Add stm32h743xx HIC (#966)

Authors: Eric Lee <eleenest@google.com>, Gabor Csapo <gaborcsapo@google.com> and Yangte Chen <yangtechen@google.com>

docs/hic/README.md

@@ -22,3 +22,4 @@ Support for these HICs has been recently added.
 |-------------------------------|:----:|--------:|-------:|-------:|:---:|
 | [stm32f072x8](stm32f072xx.md) |  M0  |  48 Mhz |  16 KB |  64 KB |  FS |
 | [stm32f072xb](stm32f072xx.md) |  M0  |  48 Mhz |  16 KB | 128 KB |  FS |
+| [stm32h743xx](stm32h743xx.md) |  M7  | 480 Mhz |   1 MB |   2 MB |  HS |

docs/hic/stm32h743xx.md

@@ -0,0 +1,50 @@
+# stm32h743xx HIC
+
+Based on STM32H743IIK6TR chip ([Datasheet](https://www.st.com/resource/en/datasheet/stm32h743ii.pdf)):
+- Cortex-M7 480 Mhz
+- 2 MBytes Flash
+- 1 MByte RAM
+- High-speed USB 2.0 device controller: up to 9 bi-directional endpoints including EP0 (*)
+- UFBGA176+25 packaging
+
+(*) "main features in peripheral-mode are the following: 1 bidirectional control endpoint0, 8 IN endpoints (EPs) configurable to support bulk, interrupt or isochronous transfers, 8 OUT endpoints configurable to support bulk, interrupt or isochronous transfers" (source: [RM0433](https://www.st.com/resource/en/reference_manual/rm0433-stm32h742-stm32h743753-and-stm32h750-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf))
+
+## Memory Map
+
+| Region   |  Size  | Start       | End         |
+|----------|--------|-------------|-------------|
+| Flash    | 2048 KB| 0x0800_0000 | 0x1FF0_0000 |
+| DTCM     | 128 KB | 0x2000_0000 | 0x2400_0000 |
+| AXI-SRAM | 384 KB | 0x2400_0000 | 0x3000_0000 |
+| SRAM1    | 32 KB  | 0x3000_0000 | 0x3002_0000 |
+| SRAM2    | 16 KB  | 0x3002_0000 | 0x3800_0000 |
+| SRAM4    | 64 KB  | 0x3800_0000 | 0x3880_0000 |
+
+Bootloader size is 128 KB
+
+## DAPLink default pin assignment
+
+| Signal      | I/O | Symbol  | Pin |
+|-------------|:---:|---------|:---:|
+| SWD / JTAG  |
+| SWCLK / TCK |  O  | PD7     |  56 |
+| SWDIO / TMS | I/O | PD2     |  51 |
+| SWO / TDO   |  I  | PB7     |  24 |
+| nRESET      |  O  | PB0     |  17 |
+| UART        |
+| UART RX     |  I  | PD9     |  58 |
+| UART TX     |  O  | PD8     |  57 |
+| Button      |
+| NF-RST But. |  I  | PI4     | 132 |
+| LEDs        |
+| Connect. LED|  O  | PG0     |  96 |
+| 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

@@ -109,6 +109,10 @@ module:
         - records/rtos/rtos-cm3.yaml
         - records/hic_hal/stm32f103xb.yaml
         - records/usb/usb-hid.yaml
+    hic_stm32h743xx: &module_hic_stm32h743xx
+        - records/rtos/rtos-cm4.yaml
+        - records/hic_hal/stm32h743xx.yaml
+        - records/usb/usb-hid.yaml
 
 projects:
     # HIC bootloaders and all target interfaces
@@ -220,6 +224,16 @@ projects:
         - *module_hic_stm32f103xb
         - records/family/all_family.yaml
         - records/usb/usb-bulk.yaml
+    stm32h743xx_bl: &stm32h743xx_bl
+        - *module_bl
+        - records/hic_hal/stm32h743xx.yaml
+        - records/board/stm32h743xx_bl.yaml
+    stm32h743xx_if: &stm32h743xx_if
+        - *module_if
+        - *module_hic_stm32h743xx
+        - records/family/all_family.yaml
+        - records/usb/usb-bulk.yaml
+
 
     # Other projects
     k20dx_ep_agora_if:
@@ -618,6 +632,15 @@ projects:
         - *module_if
         - *module_hic_stm32f103xb
         - records/board/ublox_evk_odin_w2.yaml
+    stm32h743xx_udb_bl:
+        - *stm32h743xx_bl
+        - records/board/stm32h743xx_udb_bl.yaml
+    stm32h743xx_udb_if:
+        - *module_if
+        - *module_hic_stm32h743xx
+        - records/family/all_family.yaml
+        - records/usb/usb-bulk.yaml
+        - records/board/stm32h743xx_udb_if.yaml # extends DAPLink with additional features for the UDB project
 
