Add UDB flavour of the stm32h743xx HIC

UDB enriches the DAPLink experience with additional features such as:
- A new USB CDC endpoint to flash and get logs from a second target.
- Another new USB CDC endpoint to interact with the HIC. Users can send easy shell commands to toggle pins, or to get any info from the HIC.
- Additional DAPLink debugging functionality: persistent fault info, breakpoints on asserts when debugger is connected to debug UDB, watchdog, backtraces
- Target power measurement

For more details see the source/hic_hal/stm32/stm32h743ii/extended_features folder.

Co-authored-by: Yangte Chen <yangtechen@google.com>
Co-authored-by: Eric Lee <eleenest@google.com>

docs/hic/stm32h743xx.md

@@ -41,3 +41,10 @@ Bootloader size is 128 KB
 | HID LED     |  O  | PG2     |  98 |
 | CDC LED     |  O  | PG3     |  99 |
 | MSC LED     |  O  | PG4     | 100 |
+
+## UDB (Universal Debug Board) Additions
+UDB is a special flavor of the stm32h743xx HIC, which enriches the DAPLink experience with additional features such as:
+- A new USB CDC endpoint to flash and get logs from a second target.
+- Another new USB CDC endpoint to interact with the HIC. Users can send easy shell commands to toggle pins, or to get any info from the HIC.
+- Additional DAPLink debugging functionality: persistent fault info, breakpoints on asserts when debugger is connected to debug UDB, watchdog, backtraces
+- Target power measurement

projects.yaml

@@ -230,6 +230,15 @@ projects:
         - records/family/all_family.yaml
         - records/usb/usb-bulk.yaml
         - records/daplink/usb-cdc-single-uart.yaml
+    stm32h743ii_udb_bl:
+        - *stm32h743ii_bl
+        - records/board/stm32h743ii_udb_bl.yaml
+    stm32h743ii_udb_if:
+        - *module_if
+        - *module_hic_stm32h743ii
+        - records/family/all_family.yaml
+        - records/usb/usb-bulk.yaml
+        - records/board/stm32h743ii_udb_if.yaml #extends DAPLink with additional features for the UDB project
 
     # Other projects
     k20dx_ep_agora_if:

records/board/stm32h743ii_udb_bl.yaml

@@ -0,0 +1,10 @@
+common:
+    includes:
+        - source/hic_hal/stm32/stm32h743ii/extended_features/include/udb_version.h
+    sources:
+        hic_hal:
+            - source/hic_hal/stm32/stm32h743ii/extended_features/source/udb_version.c
+tool_specific:
+    gcc_arm:
+        linker_file:
+            - source/hic_hal/stm32/stm32h743ii/extended_features/include/udb.ld

records/board/stm32h743ii_udb_if.yaml

@@ -0,0 +1,30 @@
+common:
+    macros:
+        # Add DAPLink macros below
+        - MAIN_TASK_STACK=2048
+        - DAPLINK_BOOTLOADER_UPDATE
+        - ASSERT_BUF_SIZE=65
+        - USB_CDC_ACM_EP_COUNT=3
+        # Add UDB config macros below
+        - UDB
+        - SUPPORT_CMD_HISTORY
+        - NLUIF_PRINT_RESULT
+        # Add build feature macros below
+        - BUILD_FEATURE_UDB_ASSERT
+    includes:
+        - projectfiles/make_gcc_arm/stm32h743ii_udb_bl/build/bootloader_image.c
+        - source/hic_hal/stm32/stm32h743ii/extended_features/include
+        - source/hic_hal/stm32/stm32h743ii/extended_features/lib/nlutilities/include
+        - source/hic_hal/stm32/stm32h743ii/extended_features/console/include
+        - source/hic_hal/stm32/stm32h743ii/extended_features/lib/nlbacktrace/include
+    sources:
+        board:
+            - source/board/stm32h743ii.c
+        family:
+            - source/family/st/stm32h743ii/target.c
+        hic_hal:
+            - source/hic_hal/stm32/stm32h743ii/extended_features/source
+            - source/hic_hal/stm32/stm32h743ii/extended_features/lib/nlutilities/source
+            - source/hic_hal/stm32/stm32h743ii/extended_features/console/source
+            - source/hic_hal/stm32/stm32h743ii/extended_features/lib/nlbacktrace/source
+            - source/hic_hal/stm32/stm32h743ii/extended_features/usb

