static int lpcspifi_bulk_erase(struct flash_bank *bank)
{
struct target *target = bank->target;
struct lpcspifi_flash_bank *lpcspifi_info = bank->driver_priv;
uint32_t ssp_base = lpcspifi_info->ssp_base;
uint32_t io_base = lpcspifi_info->io_base;
uint32_t value;
int retval = ERROR_OK;
retval = lpcspifi_set_sw_mode(bank);
if (retval == ERROR_OK)
retval = lpcspifi_write_enable(bank);
/* send SPI command "bulk erase" */
if (retval == ERROR_OK)
ssp_setcs(target, io_base, 0);
if (retval == ERROR_OK)
retval = ssp_write_reg(target, ssp_base, SSP_DATA, lpcspifi_info->dev->chip_erase_cmd);
if (retval == ERROR_OK)
retval = poll_ssp_busy(target, ssp_base, SSP_CMD_TIMEOUT);
if (retval == ERROR_OK)
retval = ssp_read_reg(target, ssp_base, SSP_DATA, &value);
if (retval == ERROR_OK)
retval = ssp_setcs(target, io_base, 1);
/* poll flash BSY for self-timed bulk erase */
if (retval == ERROR_OK)
retval = wait_till_ready(bank, bank->num_sectors*SSP_MAX_TIMEOUT);
return retval;
}
static int smi_erase_sector(struct flash_bank *bank, int sector)
{
struct target *target = bank->target;
struct stmsmi_flash_bank *stmsmi_info = bank->driver_priv;
uint32_t io_base = stmsmi_info->io_base;
uint32_t cmd;
int retval;
retval = smi_write_enable(bank);
if (retval != ERROR_OK)
return retval;
/* Switch to SW mode to send sector erase command */
SMI_SET_SW_MODE();
/* clear transmit finished flag */
SMI_CLEAR_TFF();
/* send SPI command "block erase" */
cmd = erase_command(stmsmi_info, bank->sectors[sector].offset);
SMI_WRITE_REG(SMI_TR, cmd);
SMI_WRITE_REG(SMI_CR2, stmsmi_info->bank_num | SMI_SEND | SMI_TX_LEN_4);
/* Poll transmit finished flag */
SMI_POLL_TFF(SMI_CMD_TIMEOUT);
/* poll WIP for end of self timed Sector Erase cycle */
retval = wait_till_ready(bank, SMI_MAX_TIMEOUT);
if (retval != ERROR_OK)
return retval;
return ERROR_OK;
}
/**
* spinand_erase_block--to erase a page with:
* @block_id: the physical block location to erase.
*
* Description:
* The commands used here are 0x06 and 0xd8--indicating an erase
* command to erase one block--64 pages
* It will first to enable the write enable bit (0x06 command),
* and then send the 0xd8 erase command
* Poll to wait for the tERS time to complete the tranaction.
*/
static int spinand_erase_block(struct spi_device *spi_nand, u16 block_id)
{
int retval;
u8 status = 0;
retval = spinand_write_enable(spi_nand);
if (wait_till_ready(spi_nand))
dev_err(&spi_nand->dev, "wait timedout!!!\n");
retval = spinand_erase_block_erase(spi_nand, block_id);
while (1) {
retval = spinand_read_status(spi_nand, &status);
if (retval < 0) {
dev_err(&spi_nand->dev,
"error %d reading status register\n",
(int) retval);
return retval;
}
if ((status & STATUS_OIP_MASK) == STATUS_READY) {
if ((status & STATUS_E_FAIL_MASK) == STATUS_E_FAIL) {
dev_err(&spi_nand->dev,
"erase error, block %d\n", block_id);
return -1;
} else
break;
}
}
return 0;
}
/*
* Write an address range to the nor chip. Data must be written in
* FLASH_PAGESIZE chunks. The address range may be any size provided
* it is within the physical boundaries.
*/
static int spi_nor_write(struct mtd_info *mtd, loff_t to, size_t len,
size_t *retlen, const u_char *buf)
{
struct spi_nor *nor = mtd_to_spi_nor(mtd);
u32 page_offset, page_size, i;
int ret;
dev_dbg(nor->dev, "to 0x%08x, len %zd\n", (u32)to, len);
ret = spi_nor_lock_and_prep(nor, SPI_NOR_OPS_WRITE);
if (ret)
return ret;
/* Wait until finished previous write command. */
ret = wait_till_ready(nor);
if (ret)
goto write_err;
write_enable(nor);
page_offset = to & (nor->page_size - 1);
/* do all the bytes fit onto one page? */
if (page_offset + len <= nor->page_size) {
nor->write(nor, to, len, retlen, buf);
} else {
/* the size of data remaining on the first page */
page_size = nor->page_size - page_offset;
nor->write(nor, to, page_size, retlen, buf);
/* write everything in nor->page_size chunks */
for (i = page_size; i < len; i += page_size) {
page_size = len - i;
if (page_size > nor->page_size)
page_size = nor->page_size;
wait_till_ready(nor);
write_enable(nor);
nor->write(nor, to + i, page_size, retlen, buf + i);
}
}
write_err:
spi_nor_unlock_and_unprep(nor, SPI_NOR_OPS_WRITE);
return 0;
}
/*
* spinand_read_page-to read a page with:
* @page_id: the physical page number
* @offset: the location from 0 to 2111
* @len: number of bytes to read
* @rbuf: read buffer to hold @len bytes
*
* Description:
* The read includes two commands to the Nand: 0x13 and 0x03 commands
* Poll to read status to wait for tRD time.
*/
static int spinand_read_page(struct spi_device *spi_nand, u16 page_id,
u16 offset, u16 len, u8 *rbuf)
{
int ret;
u8 status = 0;
#ifdef CONFIG_MTD_SPINAND_ONDIEECC
if (enable_read_hw_ecc) {
if (spinand_enable_ecc(spi_nand) < 0)
dev_err(&spi_nand->dev, "enable HW ECC failed!");
}
#endif
ret = spinand_read_page_to_cache(spi_nand, page_id);
if (ret < 0)
return ret;
if (wait_till_ready(spi_nand))
dev_err(&spi_nand->dev, "WAIT timedout!!!\n");
while (1) {
ret = spinand_read_status(spi_nand, &status);
if (ret < 0) {
dev_err(&spi_nand->dev,
"err %d read status register\n", ret);
return ret;
}
if ((status & STATUS_OIP_MASK) == STATUS_READY) {
if ((status & STATUS_ECC_MASK) == STATUS_ECC_ERROR) {
dev_err(&spi_nand->dev, "ecc error, page=%d\n",
page_id);
return 0;
}
break;
}
}
ret = spinand_read_from_cache(spi_nand, page_id, offset, len, rbuf);
if (ret < 0) {
dev_err(&spi_nand->dev, "read from cache failed!!\n");
return ret;
}
#ifdef CONFIG_MTD_SPINAND_ONDIEECC
if (enable_read_hw_ecc) {
ret = spinand_disable_ecc(spi_nand);
if (ret < 0) {
dev_err(&spi_nand->dev, "disable ecc failed!!\n");
return ret;
}
enable_read_hw_ecc = 0;
}
#endif
return ret;
}
static int ath79_erase_sector(struct flash_bank *bank, int sector)
{
int retval = ath79_write_enable(bank);
if (retval != ERROR_OK)
return retval;
/* send SPI command "block erase" */
retval = erase_command(bank, sector);
if (retval != ERROR_OK)
return retval;
/* poll WIP for end of self timed Sector Erase cycle */
return wait_till_ready(bank, ATH79_MAX_TIMEOUT);
}
/*
* spinand_reset- send RESET command "0xff" to the Nand device.
