十分钟快速自制CMSIS_DAP仿真器，将ST-LINK-V2变身DAP仿真器！

快来打我* 2022-09-11 12:25 1193阅读 0赞

# 十分钟快速自制CMSIS\_DAP仿真器，将ST-LINK-V2变身DAP仿真器！ #

--------------------

### 目录 ###

*  十分钟快速自制CMSIS\_DAP仿真器，将ST-LINK-V2变身DAP仿真器！
 *   *   *  （一）简介
         *  （二）调试器的原理
         *  （三）工程配置
         *  （四）移植DAP源码
         *  （五）测试CMSIS\_DAP仿真器
         *  （六）补充内容：软启动的实现

--------------------

### （一）简介 ###

说到单片机仿真器(下载器)首先想到的就是J-LINK和ST-LINK，很多人可能还是第一次听说DAP仿真器，那么就先介绍一下。

CMSIS DAP是ARM官方推出的**开源仿真器**，支持所有的**Cortex-A/R/M**器件，支持JTAG/SWD接口。有以下特点：

1.  完全开源，没有版权限制，所以相应的价格会很便宜
2.  不需要安装驱动，即插即用
3.  在新版本的DAP里集成了串口，除了下载调试外还能充当USB转串口模块，一机两用
4.  性能方面已经可以满足一般用户的需求

市面上基本所有的**离线下载器**基本都是基于CMSIS\_DAP方案来的，例如正点原子的离线下载器、无线下载器等，还有就是国产单片机厂家做的调试器，例如GD32出的GD-LINK，都是基于CMSIS DAP方案改的。

而ST-LINK是ST官方出的，目前有V1、V2、V3版本，并且闭源，正版的很贵！你买到的很便宜，可能也就十几三十几块钱得样子，这是因为这都是盗版的！网上早就有人把ST-LINK-V2的固件给破解出来的，而且原理图也有，所以市面上的便宜货都是根据官方的原理图做出来的板子，然后下载进固件就完成了一个ST-LINK调试器！但是他们是没有ST-LINK的固件源代码的！

**什么是在线调试下载？**

在线调试器就是用keil或者iar等软件对目标MCU进行调试和下载程序，适用于开发阶段。像是ST-LINK、J-LINK就是在线调试器。

**什么是离线下载？**

当项目开发中已经接近尾声或者已经成熟后，那么每生产一块板子就需要刷程序，但是刷程序就需要连接到PC机上通过软件刷，这样的话就非常的麻烦，那么有没有一种方式是做一个小板子，把下载程序的功能集成到这个小板子中，这样的话刷程序就是用这个小板子给目标MCU刷程序，就是手持式的。

有！就是离线下载器！

离线下载器的功能说简单点就是Keil下载程序的功能！

**关于本篇**

教程持续更新，最终的目的是做一个**在线调试+离线下载**完整功能的仿真器。

本篇教程就先实现用keil能够在线调试下载程序和调试的功能，这是实现完整功能最简单的一步。

--------------------

### （二）调试器的原理 ###

在教程开始之前，我觉得有必要说一下调试器的原理以及他是怎么工作的，怎么把程序下载到目标MCU的，这里以KEIL+ST-LINK为例进行说明。

我们使用keil下载程序的时候，必须要选定一个下载算法，如下所示：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16][]

当你使用STM32的时候必须要安装pack包，而下载算法就在pack包内，安装好后就在keil软件的安装目录下了，具体在这里：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 1][]  
Keil会根据你当前工程使用的芯片，自动去识别应该用哪一个下载算法，例如我目前这个工程是用的STM32F103C8这个芯片，FLASH容量是64K的，属于这个系列的小容量，那么KEIL就自动给我识别了STM32F103x\_128.FLM这个下载算法。

那么这个下载算法是什么东西？

进入这个目录后，他有一个工程，而这个工程就是下载算法的模板工程，我们打开看一下：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 2][]  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 3][]

打开工程后很简单的，就只有两个文件，函数也很简单都是对FLASH的操作，编译一下看看：  
![7ea4b5ef71c24e68bb26d8aae2abb08e.png][]

`AXF（ARM Executable File）是ARM芯片使用的文件格式，它除了包含bin代码外，还包括了输出给调试器的调试信息`

看到没！编译完了之后生成了STM32F103x\_16.axf文件，然后只是做了一个文件复制并且重命名成了STM32F10x\_16.FLM文件！

现在对下载算法就明确了，下载算法其实就是对目标MCU的FLASH的一系列操作函数！

那么KEIL给目标MCU下载程序的时候，其实就是解析出编译好的.axf文件，然后通过USB连接线经过ST-LINK先将下载算法加载进目标MCU的内存中并运行，由于.axf文件中包含的信息很多，其中就有当程序加载进内存后**函数在内存中的地址**，这个地址也可以通过.map文件查看(.map文件也是keil在编译完工程后生成的)，知道函数在内存中的地址，就可以在外部通过特定的进行调用，所以STLINK就是接收来自KEIL的固件程序，然后操控目标单片机内存中的FLASH的操作函数，在通过SWD协议将固件下载进目标MCU的FLASH中，就这样实现了程序下载，后面我们会做离线下载器那么也就明确了，可以将接收KEIL的下发固件这一个步骤变成本地SD卡存储固件，这样不就实现了离线~  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 4][]

现在keil整个下载程序的流程清楚了后，我们的CMSIS\_DAP就可以分成两步骤进行：

*  第一步：实现KEIL通过USB和DAP的通信
 *  第二步：DAP通过SWD协议将收到固件下载进目标MCU

对于第一步，我们使用STM32CubeMX软件生成工程，然后对源码进行一个简单的修改就可以完成。如果你对USB没有一个充分的了解，本章教程可以先不用管为什么这么修改源代码，跟着步骤来即可，我的另一篇博客有对USB相关知识的扫盲，可以帮助你快速了解：[https://blog.csdn.net/qq153471503/article/details/116053851][https_blog.csdn.net_qq153471503_article_details_116053851]

对于第二步，我们需要移植自ARM官方的CMSIS\_DAP源码，源代码在Keil软件的安装目录下，ARM官方的代码是基于LPC单片机的，但是不妨碍我们移植使用：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 5][]  
我们需要的就是上图中这三个文件夹中的源文件以及`USBD_User_HID_0.c`文件即可，这个文件在这里：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 6][]

