mirror of https://github.com/ArduPilot/ardupilot
AP_FlashIface: setup examples and driver for use with bootloader
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@ -23,6 +23,8 @@
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#include <AP_HAL/AP_HAL.h>
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#include "AP_FlashIface_JEDEC.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL_ChibiOS/QSPIDevice.h>
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#include "../../Tools/AP_Bootloader/support.h"
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extern const AP_HAL::HAL& hal;
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@ -70,12 +72,14 @@ static const struct supported_device supported_devices[] = {
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#define MAX_READ_SIZE 1024UL
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static ChibiOS::QSPIDeviceManager qspi;
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bool AP_FlashIface_JEDEC::init()
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{
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// Get device bus by name
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_dev = nullptr;
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for (uint8_t i = 0; i < ARRAY_SIZE(supported_devices); i++) {
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_dev = hal.qspi->get_device(supported_devices[i].name);
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_dev = qspi.get_device(supported_devices[i].name);
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if (_dev) {
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_dev_list_idx = i;
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break;
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@ -1,62 +1,54 @@
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_FlashIface/AP_FlashIface.h>
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#include <stdio.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#include <support.h>
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AP_FlashIface_JEDEC jedec_dev;
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void setup();
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void loop();
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static AP_BoardConfig board_config;
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static UNUSED_FUNCTION void test_page_program()
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{
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uint8_t *data = new uint8_t[jedec_dev.get_page_size()];
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if (data == nullptr) {
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hal.console->printf("Failed to allocate data for program");
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uprintf("Failed to allocate data for program");
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}
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uint8_t *rdata = new uint8_t[jedec_dev.get_page_size()];
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if (rdata == nullptr) {
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hal.console->printf("Failed to allocate data for read");
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uprintf("Failed to allocate data for read");
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}
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// fill program data with its own adress
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for (uint32_t i = 0; i < jedec_dev.get_page_size(); i++) {
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data[i] = i;
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}
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hal.console->printf("Writing Page #1\n");
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uprintf("Writing Page #1\n");
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uint32_t delay_us, timeout_us;
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uint64_t start_time_us = AP_HAL::micros64();
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if (!jedec_dev.start_program_page(0, data, delay_us, timeout_us)) {
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hal.console->printf("Page write command failed\n");
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uprintf("Page write command failed\n");
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return;
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}
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while (true) {
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hal.scheduler->delay_microseconds(delay_us);
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chThdSleep(chTimeUS2I(delay_us));
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if (AP_HAL::micros64() > (start_time_us+delay_us)) {
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if (!jedec_dev.is_device_busy()) {
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hal.console->printf("Page Program Successful, elapsed %lld us\n", AP_HAL::micros64() - start_time_us);
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uprintf("Page Program Successful, elapsed %ld us\n", uint32_t(AP_HAL::micros64() - start_time_us));
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break;
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} else {
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hal.console->printf("Typical page program time reached, Still Busy?!\n");
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uprintf("Typical page program time reached, Still Busy?!\n");
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}
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}
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if (AP_HAL::micros64() > (start_time_us+timeout_us)) {
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hal.console->printf("Page Program Timed out, elapsed %lld us\n", AP_HAL::micros64() - start_time_us);
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uprintf("Page Program Timed out, elapsed %lld us\n", AP_HAL::micros64() - start_time_us);
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return;
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}
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}
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if (!jedec_dev.read(0, rdata, jedec_dev.get_page_size())) {
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hal.console->printf("Failed to read Flash page\n");
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uprintf("Failed to read Flash page\n");
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} else {
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if (memcmp(data, rdata, jedec_dev.get_page_size()) != 0) {
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hal.console->printf("Program Data Mismatch!\n");
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uprintf("Program Data Mismatch!\n");
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} else {
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hal.console->printf("Program Data Verified Good!\n");
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uprintf("Program Data Verified Good!\n");
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}
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}
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}
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@ -65,38 +57,38 @@ static UNUSED_FUNCTION void test_sector_erase()
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{
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uint32_t delay_ms, timeout_ms;
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if (!jedec_dev.start_sector_erase(0, delay_ms, timeout_ms)) { // erase first sector
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hal.console->printf("Sector erase command failed\n");
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uprintf("Sector erase command failed\n");
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return;
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}
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uint32_t erase_start = AP_HAL::millis();
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uint32_t next_check_ms = 0;
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hal.console->printf("Erasing Sector #1 ");
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uprintf("Erasing Sector #1 ");
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while (true) {
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if (AP_HAL::millis() > next_check_ms) {
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hal.console->printf("\n");
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uprintf("\n");
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if (!jedec_dev.is_device_busy()) {
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if (next_check_ms == 0) {
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hal.console->printf("Sector Erase happened too fast\n");
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uprintf("Sector Erase happened too fast\n");
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return;
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}
