From d2d207b88d6b0529b40cc26352f14b4c64bb350a Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Sun, 6 Aug 2023 01:04:09 +0200
Subject: [PATCH] In-circuit debugging (#1560)

* openocd script and readme

* do not disable SWD on boot
---
 board/debug/README.md          | 26 ++++++++++++++++++++++++++
 board/debug/debug_h7.sh        |  3 +++
 board/stm32h7/stm32h7_config.h |  2 +-
 3 files changed, 30 insertions(+), 1 deletion(-)
 create mode 100644 board/debug/README.md
 create mode 100755 board/debug/debug_h7.sh

diff --git a/board/debug/README.md b/board/debug/README.md
new file mode 100644
index 000000000..d89eab818
--- /dev/null
+++ b/board/debug/README.md
@@ -0,0 +1,26 @@
+# In-circuit debugging using openocd and gdb
+
+## Hardware
+Connect an ST-Link V2 programmer to the SWD pins on the board. The pins that need to be connected are:
+- GND
+- VTref
+- SWDIO
+- SWCLK
+- NRST
+
+Make sure you're using a genuine one for boards that do not have a 3.3V panda power rail. For example, the tres runs at 1.8V, which is not supported by the clones.
+
+## Openocd
+Install openocd. For Ubuntu 20.04, the one in the package manager works fine: `sudo apt install openocd`.
+
+To run, use `./debug_f4.sh (TODO)` or `./debug_h7.sh` depending on the panda.
+
+## GDB
+You need `gdb-multiarch`.
+
+Once openocd is running, you can connect from gdb as follows:
+```
+$ gdb-multiarch
+(gdb) target ext :3333
+```
+To reset and break, use `monitor reset halt`.
diff --git a/board/debug/debug_h7.sh b/board/debug/debug_h7.sh
new file mode 100755
index 000000000..a2bd88434
--- /dev/null
+++ b/board/debug/debug_h7.sh
@@ -0,0 +1,3 @@
+#!/bin/bash -e
+
+sudo openocd -f "interface/stlink.cfg" -c "transport select hla_swd" -f "target/stm32h7x.cfg" -c "init"
diff --git a/board/stm32h7/stm32h7_config.h b/board/stm32h7/stm32h7_config.h
index 0cddad4fa..f00b5794d 100644
--- a/board/stm32h7/stm32h7_config.h
+++ b/board/stm32h7/stm32h7_config.h
@@ -98,7 +98,7 @@ separate IRQs for RX and TX.
 
 void early_gpio_float(void) {
   RCC->AHB4ENR = RCC_AHB4ENR_GPIOAEN | RCC_AHB4ENR_GPIOBEN | RCC_AHB4ENR_GPIOCEN | RCC_AHB4ENR_GPIODEN | RCC_AHB4ENR_GPIOEEN | RCC_AHB4ENR_GPIOFEN | RCC_AHB4ENR_GPIOGEN | RCC_AHB4ENR_GPIOHEN;
-  GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0; GPIOD->MODER = 0; GPIOE->MODER = 0; GPIOF->MODER = 0; GPIOG->MODER = 0; GPIOH->MODER = 0;
+  GPIOA->MODER = 0xAB000000; GPIOB->MODER = 0; GPIOC->MODER = 0; GPIOD->MODER = 0; GPIOE->MODER = 0; GPIOF->MODER = 0; GPIOG->MODER = 0; GPIOH->MODER = 0;
   GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0; GPIOD->ODR = 0; GPIOE->ODR = 0; GPIOF->ODR = 0; GPIOG->ODR = 0; GPIOH->ODR = 0;
   GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0; GPIOD->PUPDR = 0; GPIOE->PUPDR = 0; GPIOF->PUPDR = 0; GPIOG->PUPDR = 0; GPIOH->PUPDR = 0;
 }