--------------------

### （三）工程配置 ###

紧接上文，现在开始实现第一步，由于我目前手头没有现成的硬件，然后我想起ST-LINK其实也是个STM32F103C8单片机，那么我用STLINK的板子不就行了，而且在网上还能找到原理图，省去了自己做板子验证的步骤，等软件调试完毕后，在做板子把它做得小巧精致些。

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_15_color_FFFFFF_t_70_g_se_x_16][]  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_19_color_FFFFFF_t_70_g_se_x_16][]

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 7][]

它的原理图是这样的：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 8][]

从原理图上可知，使用的引脚分布如下：

*  JTAG\_nTRST（PB1）
 *  JTAG\_nRESET（PB0）
 *  JTAG\_TDI（PA7）
 *  JTAG\_TMS（PB14，这个引脚也是SWD模式下的SWDIO引脚）
 *  JTAG\_TCK（PB13/PA5，这个引脚也是SWD模式下的SWCLK引脚）
 *  JTAG\_TDO（PA6/PA10）
 *  LED灯（PA9，低电平为红灯，高电平为绿灯）

对于JTAG\_TCK，这是时钟信号引脚，官方用了PB13和PA5两个引脚，我猜测是因为为了提高抗干扰能力，JTAG和SWD两种模式下，使用不同的引脚当做时钟信号。JTAG\_TMS引脚同理。

对于JTAG\_TDO，当JTAG模式时，这是JTAG的数据输入引脚，当使用SWD模式时，这个引脚可以作为调试输出的作用，所以也是分成了两个引脚来用。

在本教程中，我们就各只用一个IO就可以，不搞那么麻烦。

下面开始贴一下我的配置，时钟配置到72M，并开启USB配置成48M，如下：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 9][]

下载程序的调试接口配置为SWD模式：

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 10][]  
USB的配置如下：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 11][]  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 12][]  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 13][]  
IO引脚的配置如下：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 14][]  
这就是全部的配置内容，然后生成代码就可以了！

--------------------

### （四）移植DAP源码 ###

将DAP加入我们的工程，如下所示：  
![6169e46c333f4a4ab3418e51a00a7c87.png][]  
对于DAP源码的移植，我们主要就是修改`DAP_config.h`和`USBD_User_HID_0.c`俩文件，其中`DAP_config.h`是修改的GPIO以及DAP的一些默认配置参数，`USBD_User_HID_0.c`就是USB与PC的函数接口了，由于原CMSIS\_DAP工程是基于LCP单片机并且跑了系统的，而我没有跑系统，所以就需要将`USBD_User_HID_0.c`文件中使用系统了的API换成轮训方式即可，下面贴一下我的配置：

**`DAP_config.h`文件：**

/* * Copyright (c) 2013-2017 ARM Limited. All rights reserved. * * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the License); you may * not use this file except in compliance with the License. * You may obtain a copy of the License at * * www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an AS IS BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * * ---------------------------------------------------------------------- * * $Date: 1. December 2017 * $Revision: V2.0.0 * * Project: CMSIS-DAP Configuration * Title: DAP_config.h CMSIS-DAP Configuration File (Template) * *---------------------------------------------------------------------------*/
 
 #ifndef __DAP_CONFIG_H__
 #define __DAP_CONFIG_H__
 
 
 //**************************************************************************************************
 /** \defgroup DAP_Config_Debug_gr CMSIS-DAP Debug Unit Information \ingroup DAP_ConfigIO_gr @{ Provides definitions about the hardware and configuration of the Debug Unit. This information includes: - Definition of Cortex-M processor parameters used in CMSIS-DAP Debug Unit. - Debug Unit Identification strings (Vendor, Product, Serial Number). - Debug Unit communication packet size. - Debug Access Port supported modes and settings (JTAG/SWD and SWO). - Optional information about a connected Target Device (for Evaluation Boards). */
 
 #include "main.h"
 
 /// Processor Clock of the Cortex-M MCU used in the Debug Unit.
 /// This value is used to calculate the SWD/JTAG clock speed.
 #define CPU_CLOCK 72000000U ///< Specifies the CPU Clock in Hz.
 
 /// Number of processor cycles for I/O Port write operations.
 /// This value is used to calculate the SWD/JTAG clock speed that is generated with I/O
 /// Port write operations in the Debug Unit by a Cortex-M MCU. Most Cortex-M processors
 /// require 2 processor cycles for a I/O Port Write operation. If the Debug Unit uses
 /// a Cortex-M0+ processor with high-speed peripheral I/O only 1 processor cycle might be
 /// required.
 #define IO_PORT_WRITE_CYCLES 2U ///< I/O Cycles: 2=default, 1=Cortex-M0+ fast I/0.
 
 /// Indicate that Serial Wire Debug (SWD) communication mode is available at the Debug Access Port.
 /// This information is returned by the command \ref DAP_Info as part of Capabilities.
 #define DAP_SWD 1 ///< SWD Mode: 1 = available, 0 = not available.
 
 /// Indicate that JTAG communication mode is available at the Debug Port.
 /// This information is returned by the command \ref DAP_Info as part of Capabilities.
 #define DAP_JTAG 1 ///< JTAG Mode: 1 = available, 0 = not available.
 
 /// Configure maximum number of JTAG devices on the scan chain connected to the Debug Access Port.
 /// This setting impacts the RAM requirements of the Debug Unit. Valid range is 1 .. 255.
 #define DAP_JTAG_DEV_CNT 8U ///< Maximum number of JTAG devices on scan chain.
 
 /// Default communication mode on the Debug Access Port.
 /// Used for the command \ref DAP_Connect when Port Default mode is selected.
 #define DAP_DEFAULT_PORT 1U ///< Default JTAG/SWJ Port Mode: 1 = SWD, 2 = JTAG.
 
 /// Default communication speed on the Debug Access Port for SWD and JTAG mode.
 /// Used to initialize the default SWD/JTAG clock frequency.
 /// The command \ref DAP_SWJ_Clock can be used to overwrite this default setting.
 #define DAP_DEFAULT_SWJ_CLOCK 10000000U ///< Default SWD/JTAG clock frequency in Hz.
 
