AP_Logger: support W25N01GV flash chips

add separate driver for W25N01GV triggered via HAL_LOGGING_DATAFLASH_DRIVER
move flash_test() into AP_Logger_Block.
cleanup use of 4k sector commands to account for chips that only have block commands

libraries/AP_Logger/AP_Logger.cpp

@@ -6,6 +6,7 @@
 
 #include "AP_Logger_File.h"
 #include "AP_Logger_DataFlash.h"
+#include "AP_Logger_W25N01GV.h"
 #include "AP_Logger_MAVLink.h"
 
 #include <AP_InternalError/AP_InternalError.h>
@@ -28,6 +29,10 @@ extern const AP_HAL::HAL& hal;
 #endif
 #endif
 
+#ifndef HAL_LOGGING_DATAFLASH_DRIVER
+#define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_DataFlash
+#endif
+
 #ifndef HAL_LOGGING_STACK_SIZE
 #define HAL_LOGGING_STACK_SIZE 1580
 #endif
@@ -188,7 +193,7 @@ void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
         { Backend_Type::FILESYSTEM, AP_Logger_File::probe },
 #endif
 #if HAL_LOGGING_DATAFLASH_ENABLED
-        { Backend_Type::BLOCK, AP_Logger_DataFlash::probe },
+        { Backend_Type::BLOCK, HAL_LOGGING_DATAFLASH_DRIVER::probe },
 #endif
 #if HAL_LOGGING_MAVLINK_ENABLED
         { Backend_Type::MAVLINK, AP_Logger_MAVLink::probe },
@@ -206,7 +211,7 @@ void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
         LoggerMessageWriter_DFLogStart *message_writer =
             new LoggerMessageWriter_DFLogStart();
         if (message_writer == nullptr)  {
-            AP_BoardConfig::allocation_error("mesage writer");
+            AP_BoardConfig::allocation_error("message writer");
         }
         backends[_next_backend] = backend_config.probe_fn(*this, message_writer);
         if (backends[_next_backend] == nullptr) {

libraries/AP_Logger/AP_Logger_Block.cpp

@@ -21,17 +21,21 @@ AP_Logger_Block::AP_Logger_Block(AP_Logger &front, LoggerMessageWriter_DFLogStar
     AP_Logger_Backend(front, writer),
     writebuf(0)
 {
-    // buffer is used for both reads and writes so access must always be within the semaphore
-    buffer = (uint8_t *)hal.util->malloc_type(page_size_max, AP_HAL::Util::MEM_DMA_SAFE);
-    if (buffer == nullptr) {
-        AP_HAL::panic("Out of DMA memory for logging");
-    }
     df_stats_clear();
 }
 
-// init is called after backend init
+// Init() is called after driver Init(), it is the responsibility of the driver to make sure the 
+// device is ready to accept commands before Init() is called
 void AP_Logger_Block::Init(void)
 {
+    // buffer is used for both reads and writes so access must always be within the semaphore
+    buffer = (uint8_t *)hal.util->malloc_type(df_PageSize, AP_HAL::Util::MEM_DMA_SAFE);
+    if (buffer == nullptr) {
+        AP_HAL::panic("Out of DMA memory for logging");
+    }
+
+    //flash_test();
+
     if (CardInserted()) {
         // reserve space for version in last sector
         df_NumPages -= df_PagePerBlock;
@@ -105,7 +109,7 @@ void AP_Logger_Block::FinishWrite(void)
             chip_full = true;
             return;
         }
-        SectorErase(df_PageAdr / df_PagePerBlock);
+        SectorErase(get_block(df_PageAdr));
     }
 }
 