*/
static void spinand_reset(struct spi_device *spi_nand)
{
struct spinand_cmd cmd = {0};
cmd.cmd = CMD_RESET;
if (spinand_cmd(spi_nand, &cmd) < 0)
pr_info("spinand reset failed!\n");
/* elapse 1ms before issuing any other command */
udelay(1000);
if (wait_till_ready(spi_nand))
dev_err(&spi_nand->dev, "wait timedout!\n");
}
/*
* Erase the whole flash memory
*
* Returns 0 if successful, non-zero otherwise.
*/
static int erase_chip(struct spi_nor *nor)
{
int ret;
dev_dbg(nor->dev, " %lldKiB\n", (long long)(nor->mtd->size >> 10));
/* Wait until finished previous write command. */
ret = wait_till_ready(nor);
if (ret)
return ret;
/* Send write enable, then erase commands. */
write_enable(nor);
return nor->write_reg(nor, SPINOR_OP_CHIP_ERASE, NULL, 0, 0);
}
static int spi_nor_unlock(struct mtd_info *mtd, loff_t ofs, uint64_t len)
{
struct spi_nor *nor = mtd_to_spi_nor(mtd);
uint32_t offset = ofs;
uint8_t status_old, status_new;
int ret = 0;
ret = spi_nor_lock_and_prep(nor, SPI_NOR_OPS_UNLOCK);
if (ret)
return ret;
/* Wait until finished previous command */
ret = wait_till_ready(nor);
if (ret)
goto err;
status_old = read_sr(nor);
if (offset+len > mtd->size - (mtd->size / 64))
status_new = status_old & ~(SR_BP2 | SR_BP1 | SR_BP0);
else if (offset+len > mtd->size - (mtd->size / 32))
status_new = (status_old & ~(SR_BP2 | SR_BP1)) | SR_BP0;
else if (offset+len > mtd->size - (mtd->size / 16))
status_new = (status_old & ~(SR_BP2 | SR_BP0)) | SR_BP1;
else if (offset+len > mtd->size - (mtd->size / 8))
status_new = (status_old & ~SR_BP2) | SR_BP1 | SR_BP0;
else if (offset+len > mtd->size - (mtd->size / 4))
status_new = (status_old & ~(SR_BP0 | SR_BP1)) | SR_BP2;
else if (offset+len > mtd->size - (mtd->size / 2))
status_new = (status_old & ~SR_BP1) | SR_BP2 | SR_BP0;
else
status_new = (status_old & ~SR_BP0) | SR_BP2 | SR_BP1;
/* Only modify protection if it will not lock other areas */
if ((status_new & (SR_BP2 | SR_BP1 | SR_BP0)) <
(status_old & (SR_BP2 | SR_BP1 | SR_BP0))) {
write_enable(nor);
ret = write_sr(nor, status_new);
if (ret)
goto err;
}
err:
spi_nor_unlock_and_unprep(nor, SPI_NOR_OPS_UNLOCK);
return ret;
}
/*
* Erase the whole flash memory
*
* Returns 0 if successful, non-zero otherwise.
*/
static int erase_chip(struct m25p *flash)
{
DEBUG(MTD_DEBUG_LEVEL3, "%s: %s %dKiB\n",
flash->spi->dev.bus_id, __func__,
flash->mtd.size / 1024);
/* Wait until finished previous write command. */
if (wait_till_ready(flash))
return 1;
/* Send write enable, then erase commands. */
write_enable(flash);
/* Set up command buffer. */
flash->command[0] = OPCODE_CHIP_ERASE;
spi_write(flash->spi, flash->command, 1);
return 0;
}
static int macronix_quad_enable(struct spi_nor *nor)
{
int ret, val;
val = read_sr(nor);
write_enable(nor);
nor->cmd_buf[0] = val | SR_QUAD_EN_MX;
nor->write_reg(nor, SPINOR_OP_WRSR, nor->cmd_buf, 1, 0);
if (wait_till_ready(nor))
return 1;
ret = read_sr(nor);
if (!(ret > 0 && (ret & SR_QUAD_EN_MX))) {
dev_err(nor->dev, "Macronix Quad bit not set\n");
return -EINVAL;
}
return 0;
}
/* On exit, SW mode is kept */
static int read_flash_id(struct flash_bank *bank, uint32_t *id)
{
struct target *target = bank->target;
struct stmsmi_flash_bank *stmsmi_info = bank->driver_priv;
uint32_t io_base = stmsmi_info->io_base;
int retval;
if (target->state != TARGET_HALTED)
{
LOG_ERROR("Target not halted");
return ERROR_TARGET_NOT_HALTED;
}
/* poll WIP */
retval = wait_till_ready(bank, SMI_PROBE_TIMEOUT);
if (retval != ERROR_OK)
return retval;
/* enter in SW mode */
SMI_SET_SW_MODE();
/* clear transmit finished flag */
SMI_CLEAR_TFF();
/* Send SPI command "read ID" */
SMI_WRITE_REG(SMI_TR, SMI_READ_ID);
SMI_WRITE_REG(SMI_CR2,
stmsmi_info->bank_num | SMI_SEND | SMI_RX_LEN_3 | SMI_TX_LEN_1);
/* Poll transmit finished flag */
SMI_POLL_TFF(SMI_CMD_TIMEOUT);
/* clear transmit finished flag */
SMI_CLEAR_TFF();
/* read ID from Receive Register */
*id = SMI_READ_REG(SMI_RR) & 0x00ffffff;
return ERROR_OK;
}
/*
* Erase one sector of flash memory at offset ``offset'' which is any
* address within the sector which should be erased.
*
* Returns 0 if successful, non-zero otherwise.