 /// Maximum Package Size for Command and Response data.
 /// This configuration settings is used to optimize the communication performance with the
 /// debugger and depends on the USB peripheral. Typical vales are 64 for Full-speed USB HID or WinUSB,
 /// 1024 for High-speed USB HID and 512 for High-speed USB WinUSB.
 #define DAP_PACKET_SIZE 64U ///< Specifies Packet Size in bytes.
 
 /// Maximum Package Buffers for Command and Response data.
 /// This configuration settings is used to optimize the communication performance with the
 /// debugger and depends on the USB peripheral. For devices with limited RAM or USB buffer the
 /// setting can be reduced (valid range is 1 .. 255).
 #define DAP_PACKET_COUNT 8U ///< Specifies number of packets buffered.
 
 /// Indicate that UART Serial Wire Output (SWO) trace is available.
 /// This information is returned by the command \ref DAP_Info as part of Capabilities.
 #define SWO_UART 0 ///< SWO UART: 1 = available, 0 = not available.
 
 /// Maximum SWO UART Baudrate.
 #define SWO_UART_MAX_BAUDRATE 10000000U ///< SWO UART Maximum Baudrate in Hz.
 
 /// Indicate that Manchester Serial Wire Output (SWO) trace is available.
 /// This information is returned by the command \ref DAP_Info as part of Capabilities.
 #define SWO_MANCHESTER 0 ///< SWO Manchester: 1 = available, 0 = not available.
 
 /// SWO Trace Buffer Size.
 #define SWO_BUFFER_SIZE 4096U ///< SWO Trace Buffer Size in bytes (must be 2^n).
 
 /// SWO Streaming Trace.
 #define SWO_STREAM 0 ///< SWO Streaming Trace: 1 = available, 0 = not available.
 
 /// Clock frequency of the Test Domain Timer. Timer value is returned with \ref TIMESTAMP_GET.
 #define TIMESTAMP_CLOCK 72000000U ///< Timestamp clock in Hz (0 = timestamps not supported).
 
 /// Debug Unit is connected to fixed Target Device.
 /// The Debug Unit may be part of an evaluation board and always connected to a fixed
 /// known device. In this case a Device Vendor and Device Name string is stored which
 /// may be used by the debugger or IDE to configure device parameters.
 #define TARGET_DEVICE_FIXED 0 ///< Target Device: 1 = known, 0 = unknown;
 
 #if TARGET_DEVICE_FIXED
 #define TARGET_DEVICE_VENDOR "ARM" ///< String indicating the Silicon Vendor
 #define TARGET_DEVICE_NAME "Cortex-M4" ///< String indicating the Target Device
 #endif
 
 /** Get Vendor ID string. \param str Pointer to buffer to store the string. \return String length. */
 __STATIC_INLINE uint8_t DAP_GetVendorString (char *str)
 { 
 (void)str;
 return (0U);
 }
 
 /** Get Product ID string. \param str Pointer to buffer to store the string. \return String length. */
 __STATIC_INLINE uint8_t DAP_GetProductString (char *str)
 { 
 (void)str;
 return (0U);
 }
 
 /** Get Serial Number string. \param str Pointer to buffer to store the string. \return String length. */
 __STATIC_INLINE uint8_t DAP_GetSerNumString (char *str)
 { 
 (void)str;
 return (0U);
 }
 
 ///@}
 
 
 //**************************************************************************************************
 /** \defgroup DAP_Config_PortIO_gr CMSIS-DAP Hardware I/O Pin Access \ingroup DAP_ConfigIO_gr @{ Standard I/O Pins of the CMSIS-DAP Hardware Debug Port support standard JTAG mode and Serial Wire Debug (SWD) mode. In SWD mode only 2 pins are required to implement the debug interface of a device. The following I/O Pins are provided: JTAG I/O Pin | SWD I/O Pin | CMSIS-DAP Hardware pin mode ---------------------------- | -------------------- | --------------------------------------------- TCK: Test Clock | SWCLK: Clock | Output Push/Pull TMS: Test Mode Select | SWDIO: Data I/O | Output Push/Pull; Input (for receiving data) TDI: Test Data Input | | Output Push/Pull TDO: Test Data Output | | Input nTRST: Test Reset (optional) | | Output Open Drain with pull-up resistor nRESET: Device Reset | nRESET: Device Reset | Output Open Drain with pull-up resistor DAP Hardware I/O Pin Access Functions ------------------------------------- The various I/O Pins are accessed by functions that implement the Read, Write, Set, or Clear to these I/O Pins. For the SWDIO I/O Pin there are additional functions that are called in SWD I/O mode only. This functions are provided to achieve faster I/O that is possible with some advanced GPIO peripherals that can independently write/read a single I/O pin without affecting any other pins of the same I/O port. The following SWDIO I/O Pin functions are provided: - \ref PIN_SWDIO_OUT_ENABLE to enable the output mode from the DAP hardware. - \ref PIN_SWDIO_OUT_DISABLE to enable the input mode to the DAP hardware. - \ref PIN_SWDIO_IN to read from the SWDIO I/O pin with utmost possible speed. - \ref PIN_SWDIO_OUT to write to the SWDIO I/O pin with utmost possible speed. */
 
 
 // Configure DAP I/O pins ------------------------------
 
 /** Setup JTAG I/O pins: TCK, TMS, TDI, TDO, nTRST, and nRESET. Configures the DAP Hardware I/O pins for JTAG mode: - TCK, TMS, TDI, nTRST, nRESET to output mode and set to high level. - TDO to input mode. */
 __STATIC_INLINE void PORT_JTAG_SETUP (void)
 { 
 GPIO_InitTypeDef GPIO_InitStruct = { 0};
 
 	__HAL_RCC_GPIOA_CLK_ENABLE();
 	__HAL_RCC_GPIOB_CLK_ENABLE();
 __HAL_RCC_GPIOC_CLK_ENABLE();
 
 HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
 
 	HAL_GPIO_WritePin(JTAG_TCK_GPIO_Port, JTAG_TCK_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_TMS_GPIO_Port, JTAG_TMS_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_nRESET_GPIO_Port, JTAG_nRESET_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin, GPIO_PIN_SET);
 
 	// LED
 GPIO_InitStruct.Pin = LED_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
 	
 	// TCK
 GPIO_InitStruct.Pin = JTAG_TCK_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_TCK_GPIO_Port, &GPIO_InitStruct);
 	