@@ -864,9 +868,10 @@ void AP_Logger_Block::io_timer(void)
         WITH_SEMAPHORE(sem);
 
         const uint32_t sectors = df_NumPages / df_PagePerSector;
-        const uint32_t sectors_in_64k = 0x10000 / (df_PagePerSector * df_PageSize);
+        const uint32_t block_size = df_PagePerBlock * df_PageSize;
+        const uint32_t sectors_in_block = block_size / (df_PagePerSector * df_PageSize);
         uint32_t next_sector = get_sector(df_EraseFrom);
-        const uint32_t aligned_sector = sectors - (((df_NumPages - df_EraseFrom + 1) / df_PagePerSector) / sectors_in_64k) * sectors_in_64k;
+        const uint32_t aligned_sector = sectors - (((df_NumPages - df_EraseFrom + 1) / df_PagePerSector) / sectors_in_block) * sectors_in_block;
         while (next_sector < aligned_sector) {
             Sector4kErase(next_sector);
             io_timer_heartbeat = AP_HAL::millis();
@@ -875,9 +880,9 @@ void AP_Logger_Block::io_timer(void)
         uint16_t blocks_erased = 0;
         while (next_sector < sectors) {
             blocks_erased++;
-            SectorErase(next_sector / sectors_in_64k);
+            SectorErase(next_sector / sectors_in_block);
             io_timer_heartbeat = AP_HAL::millis();
-            next_sector += sectors_in_64k;
+            next_sector += sectors_in_block;
         }
         status_msg = StatusMessage::RECOVERY_COMPLETE;
         df_EraseFrom = 0;
@@ -928,4 +933,44 @@ void AP_Logger_Block::write_log_page()
     df_Write_FilePage++;
 }
 
+void AP_Logger_Block::flash_test()
+{
+    const uint32_t pages_to_check = 128;
+    for (uint32_t i=1; i<=pages_to_check; i++) {
+        if ((i-1) % df_PagePerBlock == 0) {
+            printf("Block erase %u\n", get_block(i));
+            SectorErase(get_block(i));
+        }
+        memset(buffer, uint8_t(i), df_PageSize);
+        if (i<5) {
+            printf("Flash fill 0x%x\n", uint8_t(i));
+        } else if (i==5) {
+            printf("Flash fill pages 5-%u\n", pages_to_check);
+        }
+        BufferToPage(i);
+    }
+    for (uint32_t i=1; i<=pages_to_check; i++) {
+        if (i<5) {
+            printf("Flash check 0x%x\n", uint8_t(i));
+        } else if (i==5) {
+            printf("Flash check pages 5-%u\n", pages_to_check);
+        }
+        PageToBuffer(i);
+        uint32_t bad_bytes = 0;
+        uint32_t first_bad_byte = 0;
+        for (uint32_t j=0; j<df_PageSize; j++) {
+            if (buffer[j] != uint8_t(i)) {
+                bad_bytes++;
+                if (bad_bytes == 1) {
+                    first_bad_byte = j;
+                }
+            }
+        }
+        if (bad_bytes > 0) {
+            printf("Test failed: page %u, %u of %u bad bytes, first=0x%x\n",
+                i, bad_bytes, df_PageSize, buffer[first_bad_byte]);
+        }
+    }
+}
+
 #endif // HAL_LOGGING_BLOCK_ENABLED

libraries/AP_Logger/AP_Logger_Block.h

@@ -60,7 +60,6 @@ protected:
     uint32_t df_NumPages;
     volatile bool log_write_started;
 
-    static const uint16_t page_size_max = 256;
     uint8_t *buffer;
     uint32_t last_messagewrite_message_sent;
 
@@ -74,6 +73,7 @@ private:
     virtual void Sector4kErase(uint32_t SectorAdr) = 0;
     virtual void StartErase() = 0;
     virtual bool InErase() = 0;
+    void         flash_test(void);
 
     struct PACKED PageHeader {
         uint32_t FilePage;

libraries/AP_Logger/AP_Logger_DataFlash.cpp

@@ -109,9 +109,10 @@ bool AP_Logger_DataFlash::getSectorCount(void)
 