*/
static int erase_sector(struct m25p *flash, u32 offset)
{
DEBUG(MTD_DEBUG_LEVEL3, "%s: %s %dKiB at 0x%08x\n",
flash->spi->dev.bus_id, __FUNCTION__,
flash->mtd.erasesize / 1024, offset);
/* Wait until finished previous write command. */
if (wait_till_ready(flash))
return 1;
/* Send write enable, then erase commands. */
write_enable(flash);
/* Set up command buffer. */
flash->command[0] = flash->erase_opcode;
flash->command[1] = offset >> 16;
flash->command[2] = offset >> 8;
flash->command[3] = offset;
spi_write(flash->spi, flash->command, sizeof(flash->command));
return 0;
}
// dir1 = curdir, dir2 = destdir
void makeTurn(int dir1, int dir2, int curX, int curY)
{
int rotation = 0;
rotation = dir2 - dir1;
if (rotation > 2)
rotation -= 4;
if (rotation < -2)
rotation += 4;
int penaltyLeft = 0, penaltyRight = 0;
if (curX == 0 && curY == 0) {
if (curDir == WEST) penaltyLeft = -1;
else if (curDir == SOUTH) penaltyRight = -1;
} else if (curX == 0 && curY == 4) {
if (curDir == NORTH) penaltyLeft = -1;
else if (curDir == WEST) penaltyRight = -1;
} else if (curX == 4 && curY == 0) {
if (curDir == SOUTH) penaltyLeft = -1;
else if (curDir == EAST) penaltyRight = -1;
} else if (curX == 4 && curY == 4) {
if (curDir == EAST) penaltyLeft = -1;
else if (curDir == NORTH) penaltyRight = -1;
}
if (rotation < 0) { //turn left
printf("Turn left %d\r\n", abs(rotation)+penaltyLeft);
// getchar();
setCommand(new_sck, TURN, 1, abs(rotation)+penaltyLeft, 0);
} else if (rotation > 0) {//turn right
printf("Turn right %d\r\n", rotation+penaltyRight);
// getchar();
setCommand(new_sck, TURN, 2, rotation+penaltyRight, 0);
}
wait_till_ready(new_sck);
}
static int sst_write(struct mtd_info *mtd, loff_t to, size_t len,
size_t *retlen, const u_char *buf)
{
struct spi_nor *nor = mtd_to_spi_nor(mtd);
size_t actual;
int ret;
dev_dbg(nor->dev, "to 0x%08x, len %zd\n", (u32)to, len);
ret = spi_nor_lock_and_prep(nor, SPI_NOR_OPS_WRITE);
if (ret)
return ret;
/* Wait until finished previous write command. */
ret = wait_till_ready(nor);
if (ret)
goto time_out;
write_enable(nor);
nor->sst_write_second = false;
actual = to % 2;
/* Start write from odd address. */
if (actual) {
nor->program_opcode = SPINOR_OP_BP;
/* write one byte. */
nor->write(nor, to, 1, retlen, buf);
ret = wait_till_ready(nor);
if (ret)
goto time_out;
}
to += actual;
/* Write out most of the data here. */
for (; actual < len - 1; actual += 2) {
nor->program_opcode = SPINOR_OP_AAI_WP;
/* write two bytes. */
nor->write(nor, to, 2, retlen, buf + actual);
ret = wait_till_ready(nor);
if (ret)
goto time_out;
to += 2;
nor->sst_write_second = true;
}
nor->sst_write_second = false;
write_disable(nor);
ret = wait_till_ready(nor);
if (ret)
goto time_out;
/* Write out trailing byte if it exists. */
if (actual != len) {
write_enable(nor);
nor->program_opcode = SPINOR_OP_BP;
nor->write(nor, to, 1, retlen, buf + actual);
ret = wait_till_ready(nor);
if (ret)
goto time_out;
write_disable(nor);
}
time_out:
spi_nor_unlock_and_unprep(nor, SPI_NOR_OPS_WRITE);
return ret;
}
/**
* Second main function
* @return
*/
int main_2() {
// Initializations
Position start, destination;
Path_element *path = NULL;
Path_element *robot_path;
int x, y;
#ifdef CHALLENGE_AB
int initial_facing_direction;
int i;
static int first_run = 1;
if (first_run) {
first_run = 0;
// Get which places to user wants to visit
getPlacesToVisit();
}
// Reset no_total_path_possible
no_total_path_possible = 0;
#endif
// Unvisit all places
unvisitAll();
// Seed the rand() function
srand(time(NULL));
#ifdef CHALLENGE_AB
// Randomize facing direction
initial_facing_direction = NORTH;// = rand() % 4 + 1;
#endif
// Initialize grid
generateGrid();
#if MINES_ACTIVE == 1
// Create mines
// createMines();
// removeConnection(0,0,1,0);
// removeConnection(1,0,2,0);
// removeConnection(0,2,1,2);
// removeConnection(2,2,3,2);
// removeConnection(3,3,4,3);
// removeConnection(0,0,0,1);
// removeConnection(1,0,1,1);
// removeConnection(1,3,1,4);
// removeConnection(2,1,2,2);
// removeConnection(2,3,2,4);
// removeConnection(3,0,3,1);
// removeConnection(4,0,4,1);
// removeConnection(4,1,4,2);
// removeConnection(0,0,0,1);
// removeConnection(1,3,1,2);
// removeConnection(2,2,2,3);
// removeConnection(4,1,4,2);
#endif
// Define the start position in the bottom left
start.x = destination.x = 1;
start.y = destination.y = 0;
#if MINES_ACTIVE == 1
// Discover mines at start location
// discoverMines(start.x, start.y);
#endif
#ifdef CHALLENGE_AB
int key, q;
goto go2;
frombeginning2:
cls_2();
printf("Place the robot at the beginning, type '1' to continue...\n");
key = 0;
while (!key) { scanf("%d",&key); }
go2:
curDir = 0;
setCommand(new_sck, MOVE, 1, 1, 0);
wait_till_ready(new_sck);
setCommand(new_sck, POS, 0, start.x+1, start.y+1);
wait_till_ready(new_sck);
// Get first destination
destination.x = places_to_visit[getTargetPlace(start.x, start.y, initial_facing_direction, 0)][0];
destination.y = places_to_visit[getTargetPlace(start.x, start.y, initial_facing_direction, 0)][1];
// Create the robot_path linked list
robot_path = malloc(sizeof (Path_element));
robot_path->x = start.x;
robot_path->y = start.y;
robot_path->facing_direction = initial_facing_direction;
robot_path->next = NULL;
for (q = 0; q < NUM_NODES; q++) getNodeById(q)->mark = 0;
// Mark places to visit
for (i = 0; i < NUMBER_OF_PLACES_TO_VISIT; i++) {
if (!places_to_visit[i][2])
grid[places_to_visit[i][0]][places_to_visit[i][1]]->mark = 49 + i;
}
// Find initial path
path = findShortestPath(start.x, start.y, initial_facing_direction, destination.x, destination.y);
// If path == NULL, there was no path found
if (!path || no_total_path_possible) {
// Clear screen, print the grid, display a message, sleep for a while and then rerun the program
cls_2();
printGrid(robot_path);
printf("\nCouldn't find a intial path...\n");
// getchar();
// main();
return 0;
}
// Record start
x = start.x;
y = start.y;
// Display first move
cls_2();
printGrid(robot_path);
// getchar();
int moveCorrect = 1;
while (1) {
if (kbhit()) goto frombeginning2;
if (moveCorrect) path = path->next;
// addToEndOfPath(&robot_path, path->x, path->y);
if (x == path->x && y == path->y) {
path = path->next;
}
int prevfd = path->facing_direction;
if (makeMove(x,y,path->x,path->y)) {
moveCorrect = 1;
x = path->x;
y = path->y;
} else {
printf("Returned mine between (%d,%d)<curr pos> and (%d,%d)\n",x,y,path->x,path->y);
removeConnection(x,y,path->x,path->y);
moveCorrect = 0;
// prevfd = reverseDirection(prevfd);
}
// Move and save position and step weight, also add the position to the path
if (moveCorrect) {
path = path->next;
addToEndOfPath(&robot_path, x, y);
}
// printf("VISIT\n");
visit(x, y);
// printf("VISITED ALL PLACES\n");
if (visitedAllPlaces()) break;
// printf("getTargetPlace\n");
// Get destination
destination.x = places_to_visit[getTargetPlace(x, y, prevfd, 0)][0];
destination.y = places_to_visit[getTargetPlace(x, y, prevfd, 0)][1];
// #if MINES_ACTIVE == 1
// Check for mines
// discoverMines(x, y);
// Now filter combs for discovered mines
