Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_FlashIface: fix build for non bootloader example

This commit is contained in:
Siddharth Purohit 2021-06-13 21:44:16 +05:30 committed by Andrew Tridgell
parent 676f90c595
commit 1d3c001963
3 changed files with 86 additions and 58 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_FlashIface/AP_FlashIface_JEDEC.cpp
View File

@ -23,8 +23,8 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_FlashIface_JEDEC.h"
#include <AP_Math/AP_Math.h>
#include <AP_HAL_ChibiOS/QSPIDevice.h>
#ifdef HAL_BOOTLOADER_BUILD
#include <AP_HAL_ChibiOS/QSPIDevice.h>
#include "../../Tools/AP_Bootloader/support.h"
#else
extern const AP_HAL::HAL& hal;
@ -83,14 +83,20 @@ static const struct supported_device supported_devices[] = {
#endif
#define MAX_READ_SIZE 1024UL
#ifdef HAL_BOOTLOADER_BUILD
static ChibiOS::QSPIDeviceManager qspi;
#endif
bool AP_FlashIface_JEDEC::init()
{
// Get device bus by name
_dev = nullptr;
for (uint8_t i = 0; i < ARRAY_SIZE(supported_devices); i++) {
#ifdef HAL_BOOTLOADER_BUILD
_dev = qspi.get_device(supported_devices[i].name);
#else
_dev = hal.qspi->get_device(supported_devices[i].name);
#endif
if (_dev) {
_dev_list_idx = i;
break;

126
libraries/AP_FlashIface/examples/jedec_test/jedec_test.cpp
View File

@ -1,70 +1,95 @@
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_Dummy.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_FlashIface/AP_FlashIface.h>
#include <stdio.h>
#include <support.h>
AP_FlashIface_JEDEC jedec_dev;
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void setup();
void loop();
GCS_Dummy _gcs;
#ifdef HAL_BOOTLOADER_BUILD
#define DELAY_MILLIS(x) do { chThdSleepMilliseconds(x); } while(0)
#define DELAY_MICROS(x) do { chThdSleepMicroseconds(x); } while(0)
#else
#define DELAY_MILLIS(x) do { hal.scheduler->delay(x); } while(0)
#define DELAY_MICROS(x) do { hal.scheduler->delay_microseconds(x); } while(0)
#endif
const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
AP_GROUPEND
};
static AP_SerialManager serial_manager;
static AP_BoardConfig board_config;
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");
hal.console->printf("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");
hal.console->printf("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");
hal.console->printf("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");
hal.console->printf("Page write command failed\n");
return;
}
while (true) {
chThdSleep(chTimeUS2I(delay_us));
DELAY_MICROS(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));
hal.console->printf("Page Program Successful, elapsed %ld us\n", (unsigned long)(AP_HAL::micros64() - start_time_us));
break;
} else {
uprintf("Typical page program time reached, Still Busy?!\n");
hal.console->printf("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);
hal.console->printf("Page Program Timed out, elapsed %lld us\n", (unsigned long long)(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");
hal.console->printf("Failed to read Flash page\n");
} else {
if (memcmp(data, rdata, jedec_dev.get_page_size()) != 0) {
uprintf("Program Data Mismatch!\n");
hal.console->printf("Program Data Mismatch!\n");
} else {
uprintf("Program Data Verified Good!\n");
hal.console->printf("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");
hal.console->printf("Failed to setup XIP mode\n");
}
if (chip_data == nullptr) {
uprintf("Invalid address!\n");
hal.console->printf("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");
hal.console->printf("Program Data Mismatch in XIP mode!\n");
} else {
uprintf("Program Data Verified Good in XIP mode!\n");
hal.console->printf("Program Data Verified Good in XIP mode!\n");
}
jedec_dev.stop_xip_mode();
}
@ -73,38 +98,38 @@ 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");
hal.console->printf("Sector erase command failed\n");
return;
}
uint32_t erase_start = AP_HAL::millis();
uint32_t next_check_ms = 0;
uprintf("Erasing Sector #1 ");
hal.console->printf("Erasing Sector #1 ");
while (true) {
if (AP_HAL::millis() > next_check_ms) {
uprintf("\n");
hal.console->printf("\n");
if (!jedec_dev.is_device_busy()) {
if (next_check_ms == 0) {
uprintf("Sector Erase happened too fast\n");
hal.console->printf("Sector Erase happened too fast\n");
return;
}
uprintf("Sector Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
hal.console->printf("Sector Erase Successful, elapsed %ld ms\n", (unsigned long)(AP_HAL::millis() - erase_start));
break;
} else {
uprintf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
hal.console->printf("Still busy erasing, elapsed %ld ms\n", (unsigned long)(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);
hal.console->printf("Sector Erase Timed Out, elapsed %ld ms\n", (unsigned long)(AP_HAL::millis() - erase_start));
return;
}
next_check_ms = erase_start+delay_ms;
}
chThdSleep(chTimeMS2I((delay_ms/100) + 10));
uprintf("*");
DELAY_MILLIS((delay_ms/100) + 10);
hal.console->printf("*");
}
if (!jedec_dev.verify_sector_erase(0)) {
uprintf("Erase Verification Failed!\n");
hal.console->printf("Erase Verification Failed!\n");
} else {
uprintf("Erase Verification Successful!\n");
hal.console->printf("Erase Verification Successful!\n");
}
}
@ -112,48 +137,51 @@ 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");
hal.console->printf("Mass erase command failed\n");
return;
}
uint32_t erase_start = AP_HAL::millis();
uint32_t next_check_ms = 0;
uprintf("Mass Erasing ");
hal.console->printf("Mass Erasing ");
while (true) {
if (AP_HAL::millis() > next_check_ms) {
uprintf("\n");
hal.console->printf("\n");
if (!jedec_dev.is_device_busy()) {
if (next_check_ms == 0) {
uprintf("Sector Erase happened too fast\n");
hal.console->printf("Sector Erase happened too fast\n");
return;
}
uprintf("Mass Erase Successful, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
hal.console->printf("Mass Erase Successful, elapsed %ld ms\n",(unsigned long)(AP_HAL::millis() - erase_start));
return;
} else {
uprintf("Still busy erasing, elapsed %ld ms\n", AP_HAL::millis() - erase_start);
hal.console->printf("Still busy erasing, elapsed %ld ms\n", (unsigned long)(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);
hal.console->printf("Mass Erase Timed Out, elapsed %ld ms\n", (unsigned long)(AP_HAL::millis() - erase_start));
return;
}
next_check_ms = erase_start+delay_ms;
}
chThdSleep(chTimeMS2I(delay_ms/100));
uprintf("*");
DELAY_MILLIS(delay_ms/100);
hal.console->printf("*");
}
}
int main()
void setup()
{
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));
}
board_config.init();
serial_manager.init();
}
void loop()
{
// Start on user input
hal.console->printf("\n\n******************Starting Test********************\n");
jedec_dev.init();
test_sector_erase();
test_page_program();
// test_mass_erase();
hal.scheduler->delay(1000);
}
AP_HAL_MAIN();

10
libraries/AP_FlashIface/examples/jedec_test/wscript
View File

@ -2,12 +2,6 @@
# encoding: utf-8
def build(bld):
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_example(
use='ap',
)
bld.ap_stlib(name= 'JEDEC_libs',
ap_vehicle='AP_Bootloader',
ap_libraries= ['AP_FlashIface', 'AP_HAL_Empty'])