (GDB-Frontend)

Lauterbach provides the particular version of the TRACE32 limited to
use with the Arduino Nano 33 BLE. The license of it ties to Arduino Nano
33 BLE hardware serial number. It also works with the ZephyrRTOS.

Add configuration for GDB-Frontend version of TRACE32.

Limitation: This patch support only 'debug' command

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@fujitsu.com>

boards/arm/arduino_nano_33_ble/board.cmake

@@ -1,7 +1,12 @@
 # SPDX-License-Identifier: Apache-2.0
 
 board_runner_args(pyocd "--target=nrf52840" "--frequency=4000000")
+board_runner_args(trace32
+  "--startup-args"
+    "elfFile=${PROJECT_BINARY_DIR}/${KERNEL_ELF_NAME}"
+)
 
 include(${ZEPHYR_BASE}/boards/common/bossac.board.cmake)
 include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)
 include(${ZEPHYR_BASE}/boards/common/blackmagicprobe.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/trace32.board.cmake)

boards/arm/arduino_nano_33_ble/doc/index.rst

@@ -145,6 +145,57 @@ Type the following command will start debugging.
    :maybe-skip-config:
    :goals: debug
 
+Debugging with TRACE32 (GDB Front-End)
+======================================
+
+Lauterbach provides `GDB Debug version TRACE32 for Arduino Nano 33 BLE`_.
+That license ties to Arduino Nano 33 BLE hardware serial number,
+it also works with the ZephyrRTOS.
+
+Follow the instruction of the tutorial for Arduino
+`Lauterbach TRACE32 GDB Front-End Debugger for Nano 33 BLE`
+to install the TRACE32.
+
+After installing the TRACE32, You should set the environmental variable ``T32_DIR``.
+If you installed TRACE32 into the home directory, run the following command.
+(It is a good idea to put in the login script.)
+
+.. code-block:: bash
+
+    export T32_DIR="~/T32Arduino"
+
+
+The TRACE32 is `TRACE32 as GDB Front-End`_ version.
+Required to run the GDB server before launching TRACE32 with the following command.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky
+   :board: arduino_nano_33_ble
+   :goals: debugserver
+   :compact:
+
+Execute the following command after launching the GDB server to run the TRACE32
+and connect the GDB server.
+
+.. code-block:: bash
+
+    west debug --runner=trace32 -- gdbRemote=:3333
+
+The TRACE32 script handles arguments after the ``--`` sign.
+You can set the following options.
+
+========== ========== ==================================================================
+      Name Required?  Description
+---------- ---------- ------------------------------------------------------------------
+ gdbRemote  Required  | Set the GDB server address or device file of the serial port.
+                      | It can take <hostname>:<port> or <devicename>.
+                      | e.g.) ``gdbRemote=localhost:3333``, ``gdbRemote=/dev/ttyACM0``
+  terminal  Optional  | Set the device file of the serial port connected to the target console.
+                      | e.g.) ``terminal=/dev/ttyACM1``
+userScript  Optional  | Set user script that runs after system script execute done.
+                      | e.g.) ``userScript="./user.cmm"``
+========== ========== ==================================================================
+
 References
 **********
 
@@ -161,3 +212,12 @@ References
 
 .. _schematic:
     https://content.arduino.cc/assets/NANO33BLE_V2.0_sch.pdf
+
+.. _GDB Debug version TRACE32 for Arduino Nano 33 BLE:
+    https://www.lauterbach.com/frames.html?register_arduino.php
+
+.. _Lauterbach TRACE32 GDB Front-End Debugger for Nano 33 BLE:
+    https://docs.arduino.cc/tutorials/nano-33-ble-sense/trace-32
+
+.. _TRACE32 as GDB Front-End:
+    https://www2.lauterbach.com/pdf/frontend_gdb.pdf

boards/arm/arduino_nano_33_ble/support/debug.cmm

@@ -0,0 +1,8 @@
+; Copyright 2022 TOKITA Hiroshi <tokita.hiroshi@fujitsu.com>
+; SPDX-License-Identifier: Apache-2.0
+
+ENTRY %LINE &args
+
+DO ~~~~/startup.cmm command=debug &args
+
+ENDDO