// #endif
// Calculate new path, mines couldve changed something
// printf("New path %d,%d %d %d, %d\n",x,y,prevfd,destination.x,destination.y);
path = findShortestPath(
x, y,
prevfd,
destination.x,
destination.y
);
// printf("kay\n");
// If path == NULL, there was no path found
if (!path || no_total_path_possible) {
cls_2();
printGrid(robot_path);
printf("Could not find a path!\n");
getchar();
return 0;
}
// Display path and add step weight to path weight
cls_2();
printGrid(robot_path);
getTargetPlace(x, y, path->facing_direction, DEBUG);
// getchar();
}
// #if MINES_ACTIVE == 1
// // Reveal mines
// revealMines();
// #endif
// Display final screen
cls_2();
printGrid(robot_path);
printf("\nDone.\n");
getchar();
#endif
#ifdef CHALLENGE_C
// Find initial path
int *combs;
int index;
int q;
// clear grid markings
// Some unreadable shit which makes things work like they should
cls_2();
printf("Press enter to start...\n"); getchar();
int antiMine = 0;
rerun:
goto go3;
antimine:
antiMine = 1;
go3:
stepsTakenSize = 0;
index = 0;
int key;
goto go2;
frombeginning:
cls_2();
printf("Place the robot at the beginning, type '1' to continue, '9' to restart or '5' to restart in anti-mine mode...\n");
key = 0;
while (key==0) { scanf("%d",&key); }
if(key==9) goto rerun;
if(key==5) goto antimine;
go2:
curDir = 0;
setCommand(new_sck, MOVE, 1, 1, 0);
wait_till_ready(new_sck);
for (q = 0; q < NUM_NODES; q++) getNodeById(q)->mark = 0;
robot_path = malloc(sizeof (Path_element));
robot_path->x = start.x;
robot_path->y = start.y;
robot_path->next = NULL;
cls_2();
printGrid(robot_path);
setCommand(new_sck, POS, 0, start.x+1, start.y+1);
wait_till_ready(new_sck);
x = start.x;
y = start.y;
// Find initial path
combs = exploreArea(grid[start.x][start.y]->id);
// If path == NULL, there was no path found
if (!combs) {
// Clear screen, print the grid, display a message, sleep for a while and then rerun the program
printf("\nCouldn't find a intial path...\n");
getchar();
// main();
return 0;
}
while (1) {
// Start by removing the path walked from the current combs
int i;//, fins = 1;
for (i = 0; combs[i] != -2; i+=2) {
if (inStepsTaken(combs[i],combs[i+1])) {
combs[i] = combs[i+1] = -1;
}
}
// Check if there is a comb available
if (combs[index] == -1) {
index += 2;
continue;
}
if (combs[index] == -2) break;
// First walk to first node
int nodeNow = combs[index];
int nodeTo = combs[index+1];
//printf
path = findShortestPath(x, y,
(path?path->facing_direction:NORTH),
// 1,
getNodeById(nodeNow)->positionGrid.x,
getNodeById(nodeNow)->positionGrid.y);
int failed = 0;
int intcpt = 0;
while (!(x == getNodeById(nodeNow)->positionGrid.x && y == getNodeById(nodeNow)->positionGrid.y)) {
if (kbhit()) goto frombeginning;
if (path && x == path->x && y == path->y) path = path->next;
else if (!path) {
printf("FAIL!\n");
getchar();
intcpt = 1;
failed = 1;
break;
}
// printf("Making first MOVE!\n");
if (makeMove(x,y,path->x,path->y)) {
stepTaken(grid[x][y]->id,grid[path->x][path->y]->id);
// printf("Step correct! (from %d to %d)\n", grid[x][y]->id,grid[path->x][path->y]->id);getchar();
x = path->x;
y = path->y;
path = path->next;
addToEndOfPath(&robot_path, x, y);
} else {
if (antiMine) goto frombeginning;
removeConnection(x,y,path->x,path->y);
failed = 1;
break;
}
cls_2();
printGrid(robot_path);
}
if (failed) { // Soooo it failed, boohoo.
if (!intcpt) islandSN(grid[x][y]->id);
//cls_2();
printf("Recalculating...\n");
combs = exploreArea(grid[x][y]->id);
index = 0;
cls_2();
printGrid(robot_path);
continue;
}
// Okay now walk to second node
path = findShortestPath(x, y,
(path?path->facing_direction:NORTH),
getNodeById(nodeTo)->positionGrid.x,
getNodeById(nodeTo)->positionGrid.y);
while (!(x == getNodeById(nodeTo)->positionGrid.x && y == getNodeById(nodeTo)->positionGrid.y)) {
if (kbhit()) goto frombeginning;
if (path && x == path->x && y == path->y) path = path->next;
else if (!path) {
printf("FAIL!\n");
getchar();
intcpt = 1;
failed = 1;
break;
}
if (makeMove(x,y,path->x,path->y)) {
stepTaken(grid[x][y]->id,grid[path->x][path->y]->id);
// printf("Step correct! (from %d to %d)\n", grid[x][y]->id,grid[path->x][path->y]->id);getchar();
x = path->x;
y = path->y;
path = path->next;
addToEndOfPath(&robot_path, x, y);
} else {
if (antiMine) goto frombeginning;
removeConnection(x,y,path->x,path->y);
failed = 1;
break;
}
cls_2();
printGrid(robot_path);
}
if (failed) { // Soooo it failed, boohoo.
if (!intcpt) islandSN(grid[x][y]->id);
//cls_2();
printf("Recalculating...\n");
combs = exploreArea(grid[x][y]->id);
index = 0;
// islandSN(grid[x][y]->id);
cls_2();
printGrid(robot_path);
continue;
}
// Guess everything went okay
index += 2;
}
printf("Aaaaaaaaaaaaaand we're done, type '1' to rerun and '5' to rerun in anti-mine mode!\n");
key = 0;
while (key==0) { scanf("%d",&key); }
if (key==1) goto rerun;
else if(key==5) goto antimine;
#endif
return EXIT_SUCCESS;
}
int makeMove(int x1, int y1, int x2, int y2)
{
int val1;
printf("Making move from (%d,%d) to (%d,%d)\n", x1, y1, x2, y2);
setCommand(new_sck, MINE, 1, 0, 0);
// getchar();
// Dafuq why would you call me?!
if(x1==x2 && y1==y2)
return 1;
// (if needed) Turn and make the move
int dir = findDirection(x1, y1, x2, y2);
makeTurn(curDir, dir, x1, y1);
// update direction
curDir = dir;
printf("Dir set to %d\n", dir);
// getchar();
// Make 2 moves
setCommand(new_sck, MOVE, 1, 2, 0);
wait_till_ready(new_sck);
printf("Check for mine\n");
getCommand(new_sck, sckfd, MINE, 1, &val1, NULL);
// A mine was found, we're not on our destination
if (val1 == 1) {
//wait_till_ready(new_sck);
printf("Mine found!\n");
// getchar();
// Move in reverse
setCommand(new_sck, MOVE, 1, 4, 0);
wait_till_ready(new_sck);
setCommand(new_sck, MINE, 1, 0, 0);
dir=curDir;
return 0;
}
// We're on the destination
else {
printf("No mine found!\n");
// Check wether we are heading to our final destination
if(isPlaceToVisit(x2, y2)) {
// Turn into exit
#ifdef SMART_VISIT
if (x2 == 4){
if (curDir != EAST) {
makeTurn(curDir, EAST, x1, y1);
curDir = EAST;
}
}else if(x2 == 0){
if (curDir != WEST) {
makeTurn(curDir, WEST, x1, y1);
curDir = WEST;
}
}else if(y2 == 0){
if (curDir != SOUTH) {
makeTurn(curDir, SOUTH, x1, y1);
curDir = SOUTH;
}
}else if(y2 == 4){
if (curDir != NORTH) {
makeTurn(curDir, NORTH, x1, y1);
curDir = NORTH;
}
}
#else
if (x2 == 4){
makeTurn(curDir, EAST, x1, y1);
curDir = WEST;
}else if(x2 == 0){
makeTurn(curDir, WEST, x1, y1);
curDir = EAST;
}else if(y2 == 0){
makeTurn(curDir, SOUTH, x1, y1);
curDir = NORTH;
}else if(y2 == 4){
makeTurn(curDir, NORTH, x1, y1);
curDir = SOUTH;
}
// Move until white is seen by sensor
setCommand(new_sck, MOVE, 1, 3, 0);
wait_till_ready(new_sck);
// Draai 180 graden
setCommand(new_sck, TURN, 2, 1, 0);
wait_till_ready(new_sck);
// Ga weer terug naar kruispunt
setCommand(new_sck, MOVE, 1, 1, 0);
wait_till_ready(new_sck);
#endif
}
return 1;
}
return 0;
}
/*
* Read an address range from the flash chip. The address range
* may be any size provided it is within the physical boundaries.
