RP2350 uses SWD for debugging and reports errors

Hi,

I use two RP2350s to test downloading and debugging. One of them is used as a debugger. And the following pins are connected.

Pico A GND -> Pico B GND
Pico A GP2 -> Pico B SWCLK
Pico A GP3 -> Pico B SWDIO

I can execute the following command to complete the program download.

xxx@xxx-virtual-machine:~/test/Pico_code/c/build$ sudo openocd -f interface/cmsis-dap.cfg -f target/rp2350.cfg -c "adapter speed 5000" -c "program main.elf verify reset exit"
[sudo] xxx 的密码： 
Open On-Chip Debugger 0.12.0+dev-gebec9504d (2024-09-11-17:42)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Hardware thread awareness created
cortex_m reset_config sysresetreq
adapter speed: 5000 kHz
Info : Using CMSIS-DAPv2 interface with VID:PID=0x2e8a:0x000c, serial=6867FE5800A96D63
Info : CMSIS-DAP: SWD supported
Info : CMSIS-DAP: Atomic commands supported
Info : CMSIS-DAP: Test domain timer supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Info : CMSIS-DAP: Interface ready
Info : clock speed 5000 kHz
Info : SWD DPIDR 0x4c013477
Info : [rp2350.dap.core0] Cortex-M33 r1p0 processor detected
Info : [rp2350.dap.core0] target has 8 breakpoints, 4 watchpoints
Info : [rp2350.dap.core0] Examination succeed
Info : [rp2350.dap.core1] Cortex-M33 r1p0 processor detected
Info : [rp2350.dap.core1] target has 8 breakpoints, 4 watchpoints
Info : [rp2350.dap.core1] Examination succeed
Info : starting gdb server for rp2350.dap.core0 on 3333
Info : Listening on port 3333 for gdb connections
Warn : [rp2350.dap.core1] VECTRESET is not supported on this Cortex-M core, using SYSRESETREQ instead.
Warn : [rp2350.dap.core1] Set 'cortex_m reset_config sysresetreq'.
[rp2350.dap.core0] halted due to breakpoint, current mode: Thread 
xPSR: 0xf9000000 pc: 0x00000088 msp: 0xf0000000
[rp2350.dap.core1] halted due to debug-request, current mode: Thread 
xPSR: 0xf9000000 pc: 0x00000088 msp: 0xf0000000
** Programming Started **
Info : RP2040 Flash Probe: 33554432 bytes @0x10000000, in 8192 sectors

Info : Padding image section 2 at 0x100128c4 with 60 bytes (bank write end alignment)
Warn : Adding extra erase range, 0x10012900 .. 0x10012fff
** Programming Finished **
** Verify Started **
** Verified OK **
** Resetting Target **
Warn : [rp2350.dap.core1] VECTRESET is not supported on this Cortex-M core, using SYSRESETREQ instead.
Warn : [rp2350.dap.core1] Set 'cortex_m reset_config sysresetreq'.
shutdown command invoked

When using SWD for debugging, the client will report an error after connecting. server：

xxx@xxx-virtual-machine:~$ sudo openocd -f interface/cmsis-dap.cfg -f target/rp2350.cfg -c "adapter speed 5000"
Open On-Chip Debugger 0.12.0+dev-gebec9504d (2024-09-11-17:42)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Hardware thread awareness created
cortex_m reset_config sysresetreq
adapter speed: 5000 kHz
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : Using CMSIS-DAPv2 interface with VID:PID=0x2e8a:0x000c, serial=6867FE5800A96D63
Info : CMSIS-DAP: SWD supported
Info : CMSIS-DAP: Atomic commands supported
Info : CMSIS-DAP: Test domain timer supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Info : CMSIS-DAP: Interface ready
Info : clock speed 5000 kHz
Info : SWD DPIDR 0x4c013477
Info : [rp2350.dap.core0] Cortex-M33 r1p0 processor detected
Info : [rp2350.dap.core0] target has 8 breakpoints, 4 watchpoints
Info : [rp2350.dap.core0] Examination succeed
Info : [rp2350.dap.core1] Cortex-M33 r1p0 processor detected
Info : [rp2350.dap.core1] target has 8 breakpoints, 4 watchpoints
Info : [rp2350.dap.core1] Examination succeed
Info : starting gdb server for rp2350.dap.core0 on 3333
Info : Listening on port 3333 for gdb connections
Info : accepting 'gdb' connection on tcp/3333
Info : RP2040 Flash Probe: 33554432 bytes @0x10000000, in 8192 sectors

Info : New GDB Connection: 1, Target rp2350.dap.core0, state: halted
undefined debug reason 8 (UNDEFINED) - target needs reset
Info : dropped 'gdb' connection

Client：

xxx@xxx-virtual-machine:~/test/Pico_code/c/build$ gdb main.elf 
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Reading symbols from main.elf...
(gdb) target extended-remote :3333
Remote debugging using :3333
warning: while parsing target description (at line 4): Target description specified unknown architecture "arm"
warning: Could not load XML target description; ignoring
warning: multi-threaded target stopped without sending a thread-id, using first non-exited thread
Truncated register 16 in remote 'g' packet
(gdb)

raspberrypi / openocd

RP2350 uses SWD for debugging and reports errors #111