     // Read manufacturer ID
     uint8_t cmd = JEDEC_DEVICE_ID;
-    dev->transfer(&cmd, 1, buffer, 4);
+    uint8_t buf[4]; // buffer not yet allocated
+    dev->transfer(&cmd, 1, buf, 4);
 
-    uint32_t id = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
+    uint32_t id = buf[0] << 16 | buf[1] << 8 | buf[2];
 
     uint32_t blocks = 0;
 
@@ -302,29 +303,4 @@ void AP_Logger_DataFlash::WriteEnable(void)
     dev->transfer(&b, 1, nullptr, 0);
 }
 
-void AP_Logger_DataFlash::flash_test()
-{
-    // wait for the chip to be ready, this has been moved from Init()
-    hal.scheduler->delay(2000);
-
-    for (uint8_t i=1; i<=20; i++) {
-        printf("Flash fill %u\n", i);
-        if (i % df_PagePerBlock == 0) {
-            SectorErase(i / df_PagePerBlock);
-        }
-        memset(buffer, i, df_PageSize);
-        BufferToPage(i);
-    }
-    for (uint8_t i=1; i<=20; i++) {
-        printf("Flash check %u\n", i);
-        PageToBuffer(i);
-        for (uint32_t j=0; j<df_PageSize; j++) {
-            if (buffer[j] != i) {
-                printf("Test error: page %u j=%u v=%u\n", i, j, buffer[j]);
-                break;
-            }
-        }
-    }
-}
-
 #endif // HAL_LOGGING_DATAFLASH_ENABLED

libraries/AP_Logger/AP_Logger_DataFlash.h

@@ -35,7 +35,6 @@ private:
 
     void              WriteEnable();
     bool              getSectorCount(void);
-    void              flash_test(void);
 
     AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev;
     AP_HAL::Semaphore *dev_sem;

