blackmagic: Add cmd to write to target memory.

blackmagic/bm_if.c

@@ -528,6 +528,34 @@ int bm_write_flash(uint32_t addr, const void *data, uint32_t len) {
 	return ret;
 }
 
+/**
+ * Write target memory.
+ *
+ * @param addr
+ * Address to write to
+ *
+ * @param data
+ * The data to write
+ *
+ * @param len
+ * Length of the data
+ *
+ * @return
+ * -2: Write failed
+ * -1: Not connected
+ *  1: Success
+ */
+int bm_mem_write(uint32_t addr, const void *data, uint32_t len) {
+	int ret = -1;
+
+	if (cur_target) {
+		target_print_en = false;
+		ret = target_mem_write(cur_target, addr, data, len) ? -2 : 1;
+	}
+
+	return ret;
+}
+
 /**
  * Read target memory
  *

blackmagic/bm_if.h

@@ -29,6 +29,7 @@ void bm_set_enabled(bool enabled);
 int bm_connect(void);
 int bm_erase_flash_all(void);
 int bm_write_flash(uint32_t addr, const void *data, uint32_t len);
+int bm_mem_write(uint32_t addr, const void *data, uint32_t len);
 int bm_mem_read(uint32_t addr, void *data, uint32_t len);
 int bm_reboot(void);
 void bm_halt_req(void);

commands.c

@@ -1504,6 +1504,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 	case COMM_BM_MAP_PINS_NRF5X:
 	case COMM_BM_MEM_READ:
 	case COMM_GET_IMU_CALIBRATION:
+	case COMM_BM_MEM_WRITE:
 		if (!is_blocking) {
 			memcpy(blocking_thread_cmd_buffer, data - 1, len + 1);
 			blocking_thread_cmd_len = len + 1;
@@ -2197,6 +2198,20 @@ static THD_FUNCTION(blocking_thread, arg) {
 				send_func_blocking(send_buffer, ind + read_len);
 			}
 		} break;
+
+		case COMM_BM_MEM_WRITE: {
+			int32_t ind = 0;
+			uint32_t addr = buffer_get_uint32(data, &ind);
+
+			int res = bm_mem_write(addr, data + ind, len - ind);
+
+			ind = 0;
+			send_buffer[ind++] = packet_id;
+			buffer_append_int16(send_buffer, res, &ind);
+			if (send_func_blocking) {
+				send_func_blocking(send_buffer, ind);
+			}
+		} break;
 #endif
 		case COMM_GET_IMU_CALIBRATION: {
 			int32_t ind = 0;

datatypes.h

@@ -1045,6 +1045,8 @@ typedef enum {
 	COMM_IO_BOARD_GET_ALL,
 	COMM_IO_BOARD_SET_PWM,
 	COMM_IO_BOARD_SET_DIGITAL,
+
+	COMM_BM_MEM_WRITE,
 } COMM_PACKET_ID;
 
 // CAN commands