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authorNélio Laranjeiro2009-05-07 10:07:49 +0200
committerNélio Laranjeiro2009-05-07 10:07:49 +0200
commitee5a468417fb6810a5bbe4d46617618a9ddb588a (patch)
treea3e418380029b83494a77e4d94eac961faf7b76a /digital
parenteb2c866a65980de8c7447a72d91d9dea7d36ffbf (diff)
* digital/avr/modules/trace: (See #67)
* Adapted the trace module to: * Find the last trace in order to start the new one, trace_i = trace_i-1 + 1 * A quarter of the flash is completely erased on the trace init to be used in the future. * Removed the start code useless from now. * tools/trace: * Update the python scripts to use the new trace implementation.
Diffstat (limited to 'digital')
-rw-r--r--digital/avr/modules/flash/flash.c74
-rw-r--r--digital/avr/modules/flash/flash.h24
-rw-r--r--digital/avr/modules/trace/test/test_target/test-trace.c112
-rw-r--r--digital/avr/modules/trace/trace.c102
-rw-r--r--digital/avr/modules/utils/utils.h6
5 files changed, 140 insertions, 178 deletions
diff --git a/digital/avr/modules/flash/flash.c b/digital/avr/modules/flash/flash.c
index dffc6d82..7b563bc6 100644
--- a/digital/avr/modules/flash/flash.c
+++ b/digital/avr/modules/flash/flash.c
@@ -27,6 +27,9 @@
#include "modules/spi/spi.h"
#include "modules/utils/utils.h"
+#define FLASH_LOG_PAGE_SIZE 0x80000
+#define FLASH_LOG_BUFFER_SIZE 128
+
/** Flash access.
* The flash contains an address of 21 bits in a range from 0x0-0x1fffff.
* This function shall access the memory directly by the SPI.
@@ -139,28 +142,6 @@ flash_init (void)
return 1;
}
-/** Find the first writable sector.
- * \param addr the address to start the research.
- * \return the address of the next sector.
- */
-uint32_t
-flash_first_sector (void)
-{
- uint8_t rsp = 0;
- uint32_t addr;
-
- /* Search for the next address to start writing. */
- for (addr = 0;
- (rsp != 0xFF) && (addr < FLASH_ADDRESS_HIGH);
- addr += FLASH_PAGE_SIZE)
- {
- rsp = flash_read (addr);
- }
-
- return addr < (FLASH_ADDRESS_HIGH + 1) ?
- addr - FLASH_PAGE_SIZE : FLASH_ADDRESS_ERROR;
-}
-
/** Write in the flash byte provided in parameter.
* \param data the buffer to store the data.
*/
@@ -240,11 +221,11 @@ flash_write_array (uint32_t addr, uint8_t *data, uint32_t length)
}
}
-uint8_t
+int8_t
flash_log (uint8_t size, uint8_t *args)
{
- uint8_t buf[128+1];
- uint8_t status = 0x0;
+ uint8_t buf[FLASH_LOG_BUFFER_SIZE+1];
+ int8_t error = 0x0;
uint32_t addr = 0;
if (size >= 4)
@@ -254,37 +235,8 @@ flash_log (uint8_t size, uint8_t *args)
switch (args[0])
{
case FLASH_CMD_INIT:
- status = flash_init ();
- if (status)
- {
- uint32_t res;
- uint32_t ended = 0;
- for (addr = 0; addr < FLASH_ADDRESS_HIGH; addr += FLASH_PAGE_SIZE)
- {
- flash_read_array (addr, (uint8_t *) &res, 4);
- if (res == 0xFFFFFFFF)
- {
- ended = addr;
- proto_send3b ('e', addr >> 16, addr >> 8, addr);
- /* The sector is empty. */
- break;
- }
- }
-
- for (addr = FLASH_PAGE (ended - FLASH_PAGE_SIZE);
- addr != ended;
- addr = FLASH_PAGE (addr - FLASH_PAGE_SIZE))
- {
- uint32_t res;
- flash_read_array (addr, (uint8_t *) &res, 4);
- if (res == FLASH_LOG_CODE_READ)
- {
- proto_send3b ('i', addr >> 16, addr >> 8, addr);
- break;
- }
- }
- }
- proto_send1b ('s', status);
+ error = !flash_init ();
+ proto_send1b ('s', error ? 0 : 1);
break;
case FLASH_CMD_READ:
if ((size == 5)
@@ -292,17 +244,19 @@ flash_log (uint8_t size, uint8_t *args)