libraries/AP_Logger/AP_Logger_W25N01GV.cpp

@@ -0,0 +1,319 @@
+/*
+  logging to a DataFlash block based storage device on SPI
+*/
+
+
+#include <AP_HAL/AP_HAL.h>
+
+#include "AP_Logger_W25N01GV.h"
+
+#if HAL_LOGGING_DATAFLASH_ENABLED
+
+#include <stdio.h>
+
+extern const AP_HAL::HAL& hal;
+
+#define JEDEC_WRITE_ENABLE           0x06
+#define JEDEC_WRITE_DISABLE          0x04
+#define JEDEC_READ_STATUS            0x05
+#define JEDEC_WRITE_STATUS           0x01
+#define JEDEC_READ_DATA              0x03
+#define JEDEC_PAGE_DATA_READ         0x13
+#define JEDEC_FAST_READ              0x0b
+#define JEDEC_DEVICE_ID              0x9F
+#define JEDEC_PAGE_WRITE             0x02
+#define JEDEC_PROGRAM_EXECUTE        0x10
+
+#define JEDEC_DEVICE_RESET           0xFF
+#define JEDEC_BLOCK_ERASE            0xD8 // 128K erase
+
+#define JEDEC_STATUS_BUSY            0x01
+#define JEDEC_STATUS_WRITEPROTECT    0x02
+
+#define W25N01G_STATUS_REG           0xC0
+#define W25N01G_PROT_REG             0xA0
+#define W25N01G_CONF_REG             0xB0
+#define W25N01G_STATUS_EFAIL         0x04
+#define W25N01G_STATUS_PFAIL         0x08
+
+#define W25N01G_PROT_SRP1_ENABLE          (1 << 0)
+#define W25N01G_PROT_WP_E_ENABLE          (1 << 1)
+#define W25N01G_PROT_TB_ENABLE            (1 << 2)
+#define W25N01G_PROT_PB0_ENABLE           (1 << 3)
+#define W25N01G_PROT_PB1_ENABLE           (1 << 4)
+#define W25N01G_PROT_PB2_ENABLE           (1 << 5)
+#define W25N01G_PROT_PB3_ENABLE           (1 << 6)
+#define W25N01G_PROT_SRP2_ENABLE          (1 << 7)
+
+#define W25N01G_CONFIG_ECC_ENABLE         (1 << 4)
+#define W25N01G_CONFIG_BUFFER_READ_MODE   (1 << 3)
+
+#define W25N01G_TIMEOUT_PAGE_READ_US        60   // tREmax = 60us (ECC enabled)
+#define W25N01G_TIMEOUT_PAGE_PROGRAM_US     700  // tPPmax = 700us
+#define W25N01G_TIMEOUT_BLOCK_ERASE_MS      10   // tBEmax = 10ms
+#define W25N01G_TIMEOUT_RESET_MS            500  // tRSTmax = 500ms
+#define W25N01G_NUM_BLOCKS                  1024
+
+#define JEDEC_ID_WINBOND_W25N01GV      0xEFAA21
+
+void AP_Logger_W25N01GV::Init()
+{
+    dev = hal.spi->get_device("dataflash");
+    if (!dev) {
+        AP_HAL::panic("PANIC: AP_Logger W25N01GV device not found");
+        return;
+    }
+
+    dev_sem = dev->get_semaphore();
+
+    if (!getSectorCount()) {
+        flash_died = true;
+        return;
+    }
+
+    flash_died = false;
+
+    // reset the device
+    WaitReady();
+    {
+        WITH_SEMAPHORE(dev_sem);
+        uint8_t b = JEDEC_DEVICE_RESET;
+        dev->transfer(&b, 1, nullptr, 0);
+    }
+    hal.scheduler->delay(W25N01G_TIMEOUT_RESET_MS);
+
+    // disable write protection
+    WriteStatusReg(W25N01G_PROT_REG, 0);
+    // enable ECC and buffer mode
+    WriteStatusReg(W25N01G_CONF_REG, W25N01G_CONFIG_ECC_ENABLE|W25N01G_CONFIG_BUFFER_READ_MODE);
+
+    printf("W25N01GV status: SR-1=0x%x, SR-2=0x%x, SR-3=0x%x\n",
+        ReadStatusRegBits(W25N01G_PROT_REG),
+        ReadStatusRegBits(W25N01G_CONF_REG),
+        ReadStatusRegBits(W25N01G_STATUS_REG));
+
+    AP_Logger_Block::Init();
+}
+
+/*
+  wait for busy flag to be cleared
+ */
+void AP_Logger_W25N01GV::WaitReady()
+{
+    if (flash_died) {
+        return;
+    }
+
+    uint32_t t = AP_HAL::millis();
+    while (Busy()) {
+        hal.scheduler->delay_microseconds(100);
+        if (AP_HAL::millis() - t > 5000) {
+            printf("DataFlash: flash_died\n");
+            flash_died = true;
+            break;
+        }
+    }
+}
+
+bool AP_Logger_W25N01GV::getSectorCount(void)
+{
+    WaitReady();
+
+    WITH_SEMAPHORE(dev_sem);
+
+    // Read manufacturer ID
+    uint8_t cmd = JEDEC_DEVICE_ID;
+    uint8_t buf[4]; // buffer not yet allocated
+    dev->transfer(&cmd, 1, buf, 4);
+
+    uint32_t id = buf[1] << 16 | buf[2] << 8 | buf[3];
+
+    switch (id) {
+    case JEDEC_ID_WINBOND_W25N01GV:
+        df_PageSize = 2048;
+        df_PagePerBlock = 64;
+        df_PagePerSector = 64; // make sectors equivalent to block
+        break;
+
+    default:
+        hal.scheduler->delay(2000);
+        printf("Unknown SPI Flash 0x%08x\n", id);
+        return false;
+    }
+
+    df_NumPages = W25N01G_NUM_BLOCKS * df_PagePerBlock;
+
+    printf("SPI Flash 0x%08x found pages=%u\n", id, df_NumPages);
+    return true;
+}
+