 	// TMS
 GPIO_InitStruct.Pin = JTAG_TMS_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
 	
 	// TDI
 GPIO_InitStruct.Pin = JTAG_TDI_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_TDI_GPIO_Port, &GPIO_InitStruct);
 	
 	// nRESET
 GPIO_InitStruct.Pin = JTAG_nRESET_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
 GPIO_InitStruct.Pull = GPIO_PULLUP;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_nRESET_GPIO_Port, &GPIO_InitStruct);
 	
 	// nTRST
 GPIO_InitStruct.Pin = JTAG_nTRST_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
 GPIO_InitStruct.Pull = GPIO_PULLUP;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_nTRST_GPIO_Port, &GPIO_InitStruct);
 
 	// TDO
 GPIO_InitStruct.Pin = JTAG_TDO_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 HAL_GPIO_Init(JTAG_TDO_GPIO_Port, &GPIO_InitStruct);
 }
 
 /** Setup SWD I/O pins: SWCLK, SWDIO, and nRESET. Configures the DAP Hardware I/O pins for Serial Wire Debug (SWD) mode: - SWCLK, SWDIO, nRESET to output mode and set to default high level. - TDI, nTRST to HighZ mode (pins are unused in SWD mode). */
 __STATIC_INLINE void PORT_SWD_SETUP (void)
 { 
 GPIO_InitTypeDef GPIO_InitStruct = { 0};
 	
 	__HAL_RCC_GPIOA_CLK_ENABLE();
 	__HAL_RCC_GPIOB_CLK_ENABLE();
 __HAL_RCC_GPIOC_CLK_ENABLE();
 
 HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
 
 	HAL_GPIO_WritePin(JTAG_TCK_GPIO_Port, JTAG_TCK_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_TMS_GPIO_Port, JTAG_TMS_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_nRESET_GPIO_Port, JTAG_nRESET_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin, GPIO_PIN_SET);
 	HAL_GPIO_WritePin(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin, GPIO_PIN_SET);
 
 	// LED
 GPIO_InitStruct.Pin = LED_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
 	
 	// TCK
 GPIO_InitStruct.Pin = JTAG_TCK_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_TCK_GPIO_Port, &GPIO_InitStruct);
 	
 	// TMS
 GPIO_InitStruct.Pin = JTAG_TMS_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
 	
 	// nRESET
 GPIO_InitStruct.Pin = JTAG_nRESET_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
 GPIO_InitStruct.Pull = GPIO_PULLUP;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_nRESET_GPIO_Port, &GPIO_InitStruct);
 	
 	// TDI TDO nTRST
 	HAL_GPIO_DeInit(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin);
 	HAL_GPIO_DeInit(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin);
 	HAL_GPIO_DeInit(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin);
 }
 
 /** Disable JTAG/SWD I/O Pins. Disables the DAP Hardware I/O pins which configures: - TCK/SWCLK, TMS/SWDIO, TDI, TDO, nTRST, nRESET to High-Z mode. */
 __STATIC_INLINE void PORT_OFF (void)
 { 
 	HAL_GPIO_DeInit(JTAG_TCK_GPIO_Port, JTAG_TCK_Pin);
 	HAL_GPIO_DeInit(JTAG_TMS_GPIO_Port, JTAG_TMS_Pin);
 	HAL_GPIO_DeInit(JTAG_nRESET_GPIO_Port, JTAG_nRESET_Pin);
 	HAL_GPIO_DeInit(JTAG_TDI_GPIO_Port, JTAG_TDI_Pin);
 	HAL_GPIO_DeInit(JTAG_TDO_GPIO_Port, JTAG_TDO_Pin);
 	HAL_GPIO_DeInit(JTAG_nTRST_GPIO_Port, JTAG_nTRST_Pin);
 }
 
 
 // SWCLK/TCK I/O pin -------------------------------------
 
 /** SWCLK/TCK I/O pin: Get Input. \return Current status of the SWCLK/TCK DAP hardware I/O pin. */
 __STATIC_FORCEINLINE uint32_t PIN_SWCLK_TCK_IN (void)
 { 
 return JTAG_TCK_GPIO_Port->ODR & JTAG_TCK_Pin ? 1 : 0;
 }
 
 /** SWCLK/TCK I/O pin: Set Output to High. Set the SWCLK/TCK DAP hardware I/O pin to high level. */
 __STATIC_FORCEINLINE void PIN_SWCLK_TCK_SET (void)
 { 
 JTAG_TCK_GPIO_Port->BSRR = JTAG_TCK_Pin;
 }
 
 /** SWCLK/TCK I/O pin: Set Output to Low. Set the SWCLK/TCK DAP hardware I/O pin to low level. */
 __STATIC_FORCEINLINE void PIN_SWCLK_TCK_CLR (void)
 { 
 JTAG_TCK_GPIO_Port->BRR = JTAG_TCK_Pin;
 }
 
 
 // SWDIO/TMS Pin I/O --------------------------------------
 
 /** SWDIO/TMS I/O pin: Get Input. \return Current status of the SWDIO/TMS DAP hardware I/O pin. */
 __STATIC_FORCEINLINE uint32_t PIN_SWDIO_TMS_IN (void)
 { 
 return JTAG_TMS_GPIO_Port->ODR & JTAG_TMS_Pin ? 1 : 0;
 }
 
 /** SWDIO/TMS I/O pin: Set Output to High. Set the SWDIO/TMS DAP hardware I/O pin to high level. */
 __STATIC_FORCEINLINE void PIN_SWDIO_TMS_SET (void)
 { 
 JTAG_TMS_GPIO_Port->BSRR = JTAG_TMS_Pin;
 }
 
 /** SWDIO/TMS I/O pin: Set Output to Low. Set the SWDIO/TMS DAP hardware I/O pin to low level. */
 __STATIC_FORCEINLINE void PIN_SWDIO_TMS_CLR (void)
 { 
 JTAG_TMS_GPIO_Port->BRR = JTAG_TMS_Pin;
 }
 
 /** SWDIO I/O pin: Get Input (used in SWD mode only). \return Current status of the SWDIO DAP hardware I/O pin. */
 __STATIC_FORCEINLINE uint32_t PIN_SWDIO_IN (void)
 { 
 return JTAG_TMS_GPIO_Port->IDR & JTAG_TMS_Pin ? 1 : 0;
 }
 
