hil, ci: scope HIL builds and tests to the boards a PR affects
Add test/hil/hil_select.py, a stdlib-only selector that maps a PR diff to the
rig boards, tests and BSP families a change can affect, and wire it into CI so
pull requests build and run only those. A port change picks its families' boards,
a class change picks the examples enabling that class, and device/host changes
prune the other role. Anything unclassified — infra, an unmapped port, a selector
error — falls back to the full matrix, and push/schedule runs are untouched.
Move the shared example lists to hil_examples.py; 54 hardware-free tests cover
the rules.
test/hil: add board-pool health check, split hil_test into focused modules (#3794)
Add test/hil/hil_pool_check.py: per-board rig health scan — probe presence,
light-example flash (dfu_runtime; device_info + serial check for host-only
boards), uid re-enumeration, safe recovery (probe authorized-toggle, board
reset), verified board_test re-park, USB topology report, and a markdown
summary table. Missing firmware is built on the spot (tools/build.py, idf.py
for espressif, one get_deps retry); row statuses: ok, flash-failed, failed,
locked. Board locks are always respected, never bypassed.
Refactor hil_test.py into hil_lock.py (flock protocol, controller permits,
hold/release/status CLI; replaces board_lock.py) and hil_flash.py (flashers,
find_firmware, run_cmd). Update WCH probe uids and the board roster in
tinyusb.json; add the hil-pool-check skill.
The plan doc records why the fork exists and how each vendor source was
ported; the interim handoff it superseded is dropped.
CLAUDE.md: a new worktree should symlink the dependency dirs to the
primary checkout rather than re-fetching them, replacing a single
symlink only when the branch needs a different dep revision. Also allow
'linke' in codespell - WCH-LinkE is a product name.
bsp, hil: flash with the unified OpenOCD fork
https://github.com/hathach/openocd (branch tinyusb) is mainline plus every
config these boards need: RPi RP2350, ADI max32/max78, the MounRiver WCH
configs, and the wlinke adapter on mainline's riscv target. It is a superset
of the vendor forks, so one 'openocd' covers all boards; -DOPENOCD=/OPENOCD=
still select another, msdk's when MAXIM_PATH is set.
Drops family_flash_openocd_wch and the OPENOCD_WCH pair, dedups
family_flash_openocd_adi, aligns ch583's work area, and points hil at the
flasher's own config instead of generating one per probe.
Verified: HIL green on all four WCH boards and max32666fthr.
test/hil: replace PCI reset with root-port VBUS cycle for D-state recovery
pci-reset was documented as an FLR, but no controller on either rig has FLR, so
it issued a PCIe secondary bus reset on a live, driver-bound xHCI -- halting the
card until the PVE host was power-cycled, and returning success so the caller
could not tell. It destroyed the ci controller twice.
Replace it with root-cycle, which cuts VBUS at the xHCI root port and touches
only the root hub, so it never takes the per-device lock the wedged ioctl holds.
uhubctl needs -S, or its sysfs backend disconnects the child before cutting
power and blocks on that same lock. Success is proven by the device's sysfs
directory inode changing: node existence proves nothing, and devnum is reused
once the per-bus map wraps.
usbtest.py's hang path invokes it, then confirms via /proc that nothing still
holds the device node. Skill scripts now run from the repo; the drifted
/usr/local/sbin copies are deleted.
Coverage rows now resolve the de-collided module-qualified key introduced
for same-named statics. RA boards: document that --attach requires a
debugger-booted target - the C_DEBUGEN gate exists because an unguarded
TRCKCR write bricks standalone boots (hardware-proven), so the limitation
is documented rather than the guard weakened; a debugger-side TRCKCR hook
can lift it later once re-verified on hardware. The stm32n6 board-gating
suggestion is not taken: N6 trace pins are AF0-fixed chip-level, the same
family-wide pattern as stm32h7.
