add support for jlink as transport for openocd

though menu selection does not seem to work with debug script. Though
this is probably IDE issue.

platform.txt

@@ -179,23 +179,23 @@ tools.openocd.cmd.windows=bin/openocd.exe
 
 tools.openocd.upload.params.verbose=-d2
 tools.openocd.upload.params.quiet=-d0
-tools.openocd.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset 0x2000; shutdown"
+tools.openocd.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset 0x2000; shutdown"
 
 tools.openocd.network_cmd={runtime.tools.arduinoOTA.path}/bin/arduinoOTA
 tools.openocd.upload.network_pattern={network_cmd} -address {serial.port} -port 65280 -username arduino -password "{network.password}" -sketch "{build.path}/{build.project_name}.bin" -upload /sketch -b
 
 # Program flashes the binary at 0x0000, so use the linker script without_bootloader
 tools.openocd.program.params.verbose=-d2
 tools.openocd.program.params.quiet=-d0
-tools.openocd.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
+tools.openocd.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
 
 tools.openocd.erase.params.verbose=-d3
 tools.openocd.erase.params.quiet=-d0
 tools.openocd.erase.pattern=
 
 tools.openocd.bootloader.params.verbose=-d2
 tools.openocd.bootloader.params.quiet=-d0
-tools.openocd.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
+tools.openocd.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
 
 #
 # OpenOCD sketch upload - version with configurable bootloader size
@@ -208,20 +208,20 @@ tools.openocd-withbootsize.cmd.windows=bin/openocd.exe
 
 tools.openocd-withbootsize.upload.params.verbose=-d2
 tools.openocd-withbootsize.upload.params.quiet=-d0
-tools.openocd-withbootsize.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset {bootloader.size}; shutdown"
+tools.openocd-withbootsize.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset {bootloader.size}; shutdown"
 
 # Program flashes the binary at 0x0000, so use the linker script without_bootloader
 tools.openocd-withbootsize.program.params.verbose=-d2
 tools.openocd-withbootsize.program.params.quiet=-d0
-tools.openocd-withbootsize.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
+tools.openocd-withbootsize.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
 
 tools.openocd-withbootsize.erase.params.verbose=-d3
 tools.openocd-withbootsize.erase.params.quiet=-d0
 tools.openocd-withbootsize.erase.pattern=
 
 tools.openocd-withbootsize.bootloader.params.verbose=-d2
 tools.openocd-withbootsize.bootloader.params.quiet=-d0
-tools.openocd-withbootsize.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
+tools.openocd-withbootsize.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
 
 # ----------------------------------------
 # Debugger configuration (general options)
@@ -232,13 +232,17 @@ debug.executable={build.path}/{build.project_name}.elf
 debug.toolchain=gcc
 debug.toolchain.path={runtime.tools.arm-none-eabi-gcc.path}/bin/
 debug.toolchain.prefix=arm-none-eabi-
+
 debug.server=openocd
 debug.server.openocd.path={runtime.tools.openocd.path}/bin/openocd
 debug.server.openocd.scripts_dir={runtime.tools.openocd.path}/share/openocd/scripts/
 debug.server.openocd.script={runtime.platform.path}/{build.openocdscript}
 
-# jlink is not supported by arduino-cli yet, but supported by IDE
+# JLinkServer is not supported by arduino-cli yet
+#   https://github.com/arduino/arduino-cli/blob/eca9d9a8f00582a08fadea8a4b7e3ef01b40d082/commands/debug/debug.go#L160
+# use debug_custom.json to run JLinkGDBServer instead
+#   https://docs.arduino.cc/tutorials/mkr-wifi-1010/mkr-jlink-setup
 #debug.server=jlink
-#debug.server.jlink.path={runtime.tools.openocd.path}/bin/openocd
-#debug.server.jlink.scripts_dir={runtime.tools.openocd.path}/share/openocd/scripts/
+#debug.server.jlink.path=JLinkGDBServer
+#debug.server.jlink.device=ATSAMD21G18
 #debug.server.jlink.script={runtime.platform.path}/{build.openocdscript}