*/
static int m25p80_read(struct mtd_info *mtd, loff_t from, size_t len,
size_t *retlen, u_char *buf)
{
struct m25p *flash = mtd_to_m25p(mtd);
struct spi_transfer t[2];
struct spi_message m;
DEBUG(MTD_DEBUG_LEVEL2, "%s: %s %s 0x%08x, len %zd\n",
flash->spi->dev.bus_id, __func__, "from",
(u32)from, len);
/* sanity checks */
if (!len)
return 0;
if (from + len > flash->mtd.size)
return -EINVAL;
spi_message_init(&m);
memset(t, 0, (sizeof t));
/* NOTE:
* OPCODE_FAST_READ (if available) is faster.
* Should add 1 byte DUMMY_BYTE.
*/
t[0].tx_buf = flash->command;
t[0].len = CMD_SIZE + FAST_READ_DUMMY_BYTE;
spi_message_add_tail(&t[0], &m);
t[1].rx_buf = buf;
t[1].len = len;
spi_message_add_tail(&t[1], &m);
/* Byte count starts at zero. */
if (retlen)
*retlen = 0;
mutex_lock(&flash->lock);
/* Wait till previous write/erase is done. */
if (wait_till_ready(flash)) {
/* REVISIT status return?? */
mutex_unlock(&flash->lock);
return 1;
}
/* FIXME switch to OPCODE_FAST_READ. It's required for higher
* clocks; and at this writing, every chip this driver handles
* supports that opcode.
*/
/* Set up the write data buffer. */
flash->command[0] = OPCODE_READ;
flash->command[1] = from >> 16;
flash->command[2] = from >> 8;
flash->command[3] = from;
spi_sync(flash->spi, &m);
*retlen = m.actual_length - CMD_SIZE - FAST_READ_DUMMY_BYTE;
mutex_unlock(&flash->lock);
return 0;
}
/* On exit, SW mode is kept */
static int lpcspifi_read_flash_id(struct flash_bank *bank, uint32_t *id)
{
struct target *target = bank->target;
struct lpcspifi_flash_bank *lpcspifi_info = bank->driver_priv;
uint32_t ssp_base = lpcspifi_info->ssp_base;
uint32_t io_base = lpcspifi_info->io_base;
uint32_t value;
uint8_t id_buf[3];
int retval;
if (target->state != TARGET_HALTED) {
LOG_ERROR("Target not halted");
return ERROR_TARGET_NOT_HALTED;
}
LOG_DEBUG("Getting ID");
retval = lpcspifi_set_sw_mode(bank);
if (retval != ERROR_OK)
return retval;
/* poll WIP */
if (retval == ERROR_OK)
retval = wait_till_ready(bank, SSP_PROBE_TIMEOUT);
/* Send SPI command "read ID" */
if (retval == ERROR_OK)
retval = ssp_setcs(target, io_base, 0);
if (retval == ERROR_OK)
retval = ssp_write_reg(target, ssp_base, SSP_DATA, SPIFLASH_READ_ID);
if (retval == ERROR_OK)
retval = poll_ssp_busy(target, ssp_base, SSP_CMD_TIMEOUT);
if (retval == ERROR_OK)
retval = ssp_read_reg(target, ssp_base, SSP_DATA, &value);
/* Dummy write to clock in data */
if (retval == ERROR_OK)
retval = ssp_write_reg(target, ssp_base, SSP_DATA, 0x00);
if (retval == ERROR_OK)
retval = poll_ssp_busy(target, ssp_base, SSP_CMD_TIMEOUT);
if (retval == ERROR_OK)
retval = ssp_read_reg(target, ssp_base, SSP_DATA, &value);
if (retval == ERROR_OK)
id_buf[0] = value;
/* Dummy write to clock in data */
if (retval == ERROR_OK)
retval = ssp_write_reg(target, ssp_base, SSP_DATA, 0x00);
if (retval == ERROR_OK)
retval = poll_ssp_busy(target, ssp_base, SSP_CMD_TIMEOUT);
if (retval == ERROR_OK)
retval = ssp_read_reg(target, ssp_base, SSP_DATA, &value);
if (retval == ERROR_OK)
id_buf[1] = value;
/* Dummy write to clock in data */
if (retval == ERROR_OK)
retval = ssp_write_reg(target, ssp_base, SSP_DATA, 0x00);
if (retval == ERROR_OK)
retval = poll_ssp_busy(target, ssp_base, SSP_CMD_TIMEOUT);
if (retval == ERROR_OK)
retval = ssp_read_reg(target, ssp_base, SSP_DATA, &value);
if (retval == ERROR_OK)
id_buf[2] = value;
if (retval == ERROR_OK)
retval = ssp_setcs(target, io_base, 1);
if (retval == ERROR_OK)
*id = id_buf[2] << 16 | id_buf[1] << 8 | id_buf[0];
return retval;
}
/*
* Write an address range to the flash chip. Data must be written in
* FLASH_PAGESIZE chunks. The address range may be any size provided
* it is within the physical boundaries.