boards/arm/arduino_nano_33_ble/support/startup.cmm

@@ -0,0 +1,138 @@
+; Copyright 2022 TOKITA Hiroshi <tokita.hiroshi@fujitsu.com>
+; SPDX-License-Identifier: Apache-2.0
+
+GLOBAL &GDBPORT
+GLOBAL &TERMPORT
+
+;
+; parse arguments
+;
+ENTRY %LINE &args
+&command=STRing.SCANAndExtract("&args","command=","debug")
+&elfFile=STRing.SCANAndExtract("&args","elfFile=","")
+&gdbRemote=STRing.SCANAndExtract("&args","gdbRemote=","")
+&termComPort=STRing.SCANAndExtract("&args","terminal=","")
+&userScript=STRing.SCANAndExtract("&args","userScript=","")
+
+IF "&command"=="flash"
+(
+  ; Execute the application and quit
+  QUIT -1
+)
+
+IF "&elfFile"==""
+(
+  PRINT %ERROR "Missing ELF file path"
+  PLIST
+  STOP
+  ENDDO
+)
+
+;
+; process system-wide settings
+;
+IF OS.FILE("~~/system-settings.cmm")
+  DO "~~/system-settings.cmm"
+
+;
+; CPU setup
+;
+SYStem.Down
+IF PRACTICE.CoMmanD.AVAILable(SYStem.CPU.NANO33BLE)
+  SYStem.CPU NANO33BLE
+ELSE
+  SYStem.CPU NRF52840QI
+
+;
+; RTOS setup
+;
+IF OS.FILE("~~/demo/arm/kernel/zephyr/v2-x/zephyr.t32")&&OS.FILE("~~/demo/arm/kernel/zephyr/v2-x/zephyr.men")
+(
+  TASK.CONFIG ~~/demo/arm/kernel/zephyr/v2-x/zephyr.t32
+  MENU.ReProgram ~~/demo/arm/kernel/zephyr/v2-x/zephyr.men
+)
+
+;
+; connect to the target
+;
+IF INTERFACE.GDB()
+(
+  IF ("&gdbRemote"=="")&&("&GDBPORT"!="")
+    &gdbRemote="&GDBPORT"
+
+  IF "&gdbRemote"!=""
+  (
+    PRINT "Use gdb remote: &gdbRemote"
+  )
+  ELSE
+  (
+    PRINT %ERROR "GDB Port not defined."
+    PLIST
+    STOP
+    ENDDO
+  )
+
+  TITLE "TRACE32 PowerView front-end debugger for Nano 33 BLE (remote=&gdbRemote)"
+
+  IF !SYStem.Up()
+  (
+    SYStem.PORT &gdbRemote
+    Break.CONFIG.METHOD.Program Onchip
+    SYStem.Option MMUSPACES ON
+
+    ON ERROR CONTinue
+    ERROR.RESet
+    SYStem.Mode Attach
+    ON ERROR nothing
+    IF ERROR.OCCURRED()
+    (
+      PRINT %ERROR  "Error while connecting to the target."
+      PLIST
+      STOP
+      ENDDO
+    )
+  )
+)
+ELSE
+(
+  SYStem.CONFIG.DEBUGPORTTYPE SWD
+  SYStem.UP
+)
+
+;
+; load ELF
+;
+Data.LOAD.Elf "&elfFile"
+
+;
+; Window initialization
+;
+IF ("&userScript"!="")&&FILE.EXIST("&userScript")
+(
+  DO "&userScript"
+)
+ELSE
+(
+  ; Setup minimal debug environment
+  WinCLEAR
+  SETUP.Var.%SpotLight
+  WinPOS 0. 0. 120. 30.
+  List.auto
+  WinPOS 125. 0. 80. 10.
+  Frame.view
+  WinPOS 125. 18.
+  Register.view /SpotLight
+
+  IF "&termComPort"!=""
+  (
+    SUBTITLE " &termComPort"
+    TERM.RESet
+    TERM.METHOD COM &termComPort 115200 8 NONE 1STOP NONE
+    TERM.Mode VT100
+    WinPOS 104.88 35.286 91. 24. 0. 0. W001
+    TERM.view
+    SUBTITLE ""
+  )
+)
+
+ENDDO