The board-specific PHY-reset nets move behind a board.h opt-in
(TRACE_ETM_QUIET_ENET_PHY on same70_xplained and mimxrt1170_evkb) so other
boards of those families cannot inherit a foreign GPIO write; the
chip-level trace pin muxes stay family-wide by design (same pattern as
stm32h7). same70 reference: width 1 is the validated default until the
J403.16 rework, and the hooks now wait (bounded) for PCKRDY3 before Ozone
arms trace. ra8m1 reference caches the boot ROM in AfterTargetConnect so
--attach sessions decode ROM execution too. etm_capture rejects an
unexpanded CMake JLINK_DEVICE with a clear error; PIO-USB + TRACE_ETM on
RP2350 is now a compile error (48 MHz trace clock is too slow for PIO-USB
and a runtime switch would desync the stream); etm_profile keeps
same-named statics from different modules as distinct rows.
Build-verified: same70_xplained, mimxrt1170_evkb, raspberry_pi_pico2.
Bot findings (Copilot/Codex): no-op board_trace_pinmux stubs for
lpcxpresso18s37/43s67 (TRACE_ETM otherwise broke their build), SAME70
ID_PIOD clock enable, capture-script duplicate BeforeTargetConnect on the
RA references, profile-script support for --no-timestamps itraces.
Deep review (whole branch): same70_xplained board row + caveat restored,
stale pico2 72 MHz claim corrected to the shipped 48, explicit
SetTracePortWidth(4) in the three references that relied on Ozone's
default, coverage-cell guard, median-based SysTick calibration, dead
session flag removed, stale RA8M1 divider comment fixed (0x02 = /4 is the
validated chip max) and the debugger guard indented.
EVKB bench findings: only R1884/D3 remains open (D1/D2 meter-verified);
RT1176 trace width is 1 or 4 only - J-Link arms the CSSYS TPIU and its
own sampler at 4-bit for any width>=2 request; a powered MCU-Link USB
breaks the external probe even with JP4 shorted.
Fresh bring-up pass on mimxrt1170_evkb: holding the 100M RTL8201 in reset
(ENET_RST_B = GPIO_LPSR_04) stops its RMII lines driving against the
shared trace pads and doubles the clean trace-pin rate to 50 MHz
(100 MHz CSTRACE root; 133 MHz root is marginal, stock 132 corrupts).
Validated 3x 8 s TinyUSB captures at 11.46M fetches. D1-D3 remain silent
in every configuration - the welded R1882-R1884 are electrically open;
reflow is the remaining step to width 4. Board notes gain JP4 (must be
shorted for an external probe on J58).
Fifth capture view alongside usbmon/kernel/target/wire: exact execution
history via J-Trace, existing only where the trace header is wired -
confirm with the user before reaching for it.
Instruction-level trace outranks PC-sampling when samples cannot resolve a
mechanism, but the J-Trace is exclusive per-board hardware: the agent uses
it only when its prompt says the board is trace-wired or the user asked,
and otherwise proposes it in notes - mirroring the lock-force consent rule.
target-debug replaced usb-target-debug in the debug-skill overhaul; update
the cross-skill table and PC-sampling pointer. Add the consent gate: the
J-Trace is a single probe moved between boards, so captures on a board the
user did not just ask about need explicit confirmation that it is wired.
J403 (bottom-side Cortex Debug+ETM footprint, header required):
TRACECLK=PD8 peripheral D, TRACED0-3=PD4-7 peripheral C. TRACE_ETM builds
hold the KSZ8081 PHY in reset (PD4-7 are its RMII receive outputs and it
drives against the trace stream), clock the TPIU from PCK3 (MCK/2) and
mux the pins; the ozone reference starts PCK3 in the post-reset/download
hooks - TPIU programming while PCK3 is stopped is silently lost. Width-1
validated at the stock 300 MHz core; width 4 blocked on a dead D1 line
(suspect probe channel, h743eval crosscheck pending).
