Merge pull request #2355 from hathach/update-hil-rp2040

Update hil test for rp2040 on self-hosted PI4

hw/bsp/family_support.cmake

@@ -395,6 +395,22 @@ function(family_flash_stlink TARGET)
 endfunction()
 
 
+# Add flash openocd target
+function(family_flash_openocd TARGET CLI_OPTIONS)
+  if (NOT DEFINED OPENOCD)
+    set(OPENOCD openocd)
+  endif ()
+
+  separate_arguments(CLI_OPTIONS_LIST UNIX_COMMAND ${CLI_OPTIONS})
+
+  # note skip verify since it has issue with rp2040
+  add_custom_target(${TARGET}-openocd
+    DEPENDS ${TARGET}
+    COMMAND ${OPENOCD} ${CLI_OPTIONS_LIST} -c "program $<TARGET_FILE:${TARGET}> reset exit"
+    VERBATIM
+    )
+endfunction()
+
 # Add flash pycod target
 function(family_flash_pyocd TARGET)
   if (NOT DEFINED PYOC)

hw/bsp/rp2040/family.cmake

@@ -12,6 +12,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/pico_sdk_import.cmake)
 # include basic family CMake functionality
 set(FAMILY_MCUS RP2040)
 set(JLINK_DEVICE rp2040_m0_0)
+set(OPENOCD_OPTION "-f interface/cmsis-dap.cfg -f target/rp2040.cfg -c \"adapter speed 5000\"")
 
 include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
 
@@ -158,6 +159,7 @@ function(family_configure_target TARGET RTOS)
 	pico_enable_stdio_uart(${TARGET} 1)
 	target_link_libraries(${TARGET} PUBLIC pico_stdlib pico_bootsel_via_double_reset tinyusb_board${RTOS_SUFFIX} tinyusb_additions)
 
+	family_flash_openocd(${TARGET} ${OPENOCD_OPTION})
 	family_flash_jlink(${TARGET})
 endfunction()