*/
static int m25p80_write(struct mtd_info *mtd, loff_t to, size_t len,
size_t *retlen, const u_char *buf)
{
struct m25p *flash = mtd_to_m25p(mtd);
u32 page_offset, page_size;
struct spi_transfer t[2];
struct spi_message m;
DEBUG(MTD_DEBUG_LEVEL2, "%s: %s %s 0x%08x, len %zd\n",
flash->spi->dev.bus_id, __func__, "to",
(u32)to, len);
if (retlen)
*retlen = 0;
/* sanity checks */
if (!len)
return(0);
if (to + len > flash->mtd.size)
return -EINVAL;
spi_message_init(&m);
memset(t, 0, (sizeof t));
t[0].tx_buf = flash->command;
t[0].len = CMD_SIZE;
spi_message_add_tail(&t[0], &m);
t[1].tx_buf = buf;
spi_message_add_tail(&t[1], &m);
mutex_lock(&flash->lock);
/* Wait until finished previous write command. */
if (wait_till_ready(flash)) {
mutex_unlock(&flash->lock);
return 1;
}
write_enable(flash);
/* Set up the opcode in the write buffer. */
flash->command[0] = OPCODE_PP;
flash->command[1] = to >> 16;
flash->command[2] = to >> 8;
flash->command[3] = to;
/* what page do we start with? */
page_offset = to % FLASH_PAGESIZE;
/* do all the bytes fit onto one page? */
if (page_offset + len <= FLASH_PAGESIZE) {
t[1].len = len;
spi_sync(flash->spi, &m);
*retlen = m.actual_length - CMD_SIZE;
} else {
u32 i;
/* the size of data remaining on the first page */
page_size = FLASH_PAGESIZE - page_offset;
t[1].len = page_size;
spi_sync(flash->spi, &m);
*retlen = m.actual_length - CMD_SIZE;
/* write everything in PAGESIZE chunks */
for (i = page_size; i < len; i += page_size) {
page_size = len - i;
if (page_size > FLASH_PAGESIZE)
page_size = FLASH_PAGESIZE;
/* write the next page to flash */
flash->command[1] = (to + i) >> 16;
flash->command[2] = (to + i) >> 8;
flash->command[3] = (to + i);
t[1].tx_buf = buf + i;
t[1].len = page_size;
wait_till_ready(flash);
write_enable(flash);
spi_sync(flash->spi, &m);
if (retlen)
*retlen += m.actual_length - CMD_SIZE;
}
}
mutex_unlock(&flash->lock);
return 0;
}
static void spinand_cmdfunc(struct mtd_info *mtd, unsigned int command,
int column, int page)
{
struct nand_chip *chip = (struct nand_chip *)mtd->priv;
struct spinand_info *info = (struct spinand_info *)chip->priv;
struct spinand_state *state = (struct spinand_state *)info->priv;
switch (command) {
/*
* READ0 - read in first 0x800 bytes
*/
case NAND_CMD_READ1:
case NAND_CMD_READ0:
state->buf_ptr = 0;
spinand_read_page(info->spi, page, 0x0, 0x840, state->buf);
break;
/* READOOB reads only the OOB because no ECC is performed. */
case NAND_CMD_READOOB:
state->buf_ptr = 0;
spinand_read_page(info->spi, page, 0x800, 0x40, state->buf);
break;
case NAND_CMD_RNDOUT:
state->buf_ptr = column;
break;
case NAND_CMD_READID:
state->buf_ptr = 0;
spinand_read_id(info->spi, (u8 *)state->buf);
break;
case NAND_CMD_PARAM:
state->buf_ptr = 0;
break;
/* ERASE1 stores the block and page address */
case NAND_CMD_ERASE1:
spinand_erase_block(info->spi, page);
break;
/* ERASE2 uses the block and page address from ERASE1 */
case NAND_CMD_ERASE2:
break;
/* SEQIN sets up the addr buffer and all registers except the length */
case NAND_CMD_SEQIN:
state->col = column;
state->row = page;
state->buf_ptr = 0;
break;
/* PAGEPROG reuses all of the setup from SEQIN and adds the length */
case NAND_CMD_PAGEPROG:
spinand_program_page(info->spi, state->row, state->col,
state->buf_ptr, state->buf);
break;
case NAND_CMD_STATUS:
spinand_get_otp(info->spi, state->buf);
if (!(state->buf[0] & 0x80))
state->buf[0] = 0x80;
state->buf_ptr = 0;
break;
/* RESET command */
case NAND_CMD_RESET:
if (wait_till_ready(info->spi))
dev_err(&info->spi->dev, "WAIT timedout!!!\n");
/* a minimum of 250us must elapse before issuing RESET cmd*/
udelay(250);
spinand_reset(info->spi);
break;
default:
dev_err(&mtd->dev, "Unknown CMD: 0x%x\n", command);
}
}
/**
* spinand_program_page--to write a page with:
* @page_id: the physical page location to write the page.
* @offset: the location from the cache starting from 0 to 2111
* @len: the number of bytes to write
* @wbuf: the buffer to hold the number of bytes
*
* Description:
* The commands used here are 0x06, 0x84, and 0x10--indicating that
* the write enable is first sent, the write cache command, and the
* write execute command.
* Poll to wait for the tPROG time to finish the transaction.
*/
static int spinand_program_page(struct spi_device *spi_nand,
u16 page_id, u16 offset, u16 len, u8 *buf)
{
int retval;
u8 status = 0;
uint8_t *wbuf;
#ifdef CONFIG_MTD_SPINAND_ONDIEECC
unsigned int i, j;
enable_read_hw_ecc = 0;
wbuf = devm_kzalloc(&spi_nand->dev, CACHE_BUF, GFP_KERNEL);
spinand_read_page(spi_nand, page_id, 0, CACHE_BUF, wbuf);
for (i = offset, j = 0; i < len; i++, j++)
wbuf[i] &= buf[j];
if (enable_hw_ecc) {
retval = spinand_enable_ecc(spi_nand);
if (retval < 0) {
dev_err(&spi_nand->dev, "enable ecc failed!!\n");
return retval;
}
}
#else
wbuf = buf;
#endif
retval = spinand_write_enable(spi_nand);
if (retval < 0) {
dev_err(&spi_nand->dev, "write enable failed!!\n");
return retval;
}
if (wait_till_ready(spi_nand))
dev_err(&spi_nand->dev, "wait timedout!!!\n");
retval = spinand_program_data_to_cache(spi_nand, page_id,
offset, len, wbuf);
if (retval < 0)
return retval;
retval = spinand_program_execute(spi_nand, page_id);
if (retval < 0)
return retval;
while (1) {
retval = spinand_read_status(spi_nand, &status);
if (retval < 0) {
dev_err(&spi_nand->dev,
"error %d reading status register\n",
retval);
return retval;
}
if ((status & STATUS_OIP_MASK) == STATUS_READY) {
if ((status & STATUS_P_FAIL_MASK) == STATUS_P_FAIL) {
dev_err(&spi_nand->dev,
"program error, page %d\n", page_id);
return -1;
} else
break;
}
}
#ifdef CONFIG_MTD_SPINAND_ONDIEECC
if (enable_hw_ecc) {
retval = spinand_disable_ecc(spi_nand);
if (retval < 0) {
dev_err(&spi_nand->dev, "disable ecc failed!!\n");
return retval;
}
enable_hw_ecc = 0;
}
#endif
return 0;
}
static int sst_write(struct mtd_info *mtd, loff_t to, size_t len,
size_t *retlen, const u_char *buf)
{
struct m25p *flash = mtd_to_m25p(mtd);
struct spi_transfer t[2];
struct spi_message m;
size_t actual;
int cmd_sz, ret;
if (retlen)
*retlen = 0;
/* sanity checks */
if (!len)
return 0;
if (to + len > flash->mtd.size)
return -EINVAL;
spi_message_init(&m);
memset(t, 0, (sizeof t));
t[0].tx_buf = flash->command;
t[0].len = CMD_SIZE;
spi_message_add_tail(&t[0], &m);
t[1].tx_buf = buf;
spi_message_add_tail(&t[1], &m);
mutex_lock(&flash->lock);
/* Wait until finished previous write command. */
ret = wait_till_ready(flash);
if (ret)
goto time_out;
write_enable(flash);
actual = to % 2;
/* Start write from odd address. */
if (actual) {
flash->command[0] = OPCODE_BP;
flash->command[1] = to >> 16;
flash->command[2] = to >> 8;
flash->command[3] = to;
/* write one byte. */
t[1].len = 1;
spi_sync(flash->spi, &m);
ret = wait_till_ready(flash);
if (ret)
goto time_out;
*retlen += m.actual_length - CMD_SIZE;
}
to += actual;
flash->command[0] = OPCODE_AAI_WP;
flash->command[1] = to >> 16;
flash->command[2] = to >> 8;
flash->command[3] = to;
cmd_sz = CMD_SIZE;
for (; actual < len - 1; actual += 2) {
t[0].len = cmd_sz;
/* write two bytes. */
t[1].len = 2;
t[1].tx_buf = buf + actual;
spi_sync(flash->spi, &m);
ret = wait_till_ready(flash);
if (ret)
goto time_out;
*retlen += m.actual_length - cmd_sz;
cmd_sz = 1;
to += 2;
}
write_disable(flash);
ret = wait_till_ready(flash);
if (ret)
goto time_out;
if (actual != len) {
write_enable(flash);
flash->command[0] = OPCODE_BP;
flash->command[1] = to >> 16;
flash->command[2] = to >> 8;
flash->command[3] = to;
t[0].len = CMD_SIZE;
t[1].len = 1;
t[1].tx_buf = buf + actual;
spi_sync(flash->spi, &m);
ret = wait_till_ready(flash);
if (ret)
goto time_out;
*retlen += m.actual_length - CMD_SIZE;
write_disable(flash);
}
/*
* Erase an address range on the flash chip. The address range may extend
* one or more erase sectors. Return an error is there is a problem erasing.