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hal.console->printf("Sector Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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uprintf("Sector Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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break;
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} else {
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hal.console->printf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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uprintf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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}
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if ((AP_HAL::millis() - erase_start) > timeout_ms) {
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hal.console->printf("Sector Erase Timed Out, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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uprintf("Sector Erase Timed Out, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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return;
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}
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next_check_ms = erase_start+delay_ms;
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}
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hal.scheduler->delay((delay_ms/100) + 10);
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hal.console->printf("*");
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chThdSleep(chTimeMS2I((delay_ms/100) + 10));
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uprintf("*");
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}
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if (!jedec_dev.verify_sector_erase(0)) {
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hal.console->printf("Erase Verification Failed!\n");
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uprintf("Erase Verification Failed!\n");
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} else {
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hal.console->printf("Erase Verification Successful!\n");
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uprintf("Erase Verification Successful!\n");
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}
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}
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@ -104,54 +96,48 @@ static UNUSED_FUNCTION void test_mass_erase()
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{
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uint32_t delay_ms, timeout_ms;
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if (!jedec_dev.start_mass_erase(delay_ms, timeout_ms)) {
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hal.console->printf("Mass erase command failed\n");
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uprintf("Mass erase command failed\n");
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return;
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}
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uint32_t erase_start = AP_HAL::millis();
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uint32_t next_check_ms = 0;
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hal.console->printf("Mass Erasing ");
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uprintf("Mass Erasing ");
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while (true) {
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if (AP_HAL::millis() > next_check_ms) {
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hal.console->printf("\n");
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uprintf("\n");
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if (!jedec_dev.is_device_busy()) {
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if (next_check_ms == 0) {
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hal.console->printf("Sector Erase happened too fast\n");
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uprintf("Sector Erase happened too fast\n");
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return;
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}
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hal.console->printf("Mass Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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uprintf("Mass Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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return;
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} else {
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hal.console->printf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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uprintf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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}
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if ((AP_HAL::millis() - erase_start) > timeout_ms) {
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hal.console->printf("Mass Erase Timed Out, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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uprintf("Mass Erase Timed Out, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
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return;
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}
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next_check_ms = erase_start+delay_ms;
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}
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hal.scheduler->delay(delay_ms/100);
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hal.console->printf("*");
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chThdSleep(chTimeMS2I(delay_ms/100));
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uprintf("*");
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}
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}
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void setup()
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int main()
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{
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board_config.init();
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}
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init_uarts();
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void loop()
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{
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// Start on user input
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while (!hal.console->available()) {
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hal.scheduler->delay(100);
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while (true) {
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// Start on user input
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while (cin(0) < 0) {}
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uprintf("\n\n******************Starting Test********************\n");
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jedec_dev.init();
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test_page_program();
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test_sector_erase();
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// test_mass_erase();
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chThdSleep(chTimeMS2I(1000));
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}
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hal.console->printf("\n\n******************Starting Test********************\n");
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jedec_dev.init();
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test_page_program();
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test_sector_erase();
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// test_mass_erase();
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hal.scheduler->delay(1000);
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}
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AP_HAL_MAIN();
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@ -2,9 +2,12 @@
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# encoding: utf-8
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def build(bld):
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bld.ap_example(
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bld.ap_program(
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source=['../../../../Tools/AP_Bootloader/support.cpp', 'jedec_test.cpp'],
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use=['ap','JEDEC_libs'],
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program_groups='examples',
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includes=bld.env.SRCROOT + '/Tools/AP_Bootloader/'
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)
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bld.ap_stlib(name= 'JEDEC_libs',
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ap_vehicle='AP_Periph',
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ap_libraries= ['AP_FlashIface'])
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ap_vehicle='AP_Bootloader',
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ap_libraries= ['AP_FlashIface', 'AP_HAL_Empty'])
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