J-Link's built-in RP2350 script owns the whole chip-side path (component
map is not ROM-table-discoverable; a custom JLinkScript replaces the
built-in one and kills pin trace), re-arming at every resume - firmware
does no trace setup. TRACE_ETM builds pin clk_sys to 48 MHz from crt0
(fly-wire seating-proof; the port is DDR at clk_sys/2 and the J-Trace PRO
V2 cliff sits just above 40 MHz TRACECLK - SEGGER requires V3.0+ for this
chip), clear TIMER0/1 DBGPAUSE (default freezes the us-timer while any
core is debug-halted and sleep_ms spins forever), and run the UART console
TX-only (GPIO1 = default UART0 RX = TRACECLK).
Generic TRCKCR setup gated on DHCSR.C_DEBUGEN (a standalone-boot TRCKCR
write wedges the chip un-attachable until power-cycle), two-step write per
the hardware manual. ra6m5_ek: div-4 (25 MHz pin) - div-2 is dead on this
board at every width/timing; J9 must be closed. ra8m1_ek: chip-max
120 MHz TRCLK / 60 MHz pin via the committed JLinkScript whose empty
OnTraceStart defers the trace clock to firmware (J-Link's from-reset
enable steps the clock mid-stream at the FSP MOCO-to-PLL switch);
ReadIntoTraceCache covers runtime ROM execution. J9 closed on both EKs -
open = SWD contention up to apparent bricks.
300 MHz core, 50 MHz TRACECLK, width 2: SB11/SB12 stub TRACED2/3 onto Zio
CN8 and kill width 4 under IRQ-heavy USB traffic (removal = width-4 TODO
at 600 MHz). Session note: --attach while a host actively polls the
device wedges its USB session.
metro_m7_1011 (custom ETM-header rework): 500 MHz core, 66 MHz TRACECLK
width 4, +50 ps; trace_etm_init ungates the 132 MHz trace root that
BOARD_BootClockRUN leaves gated. mimxrt1170_evkb: 996 MHz CM7 at width 1,
CSTRACE pinned to 50 MHz (stock 132 corrupts - the Ethernet PHY loads the
CLK net) and the CM7 platform trace-funnel port enabled in firmware:
J-Link does not program that funnel and everything reads register-perfect
yet silent without it. FlexSPI boot needs the committed SP/PC hooks; D1-D3
stay dead pending the R1882-R1884 continuity check (width-4 TODO).
H5 hangs its debug AP if trace CoreSight is touched unclocked (recover =
power-cycle): the reference's AfterTargetConnect clocks the DBGMCU trace
domain but defers IOEN to firmware, or the mid-boot clock switch desyncs
the decoder. Stock solder bridges make the CN5 path marginal: validated
config is 100 MHz core, width 1, +5 ns (board.h selects the reduced clock
for TRACE_ETM builds); width 4 / 250 MHz retest waits on SB removal.
nrf52840dk: 16 MHz TRACECLK (hardware cap) width 4, P25 soldered, SW7=Alt;
no family code needed (J-Link arms TRACECONFIG). nrf5340dk: TRACE_ETM
builds force the TAD port to 16 MHz (SystemInit's 64 MHz is marginal),
+3 ns sample timing; the interface MCU's UART1 flow control drives the
trace pins - SB27/SB28 must be cut (P0.10/P0.11 = TRACEDATA1/0).
BSP mux + board.h are register-proven; the module routes TRACECLK to the
header only with SJ1's 0-ohm resistor moved to pads 2-3 (Lauterbach doc
confirms), so hardware validation waits on that rework.
60 MHz TRACECLK (CCLK/2) width 4 with J5 DBG_EN fitted; board.h drops the
trace-line pull-ups and the ozone reference points at the device example.
A badly-mated ribbon reads register-perfect yet silent - re-seat first.
120 MHz TRACECLK width 4 over the fully-wired J7 (rev B schematic,
TRACE_5V on pin 11). FS enumeration finishes in <100 ms - ISR analysis
needs a short no-eviction window (--duration-ms 150).