scripts/jlink/samd21/debug_custom.json

@@ -0,0 +1,6 @@
+{
+  "servertype": "jlink",
+  "device": "ATSAMD21G18A",
+  "interface": "SWD",
+  "serverpath": "JLinkGDBServer"
+}

scripts/jlink/samd51/debug_custom.json

@@ -0,0 +1,6 @@
+{
+  "servertype": "jlink",
+  "device": "ATSAMD51G18",
+  "interface": "SWD",
+  "serverpath": "JLinkGDBServer"
+}

scripts/openocd/same5x.cfg → scripts/openocd/daplink_samd51.cfg

@@ -22,6 +22,6 @@ source [find interface/cmsis-dap.cfg]
 transport select swd
 
 # chip name
-set CHIPNAME same51
+set CHIPNAME samd51
 
 source [find target/atsame5x.cfg]

scripts/openocd/jlink_samd21.cfg

@@ -0,0 +1,27 @@
+#
+#  Arduino Zero OpenOCD script.
+#
+#  Copyright (c) 2014-2015 Arduino LLC.  All right reserved.
+#
+#  This library is free software; you can redistribute it and/or
+#  modify it under the terms of the GNU Lesser General Public
+#  License as published by the Free Software Foundation; either
+#  version 2.1 of the License, or (at your option) any later version.
+#
+#  This library is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+#  See the GNU Lesser General Public License for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public
+#  License along with this library; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+#
+
+source [find interface/jlink.cfg]
+transport select swd
+
+# chip name
+set CHIPNAME samd21
+
+source [find target/at91samdXX.cfg]

scripts/openocd/samd5x.cfg → scripts/openocd/jlink_samd51.cfg

@@ -18,8 +18,7 @@
 #  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 #
 
-source [find interface/cmsis-dap.cfg]
-#source [find interface/jlink.cfg]
+source [find interface/jlink.cfg]
 transport select swd
 
 # chip name

tools/makeboards.py

@@ -25,7 +25,6 @@
         'build_mcu': 'cortex-m0plus',
         'f_cpu': '48000000L',
         'extra_flags': '-DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS',
-        'openocdscript': 'scripts/openocd/samd2x.cfg',
     },
 
     'SAMD51': {
@@ -35,7 +34,6 @@
         'build_mcu': 'cortex-m4',
         'f_cpu': '120000000L',
         'extra_flags': '-D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16',
-        'openocdscript': 'scripts/openocd/samd5x.cfg',
     },
 
     'SAME51': {
@@ -45,8 +43,7 @@
         'build_mcu': 'cortex-m4',
         'f_cpu': '120000000L',
         'extra_flags': '-D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16',
-        'openocdscript': 'scripts/openocd/same5x.cfg',
-    },                    
+    },
 }
 
 
@@ -106,7 +103,6 @@ def build_build(mcu, name, variant, vendor, product, vid, pid_list, boarddefine,
         print(f"{name}.build.extra_flags={extra_flags} {mcu_properties['extra_flags']} {{build.usb_flags}}")
 
     print(f"{name}.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld")
-    print(f"{name}.build.openocdscript={mcu_properties['openocdscript']}")
     print(f"{name}.build.variant={variant}")
     print(f"{name}.build.variant_system_lib=")
     print(f"{name}.build.vid={vid}")
@@ -171,6 +167,13 @@ def build_menu(mcu, name):
     print(f"{name}.menu.debug.on.build.flags.debug=-g")
     print()
 
+    print("# Menu: Debugger")
+    script_mcu = 'samd21' if mcu == 'SAMD21' else 'samd51'
+    print(f"{name}.menu.debugger.daplink=CMSIS-DAP (DAPLink)")
+    print(f"{name}.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_{script_mcu}.cfg")
+    print(f"{name}.menu.debugger.jlink=J-Link")
+    print(f"{name}.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_{script_mcu}.cfg")
+
 
 def build_global_menu():
     print("menu.cache=Cache")
@@ -179,6 +182,7 @@ def build_global_menu():
     print("menu.maxqspi=Max QSPI")    
     print("menu.usbstack=USB Stack")
     print("menu.debug=Debug")
+    print("menu.debugger=Debugger")
 
 
 def make_board(mcu, name, variant, vendor, product, vid, pid_list, boarddefine, extra_flags, bootloader):