AP_FlashIface: add jedec test using bootloader config

Icatme · Sep 1, 2021 · 32f91c4 · 32f91c4
1 parent fdfa14c
commit 32f91c4
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Showing 3 changed files with 173 additions and 2 deletions.
diff --git a/libraries/AP_FlashIface/AP_FlashIface_JEDEC.cpp b/libraries/AP_FlashIface/AP_FlashIface_JEDEC.cpp
@@ -162,8 +162,6 @@ void AP_FlashIface_JEDEC::reset_device()
 {
     // Get chip out of XIP mode
     AP_HAL::QSPIDevice::CommandHeader cmd;
-    _dev->get_semaphore()->take_blocking();
-
     /* Single line CMD_RESET_MEMORY command.*/
     cmd.cmd    =  CMD_RESET_ENABLE;
     cmd.cfg    =  AP_HAL::QSPI::CFG_CMD_MODE_ONE_LINE;

diff --git a/libraries/AP_FlashIface/examples/jedec_test_bl/jedec_test.cpp b/libraries/AP_FlashIface/examples/jedec_test_bl/jedec_test.cpp
@@ -0,0 +1,159 @@
+#include <AP_HAL/AP_HAL.h>
+#include <AP_FlashIface/AP_FlashIface.h>
+#include <stdio.h>
+#include <support.h>
+
+AP_FlashIface_JEDEC jedec_dev;
+
+static UNUSED_FUNCTION void test_page_program()
+{
+    uint8_t *data = new uint8_t[jedec_dev.get_page_size()];
+    if (data == nullptr) {
+        uprintf("Failed to allocate data for program");
+    }
+    uint8_t *rdata = new uint8_t[jedec_dev.get_page_size()];
+    if (rdata == nullptr) {
+        uprintf("Failed to allocate data for read");
+    }
+
+    // fill program data with its own adress
+    for (uint32_t i = 0; i < jedec_dev.get_page_size(); i++) {
+        data[i] = i;
+    }
+    uprintf("Writing Page #1\n");
+    uint32_t delay_us, timeout_us;
+    uint64_t start_time_us = AP_HAL::micros64();
+    if (!jedec_dev.start_program_page(0, data, delay_us, timeout_us)) {
+        uprintf("Page write command failed\n");
+        return;
+    }
+    while (true) {
+        chThdSleep(chTimeUS2I(delay_us));
+        if (AP_HAL::micros64() > (start_time_us+delay_us)) {
+            if (!jedec_dev.is_device_busy()) {
+                uprintf("Page Program Successful, elapsed %ld us\n", uint32_t(AP_HAL::micros64() - start_time_us));
+                break;
+            } else {
+                uprintf("Typical page program time reached, Still Busy?!\n");
+            }
+        }
+        if (AP_HAL::micros64() > (start_time_us+timeout_us)) {
+            uprintf("Page Program Timed out, elapsed %lld us\n", AP_HAL::micros64() - start_time_us);
+            return;
+        }
+    }
+    if (!jedec_dev.read(0, rdata, jedec_dev.get_page_size())) {
+        uprintf("Failed to read Flash page\n");
+    } else {
+        if (memcmp(data, rdata, jedec_dev.get_page_size()) != 0) {
+            uprintf("Program Data Mismatch!\n");
+        } else {
+            uprintf("Program Data Verified Good!\n");
+        }
+    }
+
+    // Now test XIP mode here as well
+    uint8_t *chip_data = nullptr;
+    if (!jedec_dev.start_xip_mode((void**)&chip_data)) {
+        uprintf("Failed to setup XIP mode\n");
+    }
+    if (chip_data == nullptr) {
+        uprintf("Invalid address!\n");
+    }
+    // Here comes the future!
+    if (memcmp(data, chip_data, jedec_dev.get_page_size()) != 0) {
+        uprintf("Program Data Mismatch in XIP mode!\n");
+    } else {
+        uprintf("Program Data Verified Good in XIP mode!\n");
+    }
+    jedec_dev.stop_xip_mode();
+}
+
+static UNUSED_FUNCTION void test_sector_erase()
+{
+    uint32_t delay_ms, timeout_ms;
+    if (!jedec_dev.start_sector_erase(0, delay_ms, timeout_ms)) { // erase first sector
+        uprintf("Sector erase command failed\n");
+        return;
+    }
+    uint32_t erase_start = AP_HAL::millis();
+    uint32_t next_check_ms = 0;
+    uprintf("Erasing Sector #1 ");
+    while (true) {
+        if (AP_HAL::millis() > next_check_ms) {
+            uprintf("\n");
+            if (!jedec_dev.is_device_busy()) {
+                if (next_check_ms == 0) {
+                    uprintf("Sector Erase happened too fast\n");
+                    return;
+                }
+                uprintf("Sector Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
+                break;
+            } else {
+                uprintf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
+            }
+            if ((AP_HAL::millis() - erase_start) > timeout_ms) {
+                uprintf("Sector Erase Timed Out, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
+                return;
+            }
+            next_check_ms = erase_start+delay_ms;
+        }
+        chThdSleep(chTimeMS2I((delay_ms/100) + 10));
+        uprintf("*");
+    }
+    if (!jedec_dev.verify_sector_erase(0)) {
+        uprintf("Erase Verification Failed!\n");
+    } else {
+        uprintf("Erase Verification Successful!\n");
+    }
+}
+
+static UNUSED_FUNCTION void test_mass_erase()
+{
+    uint32_t delay_ms, timeout_ms;
+    if (!jedec_dev.start_mass_erase(delay_ms, timeout_ms)) {
+        uprintf("Mass erase command failed\n");
+        return;
+    }
+    uint32_t erase_start = AP_HAL::millis();
+    uint32_t next_check_ms = 0;
+    uprintf("Mass Erasing ");
+    while (true) {
+        if (AP_HAL::millis() > next_check_ms) {
+            uprintf("\n");
+            if (!jedec_dev.is_device_busy()) {
+                if (next_check_ms == 0) {
+                    uprintf("Sector Erase happened too fast\n");
+                    return;
+                }
+                uprintf("Mass Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
+                return;
+            } else {
+                uprintf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
+            }
+            if ((AP_HAL::millis() - erase_start) > timeout_ms) {
+                uprintf("Mass Erase Timed Out, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
+                return;
+            }
+            next_check_ms = erase_start+delay_ms;
+        }
+        chThdSleep(chTimeMS2I(delay_ms/100));
+        uprintf("*");
+    }
+}
+
+int main()
+{
+    init_uarts();
+
+    while (true) {
+        // Start on user input
+        while (cin(0) < 0) {}
+        uprintf("\n\n******************Starting Test********************\n");
+        jedec_dev.init();
+        test_sector_erase();
+        test_page_program();
+        // test_mass_erase();
+        chThdSleep(chTimeMS2I(1000));
+    }
+}
diff --git a/libraries/AP_FlashIface/examples/jedec_test_bl/wscript b/libraries/AP_FlashIface/examples/jedec_test_bl/wscript
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    if bld.env.BOOTLOADER:
+        bld.ap_program(
+            source=['../../../../Tools/AP_Bootloader/support.cpp', 'jedec_test.cpp'],
+            use=['ap','JEDEC_libs'],
+            program_groups='examples',
+            includes=bld.env.SRCROOT + '/Tools/AP_Bootloader/'
+        )
+        bld.ap_stlib(name= 'JEDEC_libs',
+                    ap_vehicle='AP_Bootloader',
+                    ap_libraries= ['AP_FlashIface', 'AP_HAL_Empty'])