Headless instruction-trace capture on any TRACE_ETM-capable board via
Ozone's automation socket (port 19201, xvfb): etm_capture.py generates a
throwaway project from the board's committed ozone reference (device, TIF,
width, timing, hooks, JLinkScript inheritance), drives the session, and
exports profile/coverage; etm_profile.py renders hot functions, coverage,
per-line/instruction counters and ISR timing from the itrace stream.
SKILL.md carries rig discipline, capture recipes, a new-board bring-up
ladder and troubleshooting; boards.md is the per-board reference (config
table + caveats) for all validated boards.
- target-debug: fault frame lives on PSP when EXC_RETURN bit2 set (FreeRTOS
tasks) — decode LR before choosing $msp/$psp (Codex; valid, our verify
happened to fault on MSP)
- esp-target-debug: show the Xtensa gdb for S3 in the attach recipe; clarify
adapter serial = USB-SJ iSerial (colon MAC, hardware-verified) vs the
CP2102N flasher uids in tinyusb.json (Codex; second half of the finding
had the identifiers inverted)
- esp plan: align serial form with the verified command; record the real
console-gate outcome (UART0, USB-SJ console untested) (Copilot)
- target-debug plan: Task 4 now consistently $JB/ARMv7-M matching the
executed JLinkExe path (Copilot)
- drop IDE-local .idea files swept in by the rename commit (Copilot)
Spec (brainstormed): own-skill backend decision, PHY-conflict map, six
verification gates, external-JTAG TODO. Plan executed same-day: all gates
run on the rig; apptrace resolved per its own gate rule as (untested).
- DWT data trace: FUNCTION 0b0011 (ARMv7-M ARM Table C1-21) streams value +
accessor-PC packets per access, no halt, no code. Verified on
stm32f407disco (J-Link SWORead: 451 KB, value = uptime ms, PC =
tusb_time_millis_api) and stm32h743nucleo (OpenOCD/ST-Link tpiu capture:
607 KB, same decode). Caveat recorded: R/W-only trace floods on polled
variables.
- SWO enable chain documented: tools own TRCENA/ITM/TPIU; vendor part bites
— H7 needs DBGMCU trace clocks, PB3 manually muxed to AF0, native
stlink-dap (hla tpiu silently no-ops), the cfg's stm32h7x.swo object (the
.tpiu object is the parallel port), traceclk = c_ck 400 MHz (wrong guesses:
ratio-garbage or silence).
- Sections reordered to match the intrusiveness table (least->most
intrusive); cross-references fixed; table gains the data-trace row.
- target-debugger: skill list is now a table referencing skills by name only
(path pattern stated once).
- target-debug: probe-mapping run-on paragraph split into bullets; drop the
GDB Ninth-Edition caveat (calibre now holds the Tenth-Edition PDF, id 2264).
- Align markdown table columns across target-debug, usb-sniffer, usbmon, hil,
usbtest and the agent (7 tables); tables with paragraph-length cells left
unpadded (usbmon symptom map, usbtest case map).
- Vector catch + Cortex-M fault autopsy, verified with a deliberate bad-load
on stm32f407disco: CFSR=0x8200 (BFARVALID|PRECISERR), BFAR = exact bad
address, stacked pc addr2lined to the faulting line; gotchas recorded
(stale FPB comparators fire phantom SIGTRAPs — scrub first; arm DEMCR
after reset; loads precise / stores imprecise; ARMv6-M has no CFSR/BFAR)
- SWO exception trace + hw PC sampling gate PASSED on F407: 680 KB of
packets in 3 s (0x17 PC samples in flash range, 0x0E SysTick enter/exit);
JLinkSWOViewerCL decodes stimulus only — raw SWORead is the recipe;
SWOStart needs an explicit speed headless
- verifybin 'Verify successful.'; FreeRTOS -rtos plugin lists all 6
cdc_msc_freertos tasks after a run->stop cycle (plain attach = 0xDEAD
placeholder); semihosting anti-note; monitor-mode pointer (untested)
- Intrusiveness table gains the new rows; agent playbook bullet updated;
retrieval gate 5/5 with a fresh reader; executed plan committed