+// Read the status register bits
+uint8_t AP_Logger_W25N01GV::ReadStatusRegBits(uint8_t bits)
+{
+    WITH_SEMAPHORE(dev_sem);
+    uint8_t cmd[2] { JEDEC_READ_STATUS, bits };
+    uint8_t status;
+    dev->transfer(cmd, 2, &status, 1);
+    return status;
+}
+
+void AP_Logger_W25N01GV::WriteStatusReg(uint8_t reg, uint8_t bits)
+{
+    WaitReady();
+    WITH_SEMAPHORE(dev_sem);
+    uint8_t cmd[3] = {JEDEC_WRITE_STATUS, reg, bits};
+    dev->transfer(cmd, 3, nullptr, 0);
+}
+
+bool AP_Logger_W25N01GV::Busy()
+{
+    uint8_t status = ReadStatusRegBits(W25N01G_STATUS_REG);
+
+    if ((status & W25N01G_STATUS_PFAIL) != 0) {
+        printf("Program failure!\n");
+    }
+    if ((status & W25N01G_STATUS_EFAIL) != 0) {
+        printf("Erase failure!\n");
+    }
+
+    return (status & JEDEC_STATUS_BUSY) != 0;
+}
+
+/*
+  send a command with an address
+*/
+void AP_Logger_W25N01GV::send_command_addr(uint8_t command, uint32_t PageAdr)
+{
+    uint8_t cmd[4];
+    cmd[0] = command;
+    cmd[1] = 0;    // dummy
+    cmd[2] = (PageAdr >>  8) & 0xff;
+    cmd[3] = (PageAdr >>  0) & 0xff;
+
+    dev->transfer(cmd, 4, nullptr, 0);
+}
+
+void AP_Logger_W25N01GV::PageToBuffer(uint32_t pageNum)
+{
+    if (pageNum == 0 || pageNum > df_NumPages+1) {
+        printf("Invalid page read %u\n", pageNum);
+        memset(buffer, 0xFF, df_PageSize);
+        return;
+    }
+
+    WaitReady();
+
+    uint32_t PageAdr = (pageNum-1);
+
+    {
+        WITH_SEMAPHORE(dev_sem);
+        // read page into internal buffer
+        send_command_addr(JEDEC_PAGE_DATA_READ, PageAdr);
+    }
+
+    // read from internal buffer into our buffer
+    WaitReady();
+    {
+        WITH_SEMAPHORE(dev_sem);
+        dev->set_chip_select(true);
+        uint8_t cmd[4];
+        cmd[0] = JEDEC_READ_DATA;
+        cmd[1] = (0 >>  8) & 0xff; // column address zero
+        cmd[2] = (0 >>  0) & 0xff; // column address zero
+        cmd[3] = 0; // dummy
+        dev->transfer(cmd, 4, nullptr, 0);
+        dev->transfer(nullptr, 0, buffer, df_PageSize);
+        dev->set_chip_select(false);
+    }
+}
+
+void AP_Logger_W25N01GV::BufferToPage(uint32_t pageNum)
+{
+    if (pageNum == 0 || pageNum > df_NumPages+1) {
+        printf("Invalid page write %u\n", pageNum);
+        return;
+    }
+
+    WriteEnable();
+
+    uint32_t PageAdr = (pageNum-1);
+    {
+        WITH_SEMAPHORE(dev_sem);
+
+        // write our buffer into internal buffer
+        dev->set_chip_select(true);
+
+        uint8_t cmd[3];
+        cmd[0] = JEDEC_PAGE_WRITE;
+        cmd[1] = (0 >>  8) & 0xff; // column address zero
+        cmd[2] = (0 >>  0) & 0xff; // column address zero
+
+        dev->transfer(cmd, 3, nullptr, 0);
+        dev->transfer(buffer, df_PageSize, nullptr, 0);
+        dev->set_chip_select(false);
+    }
+
+    // write from internal buffer into page
+    {
+        WITH_SEMAPHORE(dev_sem);
+        send_command_addr(JEDEC_PROGRAM_EXECUTE, PageAdr);
+    }
+}
+
+/*
+  erase one sector (sizes varies with hw)
+*/
+void AP_Logger_W25N01GV::SectorErase(uint32_t blockNum)
+{
+    WriteEnable();
+    WITH_SEMAPHORE(dev_sem);
+
+    uint32_t PageAdr = blockNum  * df_PagePerBlock;
+    send_command_addr(JEDEC_BLOCK_ERASE, PageAdr);
+}
+
+/*
+  erase one 4k sector
+*/
+void AP_Logger_W25N01GV::Sector4kErase(uint32_t sectorNum)
+{
+    SectorErase(sectorNum);
+}
+
+void AP_Logger_W25N01GV::StartErase()
+{
+    WriteEnable();
+
+    WITH_SEMAPHORE(dev_sem);
+
+    // just erase the first block, others will follow in InErase
+    send_command_addr(JEDEC_BLOCK_ERASE, 0);
+
+    erase_block = 1;
+    erase_start_ms = AP_HAL::millis();
+    printf("Dataflash: erase started\n");
+}
+
+bool AP_Logger_W25N01GV::InErase()
+{
+    if (erase_start_ms && !Busy()) {
+        if (erase_block < W25N01G_NUM_BLOCKS) {
+            SectorErase(erase_block++);
+        } else {
+            printf("Dataflash: erase done (%u ms)\n", AP_HAL::millis() - erase_start_ms);
+            erase_start_ms = 0;
+            erase_block = 0;
+        }
+    }
+    return erase_start_ms != 0;
+}
+
+void AP_Logger_W25N01GV::WriteEnable(void)
+{
+    WaitReady();
+    WITH_SEMAPHORE(dev_sem);
+    uint8_t b = JEDEC_WRITE_ENABLE;
+    dev->transfer(&b, 1, nullptr, 0);
+}
+
+#endif // HAL_LOGGING_DATAFLASH_ENABLED

