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)
 {