{
flash_read_array (addr, buf, args[4]);
proto_send ('r', args[4], buf);
- status = 0x1;
+ error = 0;
}
else if (size == 4)
{
proto_send1b ('r', flash_read (addr));
- status = 0x1;
+ error = 0;
}
+ else
+ error = 2;
break;
default:
- status = 0x0;
+ return 3;
}
- return status;
+ return error;
}
diff --git a/digital/avr/modules/flash/flash.h b/digital/avr/modules/flash/flash.h
index 9f92259a..d1fec1f0 100644
--- a/digital/avr/modules/flash/flash.h
+++ b/digital/avr/modules/flash/flash.h
@@ -27,15 +27,12 @@
#include "common.h"
#include "io.h"
-#define FLASH_ADDRESS_HIGH 0x1FFFFF
+#define FLASH_SIZE 0x200000
+#define FLASH_ADDRESS_HIGH (FLASH_SIZE - 1)
#define FLASH_ADDRESS_ERROR 0xFFFFFF
#define FLASH_ADDRESS_INC(val) \
((val) + 1) & FLASH_ADDRESS_HIGH
-#define FLASH_PAGE_SIZE 0x1000
-#define FLASH_PAGE_MASK (FLASH_ADDRESS_HIGH & ~(FLASH_PAGE_SIZE-1))
-#define FLASH_PAGE(val) ((val) & FLASH_PAGE_MASK)
-
#define FLASH_ERASE_FULL 0x60
#define FLASH_ERASE_4K 0x20
#define FLASH_ERASE_32K 0x52
@@ -53,9 +50,6 @@
#define FLASH_TBP_US 10
-#define FLASH_LOG_CODE 0xF33FF22F
-#define FLASH_LOG_CODE_READ 0x2FF23FF3
-
enum
{
FLASH_CMD_INIT,
@@ -114,13 +108,6 @@ flash_status_aai (void)
uint8_t
flash_init (void);
-/** Find the first writable sector.
- * \param addr the address to start the research.
- * \return the address of the next sector.
- */
-uint32_t
-flash_first_sector (void);
-
/** Write in the flash byte provided in parameter.
* \param data the buffer to store the data.
*/
@@ -154,9 +141,12 @@ flash_write_array (uint32_t addr, uint8_t *data, uint32_t length);
/** Process the logs
* \param size the number of arguments.
* \param an array of arguments.
- * \return true on success.
+ * \return - 0 on success,
+ * - 1 flash not initialised
+ * - 2 flash read error.
+ * - 3 command not found.
*/
-uint8_t
+int8_t
flash_log (uint8_t size, uint8_t *args);
#endif /* flash_h */
diff --git a/digital/avr/modules/trace/test/test_target/test-trace.c b/digital/avr/modules/trace/test/test_target/test-trace.c
index 4dbbebf4..7938103b 100644
--- a/digital/avr/modules/trace/test/test_target/test-trace.c
+++ b/digital/avr/modules/trace/test/test_target/test-trace.c
@@ -33,49 +33,48 @@
#include "modules/utils/byte.h"
#include "modules/uart/uart.h"
-void
-flash_dump_full (void)
-{
- uint8_t buffer [BUFFER_SIZE];
- uint32_t i;
- uint8_t state;
-
- /* Initialise the flash memory to read .*/
- state = flash_init ();
- proto_send1b ('s', state);
-
- if (state)
- {
- for (i = 0; i < FLASH_ADDRESS_HIGH + 1;
- i += sizeof (buffer))
- {
- flash_read_array (i, buffer, sizeof (buffer));
- proto_send ('r', sizeof(buffer), buffer);
- }
- }
-}
+#include "events.h"
void
-flash_dump_sector (uint32_t addr)
+flood (void)
{
- uint8_t buffer [BUFFER_SIZE];
- uint32_t i;
- uint8_t state;
+ uint32_t addr;
+ uint32_t count;
+
+ uint32_t speed;
+ uint32_t position;
+ uint16_t acc;
+ uint16_t arg1;
+ uint16_t arg2;
+ uint32_t arg3;
+
+ /* Initialise the trace module. */
+ trace_init ();
- /* Initialise the flash memory to read .*/
- state = flash_init ();
- proto_send1b ('s', state);
+ /* Get the start page address of the trace module. */
+ addr = trace_addr_current ();
+ proto_send3b ('a', addr >> 16, addr >> 8, addr);
- if (state)
+ /* Flood the flash memory with traces. */
+ /* A little more than 3 memory sectors, a sector is 4 kbytes. */
