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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_FlashIface/examples/jedec_test/jedec_test.cpp
Views: 1800
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#include <AP_HAL/AP_HAL.h>

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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX

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const AP_HAL::HAL& hal = AP_HAL::get_HAL();

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void setup() { }

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void loop()

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{

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    // the library simply panics if a JEDEC device can't be found.  We

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    // can't really recover from that.

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    hal.console->printf("No JEDEC on linux\n");

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    hal.scheduler->delay(1000);

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}

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#else

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#include <GCS_MAVLink/GCS_Dummy.h>

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#include <AP_SerialManager/AP_SerialManager.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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AP_FlashIface_JEDEC jedec_dev;

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const AP_HAL::HAL& hal = AP_HAL::get_HAL();

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void setup();

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void loop();

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GCS_Dummy _gcs;

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#ifdef HAL_BOOTLOADER_BUILD

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#define DELAY_MILLIS(x)         do { chThdSleepMilliseconds(x); } while(0)

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#define DELAY_MICROS(x)         do { chThdSleepMicroseconds(x); } while(0)

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#else

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#define DELAY_MILLIS(x)         do { hal.scheduler->delay(x); } while(0)

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#define DELAY_MICROS(x)         do { hal.scheduler->delay_microseconds(x); } while(0)

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#endif

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const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {

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        AP_GROUPEND

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};

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static AP_SerialManager serial_manager;

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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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    }

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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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    }

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    // fill program data with its own address

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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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    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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        return;

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    }

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    while (true) {

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        DELAY_MICROS(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 %ld us\n", (unsigned long)(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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            }

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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", (unsigned long long)(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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    } 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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        } else {

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            hal.console->printf("Program Data Verified Good!\n");

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        }

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    }

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    // Now test XIP mode here as well

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    uint8_t *chip_data = nullptr;

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    if (!jedec_dev.start_xip_mode((void**)&chip_data)) {

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        hal.console->printf("Failed to setup XIP mode\n");

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    }

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    if (chip_data == nullptr) {

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        hal.console->printf("Invalid address!\n");

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    }

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    // Here comes the future!

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    if (memcmp(data, chip_data, jedec_dev.get_page_size()) != 0) {

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        hal.console->printf("Program Data Mismatch in XIP mode!\n");

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    } else {

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        hal.console->printf("Program Data Verified Good in XIP mode!\n");

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    }

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    jedec_dev.stop_xip_mode();

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}

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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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        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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    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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            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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                    return;

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                }

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                hal.console->printf("Sector Erase Successful, elapsed %ld ms\n", (unsigned long)(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", (unsigned long)(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", (unsigned long)(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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        DELAY_MILLIS((delay_ms/100) + 10);

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        hal.console->printf("*");

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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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    } else {

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        hal.console->printf("Erase Verification Successful!\n");

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    }

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}

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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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        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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    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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            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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                    return;

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                }

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                hal.console->printf("Mass Erase Successful, elapsed %ld ms\n",(unsigned long)(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", (unsigned long)(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", (unsigned long)(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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        DELAY_MILLIS(delay_ms/100);

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        hal.console->printf("*");

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    }

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}

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void setup()

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{

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    board_config.init();

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    serial_manager.init();

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}

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void loop()

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{

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    // Start on user input

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    hal.console->printf("\n\n******************Starting Test********************\n");

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    jedec_dev.init();

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    test_sector_erase();

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    test_page_program();

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    // test_mass_erase();

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    hal.scheduler->delay(1000);

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}

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#endif

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AP_HAL_MAIN();

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