 /** SWDIO I/O pin: Set Output (used in SWD mode only). \param bit Output value for the SWDIO DAP hardware I/O pin. */
 __STATIC_FORCEINLINE void PIN_SWDIO_OUT (uint32_t bit)
 { 
 if(bit & 0X01)
 { 
 JTAG_TMS_GPIO_Port->BSRR = JTAG_TMS_Pin;
 }
 else
 { 
 JTAG_TMS_GPIO_Port->BRR = JTAG_TMS_Pin;
 }
 }
 
 /** SWDIO I/O pin: Switch to Output mode (used in SWD mode only). Configure the SWDIO DAP hardware I/O pin to output mode. This function is called prior \ref PIN_SWDIO_OUT function calls. */
 __STATIC_FORCEINLINE void PIN_SWDIO_OUT_ENABLE (void)
 { 
 GPIO_InitTypeDef GPIO_InitStruct = { 0};
 GPIO_InitStruct.Pin = JTAG_TMS_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
 }
 
 /** SWDIO I/O pin: Switch to Input mode (used in SWD mode only). Configure the SWDIO DAP hardware I/O pin to input mode. This function is called prior \ref PIN_SWDIO_IN function calls. */
 __STATIC_FORCEINLINE void PIN_SWDIO_OUT_DISABLE (void)
 { 
 GPIO_InitTypeDef GPIO_InitStruct = { 0};
 GPIO_InitStruct.Pin = JTAG_TMS_Pin;
 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 HAL_GPIO_Init(JTAG_TMS_GPIO_Port, &GPIO_InitStruct);
 }
 
 
 // TDI Pin I/O ---------------------------------------------
 
 /** TDI I/O pin: Get Input. \return Current status of the TDI DAP hardware I/O pin. */
 __STATIC_FORCEINLINE uint32_t PIN_TDI_IN (void)
 { 
 return JTAG_TDI_GPIO_Port->ODR & JTAG_TDI_Pin ? 1 : 0;
 }
 
 /** TDI I/O pin: Set Output. \param bit Output value for the TDI DAP hardware I/O pin. */
 __STATIC_FORCEINLINE void PIN_TDI_OUT (uint32_t bit)
 { 
 if(bit & 0X01)
 { 
 JTAG_TDI_GPIO_Port->BSRR = JTAG_TDI_Pin;
 }
 else
 { 
 JTAG_TDI_GPIO_Port->BRR = JTAG_TDI_Pin;
 }
 }
 
 
 // TDO Pin I/O ---------------------------------------------
 
 /** TDO I/O pin: Get Input. \return Current status of the TDO DAP hardware I/O pin. */
 __STATIC_FORCEINLINE uint32_t PIN_TDO_IN (void)
 { 
 return JTAG_TDO_GPIO_Port->IDR & JTAG_TDO_Pin ? 1 : 0;
 }
 
 
 // nTRST Pin I/O -------------------------------------------
 
 /** nTRST I/O pin: Get Input. \return Current status of the nTRST DAP hardware I/O pin. */
 __STATIC_FORCEINLINE uint32_t PIN_nTRST_IN (void)
 { 
 return JTAG_nTRST_GPIO_Port->ODR & JTAG_nTRST_Pin ? 1 : 0;
 }
 
 /** nTRST I/O pin: Set Output. \param bit JTAG TRST Test Reset pin status: - 0: issue a JTAG TRST Test Reset. - 1: release JTAG TRST Test Reset. */
 __STATIC_FORCEINLINE void PIN_nTRST_OUT (uint32_t bit)
 { 
 if(bit & 0X01)
 { 
 JTAG_nTRST_GPIO_Port->BSRR = JTAG_nTRST_Pin;
 }
 else
 { 
 JTAG_nTRST_GPIO_Port->BRR = JTAG_nTRST_Pin;
 }
 }
 
 // nRESET Pin I/O------------------------------------------
 
 /** nRESET I/O pin: Get Input. \return Current status of the nRESET DAP hardware I/O pin. */
 __STATIC_FORCEINLINE uint32_t PIN_nRESET_IN (void)
 { 
 return JTAG_nRESET_GPIO_Port->ODR & JTAG_nRESET_Pin ? 1 : 0;
 }
 
 /** nRESET I/O pin: Set Output. \param bit target device hardware reset pin status: - 0: issue a device hardware reset. - 1: release device hardware reset. */
 __STATIC_FORCEINLINE void PIN_nRESET_OUT (uint32_t bit)
 { 
 if(bit & 0X01)
 { 
 JTAG_nRESET_GPIO_Port->BSRR = JTAG_nRESET_Pin;
 }
 else
 { 
 JTAG_nRESET_GPIO_Port->BRR = JTAG_nRESET_Pin;
 }
 }
 
 ///@}
 
 
 //**************************************************************************************************
 /** \defgroup DAP_Config_LEDs_gr CMSIS-DAP Hardware Status LEDs \ingroup DAP_ConfigIO_gr @{ CMSIS-DAP Hardware may provide LEDs that indicate the status of the CMSIS-DAP Debug Unit. It is recommended to provide the following LEDs for status indication: - Connect LED: is active when the DAP hardware is connected to a debugger. - Running LED: is active when the debugger has put the target device into running state. */
 
 /** Debug Unit: Set status of Connected LED. \param bit status of the Connect LED. - 1: Connect LED ON: debugger is connected to CMSIS-DAP Debug Unit. - 0: Connect LED OFF: debugger is not connected to CMSIS-DAP Debug Unit. */
 __STATIC_INLINE void LED_CONNECTED_OUT (uint32_t bit)
 { 
 if(bit & 0X01)
 { 
 HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); // 拉低是亮黄灯
 }
 else
 { 
 HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET); // 拉高是亮红灯
 }
 }
 
 /** Debug Unit: Set status Target Running LED. \param bit status of the Target Running LED. - 1: Target Running LED ON: program execution in target started. - 0: Target Running LED OFF: program execution in target stopped. */
 __STATIC_INLINE void LED_RUNNING_OUT (uint32_t bit)
 { 
 if(bit & 0X01)
 { 
 HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); // 拉低是亮黄灯
 }
 else
 { 
 HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET); // 拉高是亮红灯
 }
 }
 