source/board/stm32h743ii.c

@@ -23,6 +23,127 @@
 #include "target_board.h"
 #include <stdio.h>
 
+#ifdef UDB
+#include "i2c.h"
+#include "udb_version.h"
+#include "udb_extended_features_task.h"
+#include "udb_power_measurement.h"
+#include "udb_log.h"
+#include "udb_version.h"
+#include "nluif_udb-daplink.h"
+#include "util.h"
+#include "udb_fault_info.h"
+#include "udb_watchdog.h"
+#include "udb_fault_info.h"
+#include "udb_uptime.h"
+
+#define UDB_WATCHDOG_TIMEOUT_S  (10U)
+
+#define UDB_30MS_MULTIPLIER_TO_30SEC    (1000)
+#define UDB_30MS_MULTIPLIER_TO_10MIN    (1000 * 20)
+
+#define UDB_LED_30MS_MULTIPLER_NORMAL                   (50ULL)
+#define UDB_LED_30MS_MULTIPLER_UNCLEARED_FAULT_INFO     (5ULL)
+
+#ifdef UDB_DEBUG
+#define UDB_CHECK_FAULT_INFO_TARGET_COUNT     UDB_30MS_MULTIPLIER_TO_30SEC
+#else
+#define UDB_CHECK_FAULT_INFO_TARGET_COUNT     UDB_30MS_MULTIPLIER_TO_10MIN
+#endif
+
+static uint64_t s_30ms_hook_counter = 0;
+static uint64_t s_connected_led_blink_period = UDB_LED_30MS_MULTIPLER_NORMAL;
+
+extern void udb_config_init(void);
+
+static void udb_welcome_message(void)
+{
+    char ver_buf[UDB_VERSION_MAX_LENGTH];
+
+    printf("Welcome to\n");
+    printf("\t          ______   ______      \n");
+    printf("\t|\\     /|(  __  \\ (  ___ \\  \n");
+    printf("\t| )   ( || (  \\  )| (   ) )   \n");
+    printf("\t| |   | || |   ) || (__/ /     \n");
+    printf("\t| |   | || |   | ||  __ (      \n");
+    printf("\t| |   | || |   ) || (  \\ \\   \n");
+    printf("\t| (___) || (__/  )| )___) )    \n");
+    printf("\t(_______)(______/ |/ \\___/    \n\n");
+
+    udb_get_interface_version((uint8_t*)ver_buf, UDB_VERSION_MAX_LENGTH);
+    printf("Interface version: %s\n", ver_buf);
+    udb_get_bootloader_version((uint8_t*)ver_buf, UDB_VERSION_MAX_LENGTH);
+    printf("Bootloader version: %s\n", ver_buf);
+
+    printf("To know more about udb, visit go/udb.\n");
+    printf("Please report issues at go/udb-bug.\n");
+    printf("You can start typing commands.\n");
+
+    uif_prompt();
+}
+
+static void prerun_board_config(void)
+{
+    int status;
+
+    udb_uptime_init();
+
+    status = i2c_init();
+    util_assert(status == UDB_SUCCESS);
+
+    udb_read_hw_version();
+    udb_config_init();
+
+    udb_extended_features_task_create();
+
+    status = udb_power_measurement_init();
+    util_assert(status == UDB_SUCCESS);
+
+    udb_check_unexpected_watchdog_reset();
+}
+
+void board_30ms_hook()
+{
+    udb_uptime_update();
+    if (udb_is_fault_info_uncleared())
+    {
+        s_connected_led_blink_period = UDB_LED_30MS_MULTIPLER_UNCLEARED_FAULT_INFO;
+    }
+    else
+    {
+        s_connected_led_blink_period = UDB_LED_30MS_MULTIPLER_NORMAL;
+    }
+
+    if (s_30ms_hook_counter == 0)
+    {
+        // Code that needs to run once after the bootloader update and all other
+        // initialization finished
+
+        udb_watchdog_init(UDB_WATCHDOG_TIMEOUT_S);
+        udb_welcome_message();
+    }
+
+    udb_watchdog_refresh();
+
+    if ((s_30ms_hook_counter % s_connected_led_blink_period) == 0)
+    {
+        HAL_GPIO_TogglePin( CONNECTED_LED_PORT, CONNECTED_LED_PIN);
+    }
+
+    if (((s_30ms_hook_counter % UDB_CHECK_FAULT_INFO_TARGET_COUNT) == 0) && udb_is_fault_info_uncleared())
+    {
+        udb_print_fault_info();
+    }
+
+    if (udb_log_cdc_ready())
+    {
+        udb_log_flush();
+    }
+
+    s_30ms_hook_counter++;
+}
+#endif // UDB
+
 // return non-zero value to make all image incompatible
 uint8_t board_detect_incompatible_image(const uint8_t *data, uint32_t size)
 {