*/
static int m25p80_erase(struct mtd_info *mtd, struct erase_info *instr)
{
struct m25p *flash = mtd_to_m25p(mtd);
u32 addr,len;
uint64_t tmpdiv;
int rem, rem1;
DEBUG(MTD_DEBUG_LEVEL2, "%s: %s %s 0x%08x, len %d\n",
flash->spi->dev.bus_id, __FUNCTION__, "at",
(u32)instr->addr, instr->len);
/* sanity checks */
if (instr->addr + instr->len > device_size(&(flash->mtd)))
return -EINVAL;
tmpdiv = (uint64_t) instr->addr;
rem = do_div(tmpdiv, mtd->erasesize);
tmpdiv = (uint64_t) instr->len;
rem1 = do_div(tmpdiv, mtd->erasesize);
if (rem != 0 || rem1 != 0) {
return -EINVAL;
}
addr = instr->addr;
len = instr->len;
mutex_lock(&flash->lock);
/* REVISIT in some cases we could speed up erasing large regions
* by using OPCODE_SE instead of OPCODE_BE_4K
*/
/* now erase those sectors */
while (len) {
#ifdef CONFIG_MIPS_BRCM97XXX
/* BSPI remaps each 4MB segment */
if (erase_sector(flash, (addr + 0x400000) & 0xffffff)) {
#else
if (erase_sector(flash, addr)) {
#endif
instr->state = MTD_ERASE_FAILED;
mutex_unlock(&flash->lock);
return -EIO;
}
addr += mtd->erasesize;
len -= mtd->erasesize;
}
mutex_unlock(&flash->lock);
instr->state = MTD_ERASE_DONE;
mtd_erase_callback(instr);
return 0;
}
/*
* Read an address range from the flash chip. The address range
* may be any size provided it is within the physical boundaries.
*/
static int m25p80_read(struct mtd_info *mtd, loff_t from, size_t len,
size_t *retlen, u_char *buf)
{
struct m25p *flash = mtd_to_m25p(mtd);
struct spi_transfer t[2];
struct spi_message m;
size_t total_len = len;
DEBUG(MTD_DEBUG_LEVEL2, "%s: %s %s 0x%08x, len %zd\n",
flash->spi->dev.bus_id, __FUNCTION__, "from",
(u32)from, len);
/* sanity checks */
if (!len)
return 0;
if (from + len > device_size(&(flash->mtd)))
return -EINVAL;
if (retlen)
*retlen = 0;
total_len = len;
while(total_len) {
len = total_len;
#if 0 //defined(BRCM_SPI_SS_WAR)
/*
* For testing purposes only - read 12 bytes at a time:
*
* 3548a0 MSPI has a 12-byte limit (PR42350).
* MSPI emulated via BSPI has no such limit.
* In production BSPI is always used because it is much faster.
*/
if(len > 12)
len = 12;
#endif
#ifdef CONFIG_MIPS_BRCM97XXX
/* don't cross a 4MB boundary due to remapping */
len = min(len, (0x400000 - ((u32)from & 0x3fffff)));
#endif
spi_message_init(&m);
memset(t, 0, (sizeof t));
t[0].tx_buf = flash->command;
t[0].len = sizeof(flash->command);
spi_message_add_tail(&t[0], &m);
t[1].rx_buf = buf;
t[1].len = len;
spi_message_add_tail(&t[1], &m);
/* Byte count starts at zero. */
mutex_lock(&flash->lock);
/* Wait till previous write/erase is done. */
if (wait_till_ready(flash)) {
/* REVISIT status return?? */
mutex_unlock(&flash->lock);
return 1;
}
/* FIXME switch to OPCODE_FAST_READ. It's required for higher
* clocks; and at this writing, every chip this driver handles
* supports that opcode.
*/
/* Set up the write data buffer. */
flash->command[0] = OPCODE_READ;
#ifdef CONFIG_MIPS_BRCM97XXX
/* BSPI remaps each 4MB segment */
flash->command[1] = ((from >> 16) + 0x40) & 0xff;
#else
flash->command[1] = from >> 16;
#endif
flash->command[2] = from >> 8;
flash->command[3] = from;
spi_sync(flash->spi, &m);
*retlen += m.actual_length - sizeof(flash->command);
mutex_unlock(&flash->lock);
from += len;
buf += len;
total_len -= len;
}
return 0;
}
/*
* Write an address range to the flash chip. Data must be written in
* FLASH_PAGESIZE chunks. The address range may be any size provided
* it is within the physical boundaries.
*/
static int m25p80_write(struct mtd_info *mtd, loff_t to, size_t len,
size_t *retlen, const u_char *buf)
{
struct m25p *flash = mtd_to_m25p(mtd);
u32 page_offset, page_size;
struct spi_transfer t[2];
struct spi_message m;
DEBUG(MTD_DEBUG_LEVEL2, "%s: %s %s 0x%08x, len %zd\n",
flash->spi->dev.bus_id, __FUNCTION__, "to",
(u32)to, len);
if (retlen)
*retlen = 0;
/* sanity checks */
if (!len)
return(0);
if (to + len > device_size(&(flash->mtd)))
return -EINVAL;
#ifdef BRCM_SPI_SS_WAR
if(len > 12)
return -EIO;
#endif
spi_message_init(&m);
memset(t, 0, (sizeof t));
t[0].tx_buf = flash->command;
t[0].len = sizeof(flash->command);
spi_message_add_tail(&t[0], &m);
t[1].tx_buf = buf;
spi_message_add_tail(&t[1], &m);
mutex_lock(&flash->lock);
/* Wait until finished previous write command. */
if (wait_till_ready(flash))
return 1;
write_enable(flash);
/* Set up the opcode in the write buffer. */
flash->command[0] = OPCODE_PP;
#ifdef CONFIG_MIPS_BRCM97XXX
/* BSPI remaps each 4MB segment */
flash->command[1] = ((to >> 16) + 0x40) & 0xff;
#else
flash->command[1] = to >> 16;
#endif
flash->command[2] = to >> 8;
flash->command[3] = to;
/* what page do we start with? */
page_offset = to % FLASH_PAGESIZE;
/* do all the bytes fit onto one page? */
if (page_offset + len <= FLASH_PAGESIZE) {
t[1].len = len;
spi_sync(flash->spi, &m);
*retlen = m.actual_length - sizeof(flash->command);
} else {
u32 i;
/* the size of data remaining on the first page */
page_size = FLASH_PAGESIZE - page_offset;
t[1].len = page_size;
spi_sync(flash->spi, &m);
*retlen = m.actual_length - sizeof(flash->command);
/* write everything in PAGESIZE chunks */
for (i = page_size; i < len; i += page_size) {
page_size = len - i;
if (page_size > FLASH_PAGESIZE)
page_size = FLASH_PAGESIZE;
/* write the next page to flash */
#ifdef CONFIG_MIPS_BRCM97XXX
/* BSPI remaps each 4MB segment */
flash->command[1] = (((to + i) >> 16) + 0x40) & 0xff;
#else
flash->command[1] = (to + i) >> 16;
#endif
flash->command[2] = (to + i) >> 8;
flash->command[3] = (to + i);
t[1].tx_buf = buf + i;
t[1].len = page_size;
wait_till_ready(flash);
write_enable(flash);
spi_sync(flash->spi, &m);
if (retlen)
*retlen += m.actual_length
- sizeof(flash->command);
}
}
mutex_unlock(&flash->lock);
return 0;
}
/****************************************************************************/
/*
* SPI device driver setup and teardown
*/
struct flash_info {
char *name;
/* JEDEC id zero means "no ID" (most older chips); otherwise it has
* a high byte of zero plus three data bytes: the manufacturer id,
* then a two byte device id.