 ///@}
 
 
 //**************************************************************************************************
 /** \defgroup DAP_Config_Timestamp_gr CMSIS-DAP Timestamp \ingroup DAP_ConfigIO_gr @{ Access function for Test Domain Timer. The value of the Test Domain Timer in the Debug Unit is returned by the function \ref TIMESTAMP_GET. By default, the DWT timer is used. The frequency of this timer is configured with \ref TIMESTAMP_CLOCK. */
 
 /** Get timestamp of Test Domain Timer. \return Current timestamp value. */
 __STATIC_INLINE uint32_t TIMESTAMP_GET (void)
 { 
 return (DWT->CYCCNT);
 }
 
 ///@}
 
 
 //**************************************************************************************************
 /** \defgroup DAP_Config_Initialization_gr CMSIS-DAP Initialization \ingroup DAP_ConfigIO_gr @{ CMSIS-DAP Hardware I/O and LED Pins are initialized with the function \ref DAP_SETUP. */
 
 /** Setup of the Debug Unit I/O pins and LEDs (called when Debug Unit is initialized). This function performs the initialization of the CMSIS-DAP Hardware I/O Pins and the Status LEDs. In detail the operation of Hardware I/O and LED pins are enabled and set: - I/O clock system enabled. - all I/O pins: input buffer enabled, output pins are set to HighZ mode. - for nTRST, nRESET a weak pull-up (if available) is enabled. - LED output pins are enabled and LEDs are turned off. */
 __STATIC_INLINE void DAP_SETUP (void)
 { 
 PORT_JTAG_SETUP();
 }
 
 /** Reset Target Device with custom specific I/O pin or command sequence. This function allows the optional implementation of a device specific reset sequence. It is called when the command \ref DAP_ResetTarget and is for example required when a device needs a time-critical unlock sequence that enables the debug port. \return 0 = no device specific reset sequence is implemented.\n 1 = a device specific reset sequence is implemented. */
 __STATIC_INLINE uint8_t RESET_TARGET (void)
 { 
 return (1U); // change to '1' when a device reset sequence is implemented
 }
 
 ///@}
 
 
 #endif /* __DAP_CONFIG_H__ */

**`USBD_User_HID_0.c`文件：**

/*------------------------------------------------------------------------------ * MDK Middleware - Component ::USB:Device * Copyright (c) 2004-2017 ARM Germany GmbH. All rights reserved. *------------------------------------------------------------------------------ * Name: USBD_User_HID_0.c * Purpose: USB Device Human Interface Device class (HID) User module * Rev.: V6.2.3 *----------------------------------------------------------------------------*/
 /** * \addtogroup usbd_hidFunctions * * USBD_User_HID_0.c implements the application specific functionality of the * HID class and is used to receive and send data reports to the USB Host. * * The implementation must match the configuration file USBD_Config_HID_0.h. * The following values in USBD_Config_HID_0.h affect the user code: * * - 'Endpoint polling Interval' specifies the frequency of requests * initiated by USB Host for \ref USBD_HIDn_GetReport. * * - 'Number of Output Reports' configures the values for \em rid of * \ref USBD_HIDn_SetReport. * * - 'Number of Input Reports' configures the values for \em rid of * \ref USBD_HIDn_GetReport and \ref USBD_HID_GetReportTrigger. * * - 'Maximum Input Report Size' specifies the maximum value for: * - return of \ref USBD_HIDn_GetReport * - len of \ref USBD_HID_GetReportTrigger. * * - 'Maximum Output Report Size' specifies the maximum value for \em len * in \ref USBD_HIDn_SetReport for rtype=HID_REPORT_OUTPUT * * - 'Maximum Feature Report Size' specifies the maximum value for \em len * in \ref USBD_HIDn_SetReport for rtype=HID_REPORT_FEATURE * */
 
 
 //! [code_USBD_User_HID]
 
 #include <stdint.h>
 #include <string.h>
 #include <stdbool.h>
 #include "DAP_config.h"
 #include "DAP.h"
 #include "usbd_custom_hid_if.h"
 
 #define HID_REPORT_INPUT 0x81
 #define HID_REPORT_OUTPUT 0x91
 #define HID_REPORT_FEATURE 0xB1
 
 #define USBD_HID_REQ_EP_CTRL 0x01
 #define USBD_HID_REQ_PERIOD_UPDATE 0x02
 #define USBD_HID_REQ_EP_INT 0x03
 
 static volatile uint16_t USB_RequestIndexI; // Request Index In
 static volatile uint16_t USB_RequestIndexO; // Request Index Out
 static volatile uint16_t USB_RequestCountI; // Request Count In
 static volatile uint16_t USB_RequestCountO; // Request Count Out
 
 static volatile uint16_t USB_ResponseIndexI; // Response Index In
 static volatile uint16_t USB_ResponseIndexO; // Response Index Out
 static volatile uint16_t USB_ResponseCountI; // Response Count In
 static volatile uint16_t USB_ResponseCountO; // Response Count Out
 static volatile uint8_t USB_ResponseIdle; // Response Idle Flag
 static volatile uint32_t USB_EventFlags;
 
 static uint8_t USB_Request [DAP_PACKET_COUNT][DAP_PACKET_SIZE]; // Request Buffer
 static uint8_t USB_Response[DAP_PACKET_COUNT][DAP_PACKET_SIZE]; // Response Buffer
 
 extern USBD_HandleTypeDef hUsbDeviceFS;
 
 // Called during USBD_Initialize to initialize the USB HID class instance.
 void USBD_HID0_Initialize (void)
 { 
 // Initialize variables
 USB_RequestIndexI = 0U;
 USB_RequestIndexO = 0U;
 USB_RequestCountI = 0U;
 USB_RequestCountO = 0U;
 USB_ResponseIndexI = 0U;
 USB_ResponseIndexO = 0U;
 USB_ResponseCountI = 0U;
 USB_ResponseCountO = 0U;
 USB_ResponseIdle = 1U;
 USB_EventFlags = 0U;
 }
 
 
 // Called during USBD_Uninitialize to de-initialize the USB HID class instance.
 void USBD_HID0_Uninitialize (void)
 { 
 }
 