+ for (count = 0; count < 2000; count ++)
{
- for (i = FLASH_PAGE (addr); i < FLASH_PAGE (addr) + FLASH_PAGE_SIZE;
- i += sizeof (buffer))
- {
- flash_read_array (i, buffer, sizeof (buffer));
- proto_send ('r', sizeof(buffer), buffer);
- }
+ /* Right motor. */
+ speed = 1;
+ position = 2;
+ acc = 3;
+ arg1 = 1;
+ arg2 = 2;
+ arg3 = 3;
+ TRACE (TRACE_ASSERV__RIGHT_MOTOR, speed, position, acc);
+ TRACE (TRACE_ASSERV__LEFT_MOTOR, speed, position, acc);
+ TRACE (TRACE_IA__IA_CMD, arg1, arg2, arg3);
}
+
+ /* Print the end of the address. */
+ addr = trace_addr_current ();
+ proto_send3b ('a', addr >> 16, addr >> 8, addr);
}
void
@@ -84,6 +83,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* May be unused. */
uint32_t addr = v8_to_v32 (0, args[0], args[1], args[2]);
uint8_t buf[16];
+ uint8_t error = 0;
#define c(cmd, size) (cmd << 8 | size)
switch (c (cmd, size))
{
@@ -95,10 +95,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Erase full */
flash_erase (FLASH_ERASE_FULL, 0);
break;
- case c ('e', 3):
- /* Erase 4k:
- * - 3b: address. */
- flash_erase (FLASH_ERASE_4K, addr);
+ case c ('e', 4):
+ /* Erase the flash from the address addr and with the hexa code to
+ * erase.*/
+ flash_erase (args[3], addr);
break;
case c ('i', 0):
/* Initialise the trace module. */
@@ -107,14 +107,6 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
addr = trace_addr_current ();
proto_send3b ('a', addr >> 16, addr >> 8, addr);
break;
- case c ('d', 0):
- /* Dump full memory. */
- flash_dump_full ();
- break;
- case c ('d', 3):
- /* Dump a full sector. */
- flash_dump_sector (addr);
- break;
case c ('t', 2):
/* Trace data:
* - 1b: id.
@@ -131,20 +123,32 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
* - 3b: address.
* - 1b: number of bytes. */
if (args[3] > sizeof (buf))
- {
- proto_send0 ('?');
- return;
- }
+ {
+ proto_send0 ('?');
+ return;
+ }
else
{
flash_read_array (addr, buf, args[3]);
proto_send ('r', args[3], buf);
}
break;
+ case c ('f', 0):
+ /* Flood the memory with 3 sectors.
+ */
+ flood ();
+ break;
default:
- /* Error */
- proto_send0 ('?');
- return;
+ if (cmd == 'l')
+ {
+ error = flash_log (size, args);
+ }
+ else if (error || (cmd != 'l'))
+ {
+ /* Error */
+ proto_send0 ('?');
+ return;
+ }
}
/* Acknowledge what has been done */
proto_send (cmd, size, args);
diff --git a/digital/avr/modules/trace/trace.c b/digital/avr/modules/trace/trace.c
index e904c2fa..37288ee1 100644
--- a/digital/avr/modules/trace/trace.c
+++ b/digital/avr/modules/trace/trace.c
@@ -23,51 +23,33 @@
*
* }}} */
#include "common.h"
+#include "modules/utils/utils.h"
#include "modules/utils/byte.h"
+#include "modules/proto/proto.h"
#include "modules/flash/flash.h"
#include "trace.h"
-#define TRACE_CODE_START FLASH_LOG_CODE
-
#define TRACE_ARGS_MAX 6
#define TRACE_MAX_ARGS (TRACE_ARGS_MAX * TRACE_ARGS_MAX)
+#define TRACE_BLOCK_SIZE_BYTES 65536
+#define TRACE_PAGE 0x80000
+#define TRACE_PAGE_BLOCKS (TRACE_PAGE / TRACE_BLOCK_SIZE_BYTES)
+#define TRACE_PAGE_PAGE_NB (FLASH_SIZE / TRACE_PAGE)
+
struct trace_t
{
- /** Flash status. */
+/** Flash status. */
trace_status_t status;
/** Flash start address */
const uint32_t addr_start;
/** Flash address. */
uint32_t addr;
- /** Flash next sector */
- uint32_t next_sector;
};
typedef struct trace_t trace_t;
static trace_t trace_global;
-/** Erase the next sector on the Flash memory.