libraries/AP_Logger/AP_Logger_W25N01GV.h

@@ -0,0 +1,47 @@
+/*
+  logging for block based dataflash devices on SPI
+ */
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+
+#include "AP_Logger_Block.h"
+
+#if HAL_LOGGING_DATAFLASH_ENABLED
+
+class AP_Logger_W25N01GV : public AP_Logger_Block {
+public:
+    AP_Logger_W25N01GV(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
+        AP_Logger_Block(front, writer) {}
+    static AP_Logger_Backend  *probe(AP_Logger &front,
+                                     LoggerMessageWriter_DFLogStart *ls) {
+        return new AP_Logger_W25N01GV(front, ls);
+    }
+    void              Init(void) override;
+    bool              CardInserted() const override { return !flash_died && df_NumPages > 0; }
+
+private:
+    void              BufferToPage(uint32_t PageAdr) override;
+    void              PageToBuffer(uint32_t PageAdr) override;
+    void              SectorErase(uint32_t SectorAdr) override;
+    void              Sector4kErase(uint32_t SectorAdr) override;
+    void              StartErase() override;
+    bool              InErase() override;
+    void              send_command_addr(uint8_t cmd, uint32_t address);
+    void              WaitReady();
+    bool              Busy();
+    uint8_t           ReadStatusRegBits(uint8_t bits);
+    void              WriteStatusReg(uint8_t reg, uint8_t bits);
+
+    void              WriteEnable();
+    bool              getSectorCount(void);
+
+    AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev;
+    AP_HAL::Semaphore *dev_sem;
+
+    bool flash_died;
+    uint32_t erase_start_ms;
+    uint16_t erase_block;
+};
+
+#endif // HAL_LOGGING_DATAFLASH_ENABLED