 // \brief Prepare HID Report data to send.
 // \param[in] rtype report type:
 // - HID_REPORT_INPUT = input report requested
 // - HID_REPORT_FEATURE = feature report requested
 // \param[in] req request type:
 // - USBD_HID_REQ_EP_CTRL = control endpoint request
 // - USBD_HID_REQ_PERIOD_UPDATE = idle period expiration request
 // - USBD_HID_REQ_EP_INT = previously sent report on interrupt endpoint request
 // \param[in] rid report ID (0 if only one report exists).
 // \param[out] buf buffer containing report data to send.
 // \return number of report data bytes prepared to send or invalid report requested.
 // - value >= 0: number of report data bytes prepared to send
 // - value = -1: invalid report requested
 int32_t USBD_HID0_GetReport (uint8_t rtype, uint8_t req, uint8_t rid, uint8_t *buf)
 { 
 (void)rid;
 
 switch (rtype)
 { 
 case HID_REPORT_INPUT:
 switch (req)
 { 
 case USBD_HID_REQ_EP_CTRL: // Explicit USB Host request via Control OUT Endpoint
 case USBD_HID_REQ_PERIOD_UPDATE: // Periodic USB Host request via Interrupt OUT Endpoint
 break;
 case USBD_HID_REQ_EP_INT: // Called after USBD_HID_GetReportTrigger to signal data obtained.
 if (USB_ResponseCountI != USB_ResponseCountO)
 { 
 // Load data from response buffer to be sent back
 memcpy(buf, USB_Response[USB_ResponseIndexO], DAP_PACKET_SIZE);
 USB_ResponseIndexO++;
 if (USB_ResponseIndexO == DAP_PACKET_COUNT)
 { 
 USB_ResponseIndexO = 0U;
 }
 USB_ResponseCountO++;
 return ((int32_t)DAP_PACKET_SIZE);
 }
 else
 { 
 USB_ResponseIdle = 1U;
 }
 break;
 }
 break;
 case HID_REPORT_FEATURE:
 break;
 }
 return (0);
 }
 
 
 // \brief Process received HID Report data.
 // \param[in] rtype report type:
 // - HID_REPORT_OUTPUT = output report received
 // - HID_REPORT_FEATURE = feature report received
 // \param[in] req request type:
 // - USBD_HID_REQ_EP_CTRL = report received on control endpoint
 // - USBD_HID_REQ_EP_INT = report received on interrupt endpoint
 // \param[in] rid report ID (0 if only one report exists).
 // \param[in] buf buffer that receives report data.
 // \param[in] len length of received report data.
 // \return true received report data processed.
 // \return false received report data not processed or request not supported.
 bool USBD_HID0_SetReport (uint8_t rtype, uint8_t req, uint8_t rid, const uint8_t *buf, int32_t len)
 { 
 (void)req;
 (void)rid;
 
 switch (rtype)
 { 
 case HID_REPORT_OUTPUT:
 if (len == 0)
 { 
 break;
 }
 if (buf[0] == ID_DAP_TransferAbort)
 { 
 DAP_TransferAbort = 1U;
 break;
 }
 if ((uint16_t)(USB_RequestCountI - USB_RequestCountO) == DAP_PACKET_COUNT)
 { 
 USB_EventFlags |= 0X80;
 break; // Discard packet when buffer is full
 }
 // Store received data into request buffer
 memcpy(USB_Request[USB_RequestIndexI], buf, (uint32_t)len);
 USB_RequestIndexI++;
 if (USB_RequestIndexI == DAP_PACKET_COUNT)
 { 
 USB_RequestIndexI = 0U;
 }
 USB_RequestCountI++;
 USB_EventFlags |= 0X01;
 break;
 case HID_REPORT_FEATURE:
 break;
 }
 return true;
 }
 
 void USBD_HID0_OutEvent_FS(void)
 { 
 USBD_CUSTOM_HID_HandleTypeDef *hhid = (USBD_CUSTOM_HID_HandleTypeDef *)hUsbDeviceFS.pClassData;
 USBD_HID0_SetReport(HID_REPORT_OUTPUT, 0, 0, hhid->Report_buf, USBD_CUSTOMHID_OUTREPORT_BUF_SIZE);
 }
 
 void USBD_HID0_InEvent_FS(void)
 { 
 int32_t len;
 USBD_CUSTOM_HID_HandleTypeDef *hhid = (USBD_CUSTOM_HID_HandleTypeDef *)hUsbDeviceFS.pClassData;
 if ((len=USBD_HID0_GetReport(HID_REPORT_INPUT, USBD_HID_REQ_EP_INT, 0, hhid->Report_buf)) > 0)
 { 
 USBD_HID_GetReportTrigger(0, 0, hhid->Report_buf, len);
 }
 }
 
 // DAP Thread.
 __NO_RETURN void DAP_Thread (void *argument)
 { 
 uint32_t n;
 uint32_t flags = 0;
 (void)argument;
 
 for (;;)
 { 
 while((USB_EventFlags & 0X81) == 0)
 { 
 ;
 }
 USB_EventFlags &= (~0X81);
 
 // Process pending requests
 while (USB_RequestCountI != USB_RequestCountO)
 { 
 // Handle Queue Commands
 n = USB_RequestIndexO;
 while (USB_Request[n][0] == ID_DAP_QueueCommands)
 { 
 USB_Request[n][0] = ID_DAP_ExecuteCommands;
 n++;
 if (n == DAP_PACKET_COUNT)
 { 
 n = 0U;
 }
 if (n == USB_RequestIndexI)
 { 
 while((USB_EventFlags & 0X81) == 0)
 { 
 ;
 }
 flags = USB_EventFlags;
 USB_EventFlags &= (~0X81);
 if(flags & 0X80)
 { 
 break;
 }
 }
 }
 
 // Execute DAP Command (process request and prepare response)
 DAP_ExecuteCommand(USB_Request[USB_RequestIndexO], USB_Response[USB_ResponseIndexI]);
 
 // Update Request Index and Count
 USB_RequestIndexO++;
 if (USB_RequestIndexO == DAP_PACKET_COUNT)
 { 
 USB_RequestIndexO = 0U;
 }
 USB_RequestCountO++;
 