- */
-static void
-trace_erase_next_sector (void)
-{
- /* If the flash is enable and the start sector is not reached yet erase
- * the sector. */
- if (trace_global.status
- && (flash_read (trace_global.next_sector) != 0xFF))
- {
- if (trace_global.next_sector != trace_global.addr_start)
- {
- /* Flash page size is equal to 4k. */
- flash_erase (FLASH_ERASE_4K, trace_global.next_sector);
- }
- else
- /* Disable the flash. */
- trace_global.status = TRACE_STATUS_OFF;
- }
-}
-
void
trace_print_arg_1(uint8_t arg)
{
@@ -90,31 +72,62 @@ trace_print_arg_4(uint32_t arg)
trace_print (arg);
}
+static inline void
+trace_erase_page (uint32_t addr)
+{
+ uint8_t i;
+ while (flash_is_busy ());
+ for (i = 0; i < TRACE_PAGE_BLOCKS; i++)
+ {
+ flash_erase (FLASH_ERASE_64K, addr);
+ addr += TRACE_BLOCK_SIZE_BYTES;
+ }
+}
uint8_t
trace_init (void)
{
int8_t i;
+ uint8_t new_trace_val = 0x0;
+ uint32_t new_trace_addr = 0;
+
trace_global.status = flash_init ();
/* Get the first sector to write. */
if (trace_global.status)
{
- trace_global.addr = flash_first_sector();
- *((uint32_t *) &trace_global.addr_start) =
- FLASH_PAGE(trace_global.addr);
- trace_global.next_sector =
- FLASH_PAGE (trace_global.addr + FLASH_PAGE_SIZE);
-
- /* If the next sector is the first one in the memory erase it. */
- trace_erase_next_sector ();
+ uint8_t val = 0;
+ /* Find the possible traces. */
+ for (i = 0; i < TRACE_PAGE_PAGE_NB; i++)
+ {
+ val = flash_read (i * TRACE_PAGE);
+ if (lesseq_mod8(new_trace_val, val))
+ {
+ proto_send0 ('e');
+ new_trace_val = val;
+ new_trace_addr = i * TRACE_PAGE;
+ }
+ }
+ new_trace_addr &= FLASH_ADDRESS_HIGH;
- /* Store the start code. */
- for (i = 4; i; i--)
+ /* Flash not empty */
+ if (!((new_trace_val == 0x0) && (new_trace_addr == 0)))
{
- flash_write (trace_global.addr, v32_to_v8(TRACE_CODE_START, i-1));
- trace_global.addr = FLASH_ADDRESS_INC(trace_global.addr);
+ proto_send0 ('h');
+ new_trace_addr = (new_trace_addr + TRACE_PAGE)
+ & FLASH_ADDRESS_HIGH;
+
+ /* Erase it. */
+ trace_erase_page (new_trace_addr);
}
+ new_trace_val ++;
+ proto_send1b ('v', new_trace_val);
+ *((uint32_t*) &trace_global.addr_start) = new_trace_addr;
+
+ /* Store the trace val. */
+ flash_write (new_trace_addr, new_trace_val);
+ trace_global.addr = new_trace_addr + 1;
+
return TRACE_STATUS_ON;
}
return TRACE_STATUS_OFF;
@@ -126,16 +139,11 @@ trace_print (uint8_t arg)
/* Store the arg on flash */
if (trace_global.status)
{
- uint32_t curr_sector;
flash_write (trace_global.addr, arg);
- trace_global.addr = FLASH_ADDRESS_INC(trace_global.addr);
-
- /* Compute the next sector address. */
- curr_sector = trace_global.next_sector;
- trace_global.next_sector = FLASH_PAGE (trace_global.addr +
- FLASH_PAGE_SIZE);
- if (curr_sector != trace_global.next_sector)
- trace_erase_next_sector ();
+ trace_global.addr ++;
+
+ if (trace_global.addr == (trace_global.addr_start + TRACE_PAGE))
+ trace_global.status = TRACE_STATUS_OFF;
}
}
diff --git a/digital/avr/modules/utils/utils.h b/digital/avr/modules/utils/utils.h
index e4e4c10b..a54ee4ed 100644
--- a/digital/avr/modules/utils/utils.h
+++ b/digital/avr/modules/utils/utils.h
@@ -79,4 +79,10 @@ utils_delay_ms (double ms)
/** Count the number of element in an array. */
#define UTILS_COUNT(a) (sizeof (a) / sizeof ((a)[0]))
+static inline uint8_t
+lesseq_mod8 (uint8_t a, uint8_t b)
+{
+ return ((int8_t) (a - b)) <= 0;
+}
+
#endif /* utils_h */