 
     # Test projects

records/board/stm32h743xx_bl.yaml

@@ -0,0 +1,4 @@
+common:
+    sources:
+        board:
+            - source/board/stm32h743xx_bl.c

records/board/stm32h743xx_udb_bl.yaml

@@ -0,0 +1,12 @@
+common:
+    macros:
+        - UDB
+    includes:
+        - source/board/udb/include/udb_version.h
+    sources:
+        hic_hal:
+            - source/board/udb/source/udb_version.c
+tool_specific:
+    gcc_arm:
+        linker_file:
+            - source/board/udb/include/udb.ld

records/board/stm32h743xx_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
+        - OVERRIDE_USB2UART
+        - DISABLE_DRAG_N_DROP
+        # 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/stm32h743xx_udb_bl/build/bootloader_image.c
+        - source/board/udb/console/include
+        - source/board/udb/include
+        - source/board/udb/lib/nlbacktrace/include
+        - source/board/udb/lib/nlutilities/include
+    sources:
+        board:
+            - source/board/stm32h743xx.c
+        hic_hal:
+            - source/board/udb/console/source
+            - source/board/udb/lib/nlbacktrace/source
+            - source/board/udb/lib/nlutilities/source
+            - source/board/udb/source
+            - source/board/udb/usb

records/hic_hal/stm32h743xx.yaml

@@ -0,0 +1,66 @@
+common:
+    target:
+        - Cortex-M7
+    core:
+        - Cortex-M7
+    macros:
+        - INTERFACE_STM32H743
+        - USE_HAL_DRIVER
+        - STM32H743xx
+        - DAPLINK_HIC_ID=0x97969940  # DAPLINK_HIC_ID_STM32H743II
+        - __packed=__packed          # Prevent redefinition of __packed with ARMCC
+        - DAPLINK_NO_ASSERT_FILENAMES
+        - OS_CLOCK=240000000
+        - OS_ROBIN_ENABLE=1
+        - SECTOR_BUFFER_SIZE=32 # this is a small write buffer used in settings_rom.c
+        - DAPLINK_RELOCATE_SECTOR_BUF # this is relocating another sector buffer in iap_flash_intf.c which has to hold an entire sector and doesn't fit into our default DTCM RAM
+    includes:
+        - source/hic_hal/stm32/hal/STM32H7xx_HAL_Driver
+        - source/hic_hal/stm32/hal/STM32H7xx_HAL_Driver/Inc
+        - source/hic_hal/stm32/stm32h743xx
+        - source/hic_hal/stm32/stm32h743xx/cmsis
+
+    sources:
+        hic_hal:
+            - source/hic_hal/stm32/hal/STM32H7xx_HAL_Driver/Src
+            - source/hic_hal/stm32/stm32h743xx
+            - source/hic_hal/stm32/stm32h743xx/cmsis
+
+tool_specific:
+    uvision:
+        misc:
+            ld_flags:
+                - --predefine="-I..\..\..\source\hic_hal\stm32\stm32h743xx"
+            c_flags:
+                - --no_unaligned_access
+            cxx_flags:
+                - --no_unaligned_access
+            asm_flags:
+                - --no_unaligned_access
+        sources:
+            hic_hal:
+                - source/hic_hal/stm32/stm32h743xx/armcc
+    armcc:
+        misc:
+            ld_flags:
+                - --predefine="-Isource/hic_hal/stm32/stm32h743xx"
+            c_flags:
+                - --no_unaligned_access
+            cxx_flags:
+                - --no_unaligned_access
+            asm_flags:
+                - --no_unaligned_access
+        sources:
+            hic_hal:
+                - source/hic_hal/stm32/stm32h743xx/armcc
+    gcc_arm:
+        misc:
+            ld_flags:
+                # for some reason GCC links in the non-thumb version,
+                # so need to manually tell it to use the right one
+                - -L /usr/lib/arm-none-eabi/newlib/thumb/
+        sources:
+            hic_hal:
+                - source/hic_hal/stm32/stm32h743xx/gccarm
+        linker_file:
+            - source/hic_hal/stm32/stm32h743xx/stm32h743xx.ld

source/board/stm32h743xx.c

@@ -0,0 +1,166 @@
+/**
+ * @file    stm32h743xx.c
+ * @brief   board ID for the STM32 NUCLEO-F103RB board
+ *
+ * DAPLink Interface Firmware
+ * Copyright (c) 2009-2019, ARM Limited, All Rights Reserved
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "target_family.h"
+#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)
+{
+    return 1;
+}
+
+const board_info_t g_board_info =
+{
+    .info_version = kBoardInfoVersion,
+    .board_id = "0000",
+    .family_id = kStub_HWReset_FamilyID,
+    .daplink_drive_name = "DAPLINK_APP",
+    .prerun_board_config = prerun_board_config,
+    // TODO(https://github.com/ARMmbed/DAPLink/issues/963):
+    // MSC sometimes fails for unknown reason.
+    // Disable mass storage as a workaround temporarily.
+#if 0
+    .target_cfg = &target_device,
+#endif
+};