 // Update Response Index and Count
 USB_ResponseIndexI++;
 if (USB_ResponseIndexI == DAP_PACKET_COUNT)
 { 
 USB_ResponseIndexI = 0U;
 }
 USB_ResponseCountI++;
 
 if (USB_ResponseIdle)
 { 
 if (USB_ResponseCountI != USB_ResponseCountO)
 { 
 // Load data from response buffer to be sent back
 n = USB_ResponseIndexO++;
 if (USB_ResponseIndexO == DAP_PACKET_COUNT)
 { 
 USB_ResponseIndexO = 0U;
 }
 USB_ResponseCountO++;
 USB_ResponseIdle = 0U;
 USBD_HID_GetReportTrigger(0U, 0U, USB_Response[n], DAP_PACKET_SIZE);
 }
 }
 }
 }
 }
 
 //! [code_USBD_User_HID]

现在其实就是完成了第二步，DAP通过SWD协议将固件下载进目标单片机FLASH中的步骤，那么下面就开始修改USB的配置，KEIL能通过USB和DAP通信。

修改`usbd_custom_hid_if.c`文件，找到`CUSTOM_HID_ReportDesc_FS`数组，改为：

/** Usb HID report descriptor. */
    __ALIGN_BEGIN static uint8_t CUSTOM_HID_ReportDesc_FS[USBD_CUSTOM_HID_REPORT_DESC_SIZE] __ALIGN_END =
    { 
      /* USER CODE BEGIN 0 */
      0x06,0x00,0xFF,         /* Usage Page (vendor defined) ($FF00) global */
      0x09,0x01,              /* Usage (vendor defined) ($01) local */
      0xA1,0x01,              /* Collection (Application) */
      0x15,0x00,              /* LOGICAL_MINIMUM (0) */
      0x25,0xFF,              /* LOGICAL_MAXIMUM (255) */
      0x75,0x08,              /* REPORT_SIZE (8bit) */
     
      // Input Report
      0x95,64,                /* Report Length (64 REPORT_SIZE) */
      0x09,0x01,              /* USAGE (Vendor Usage 1) */
      0x81,0x02,              /* Input(data,var,absolute) */
     
      // Output Report
      0x95,64,                /* Report Length (64 REPORT_SIZE) */
      0x09,0x01,              /* USAGE (Vendor Usage 1) */
      0x91,0x02,              /* Output(data,var,absolute) */
     
      // Feature Report
      0x95,64,                /* Report Length (64 REPORT_SIZE) */
      0x09,0x01,              /* USAGE (Vendor Usage 1) */
      0xB1,0x02,              /* Feature(data,var,absolute) */
      /* USER CODE END 0 */
      0xC0                    /* END_COLLECTION */
    };

导入`USBD_User_HID_0.c`文件中的这四个函数，并新写一个CUSTOM\_HID\_InEvent\_FS函数：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 15][]  
修改以下几个函数添加调用：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 16][]  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 17][]  
修改`usbd_custom_hid_if.h`文件，导出新增的`USBD_HID_GetReportTrigger`这个函数声明：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 18][]

然后修改`usbd_customhid.h`文件的这几个宏：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 19][]  
然后在改一下`USBD_CUSTOM_HID_ItfTypeDef`这个结构，需要新增一个函数指针：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 20][]

然后修改`main.c`文件，添加头文件包含：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 21][]  
main函数内容如下：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 22][]

至此，就已经完成了一个CMSIS\_DAP仿真器！

下载编译工程，将程序下载进STLINK的板子中去试试吧！

注：STLINK可能设置了写保护，需要先解除写保护才能用KEIL给它下载程序，解除办法见我的另一篇博客：[STM32下载程序问题解决：Can not read memory! Disable Read Out Proyection and try.][STM32_Can not read memory_ Disable Read Out Proyection and try.]

--------------------

### （五）测试CMSIS\_DAP仿真器 ###

将程序下载进板子后，USB插入电脑，设备管理器->人体学输入设备会多出一个**USB输入设备**和**符合HID标准的供应商定义设备**，如下图：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 23][]

然后我们打开KEIL，调试器选择CMSIS\_DAP：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 24][]  
给目标板下载程序：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 25][]  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 26][]

没问题！再试试在线调试：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 27][]

**也没问题！成功！**

--------------------

### （六）补充内容：软启动的实现 ###

通过以上教程后，此时的DAP仿真器已经能够正常使用了，但是还是有缺陷的，就是无法像ST-LINK那样通过软件复位的形式运行程序，换句话说就是用keil下载程序后是不运行的，必须手动复位一下，或者必须将目标单片机的复位引脚接到DAP的复位控制引脚上，我们最初的设计目的就是四脚的DAP，而不是5脚的(5脚是多了一个硬件RESET)，所以下面就需要修改一下SWD的源码，在对下载目标MCU下载完程序后，使用软件复位的形式给他复位一下。

这一部分内容牵扯到离线下载器的源码内容，离线下载器中的源码主要是移植自ARM官方的DAP-LINK中的源码，我们现在还未实现离线下载的功能，所以只需要`SWD_host.c`文件，这个文件实现的是怎么通过SWD协议控制目标MCU的功能。

需要修改的是DAP.c文件中的函数`DAP_ProcessCommand`：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 28][]

if(DAP_Data.debug_port == DAP_PORT_SWD)  /* +++lakun:SWD模式下需要软启动，JTAG模式下不需要 */
    { 
    	swd_init_debug();                    /* +++lakun:使目标MCU进入调试模式 */
    	swd_set_target_reset(0);             /* +++lakun:写入命令实现软复位启动 */
    }

这里就是在使用keil下载完程序后执行断开的操作，我们在断开连接之前软件复位一下目标MCU就实现了软启动，`swd_set_target_reset`函数内容如下：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 29][]  
原理上其实就是用过SWD协议向目标MCU的SCB->AIRCR寄存器执行一次写入操作，执行一次软件复位，这个寄存器描述如下：  
![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAeS16aGVuZw_size_20_color_FFFFFF_t_70_g_se_x_16 30][]

**通过以上设置，就完成了完整版的DAP调试器！**

--------------------

ends…

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[7ea4b5ef71c24e68bb26d8aae2abb08e.png]: /images/20220828/48c62a4d0cb34eed97fec4d1e29634c6.png
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[https_blog.csdn.net_qq153471503_article_details_116053851]: https://blog.csdn.net/qq153471503/article/details/116053851
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[STM32_Can not read memory_ Disable Read Out Proyection and try.]: https://blog.csdn.net/qq153471503/article/details/120332759
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