*/
u32 jedec_id;
/* The size listed here is what works with OPCODE_SE, which isn't
* necessarily called a "sector" by the vendor.
*/
unsigned sector_size;
u16 n_sectors;
u16 flags;
#define SECT_4K 0x01 /* OPCODE_BE_4K works uniformly */
};
/* NOTE: double check command sets and memory organization when you add
* more flash chips. This current list focusses on newer chips, which
* have been converging on command sets which including JEDEC ID.
*/
static struct flash_info __devinitdata m25p_data [] = {
/* Atmel -- some are (confusingly) marketed as "DataFlash" */
{ "at25fs010", 0x1f6601, 32 * 1024, 4, SECT_4K, },
{ "at25fs040", 0x1f6604, 64 * 1024, 8, SECT_4K, },
{ "at25df041a", 0x1f4401, 64 * 1024, 8, SECT_4K, },
{ "at26f004", 0x1f0400, 64 * 1024, 8, SECT_4K, },
{ "at26df081a", 0x1f4501, 64 * 1024, 16, SECT_4K, },
{ "at26df161a", 0x1f4601, 64 * 1024, 32, SECT_4K, },
{ "at26df321", 0x1f4701, 64 * 1024, 64, SECT_4K, },
/* Spansion -- single (large) sector size only, at least
* for the chips listed here (without boot sectors).
*/
{ "s25sl004a", 0x010212, 64 * 1024, 8, },
{ "s25sl008a", 0x010213, 64 * 1024, 16, },
{ "s25sl016a", 0x010214, 64 * 1024, 32, },
{ "s25sl032a", 0x010215, 64 * 1024, 64, },
{ "s25sl064a", 0x010216, 64 * 1024, 128, },
#ifdef CONFIG_MIPS_BRCM97XXX
{ "s25fl128p", 0x012018, 64 * 1024, 256, },
#endif
/* SST -- large erase sizes are "overlays", "sectors" are 4K */
{ "sst25vf040b", 0xbf258d, 64 * 1024, 8, SECT_4K, },
{ "sst25vf080b", 0xbf258e, 64 * 1024, 16, SECT_4K, },
{ "sst25vf016b", 0xbf2541, 64 * 1024, 32, SECT_4K, },
{ "sst25vf032b", 0xbf254a, 64 * 1024, 64, SECT_4K, },
/* ST Microelectronics -- newer production may have feature updates */
{ "m25p05", 0x202010, 32 * 1024, 2, },
{ "m25p10", 0x202011, 32 * 1024, 4, },
{ "m25p20", 0x202012, 64 * 1024, 4, },
{ "m25p40", 0x202013, 64 * 1024, 8, },
#ifndef CONFIG_MIPS_BRCM97XXX
/* ID 0 is detected when there's nothing on the bus */
{ "m25p80", 0, 64 * 1024, 16, },
#endif
{ "m25p16", 0x202015, 64 * 1024, 32, },
{ "m25p32", 0x202016, 64 * 1024, 64, },
{ "m25p64", 0x202017, 64 * 1024, 128, },
{ "m25p128", 0x202018, 256 * 1024, 64, },
{ "m45pe80", 0x204014, 64 * 1024, 16, },
{ "m45pe16", 0x204015, 64 * 1024, 32, },
{ "m25pe80", 0x208014, 64 * 1024, 16, },
{ "m25pe16", 0x208015, 64 * 1024, 32, SECT_4K, },
/* Winbond -- w25x "blocks" are 64K, "sectors" are 4KiB */
{ "w25x10", 0xef3011, 64 * 1024, 2, SECT_4K, },
{ "w25x20", 0xef3012, 64 * 1024, 4, SECT_4K, },
{ "w25x40", 0xef3013, 64 * 1024, 8, SECT_4K, },
{ "w25x80", 0xef3014, 64 * 1024, 16, SECT_4K, },
{ "w25x16", 0xef3015, 64 * 1024, 32, SECT_4K, },
{ "w25x32", 0xef3016, 64 * 1024, 64, SECT_4K, },
{ "w25x64", 0xef3017, 64 * 1024, 128, SECT_4K, },
};
static struct flash_info *__devinit jedec_probe(struct spi_device *spi)
{
int tmp;
u8 code = OPCODE_RDID;
u8 id[3];
u32 jedec;
struct flash_info *info;
/* JEDEC also defines an optional "extended device information"
* string for after vendor-specific data, after the three bytes
* we use here. Supporting some chips might require using it.
*/
tmp = spi_write_then_read(spi, &code, 1, id, 3);
if (tmp < 0) {
DEBUG(MTD_DEBUG_LEVEL0, "%s: error %d reading JEDEC ID\n",
spi->dev.bus_id, tmp);
return NULL;
}
jedec = id[0];
jedec = jedec << 8;
jedec |= id[1];
jedec = jedec << 8;
jedec |= id[2];
for (tmp = 0, info = m25p_data;
tmp < ARRAY_SIZE(m25p_data);
tmp++, info++) {
if (info->jedec_id == jedec)
return info;
}
dev_err(&spi->dev, "unrecognized JEDEC id %06x\n", jedec);
return NULL;
}
int _i2c_firmware_update_dp703(struct scaler_private_data *scaler)
{
int i=0,j=0,k=0,m=0;
int fail = 0;
int result = 0;
int err_count = 0;
//Step 1: Stop MPU and Reset SPI
result = WriteReg(scaler, PAGE2_ADDRESS, 0xbc, 0xc0);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xbc, 0x40); //stop MPU
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03); //set WP pin high
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x04); // Write-Disable
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x05);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x02); // set WP pin low
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//Step 2: Chip Erase
//enable write status register
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x50); // Enable-Write-Status-Register
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x05);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x02);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//disable all protection
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x01); //Write-Status-Register
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x00); //Status Register
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x01);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x05);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x02);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//wait for SPI module ready
result = wait_till_ready(scaler, PAGE2_ADDRESS, 0x9e, 0x0c);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
for(i=0; i<3; i++)
{
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x05); // 0x05 RDSR; command of flash
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00); // command length
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x01); // trigger read
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = wait_till_ready(scaler, PAGE2_ADDRESS, 0x93, 0x01);// wait for SPI command done
if(!result)
break;
}
if(i >= 3)
return result;
//enable DP701 mapping function
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xda, 0xaa);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xda, 0x55);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xda, 0x50);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xda, 0x41);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xda, 0x52);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xda, 0x44);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//write enable
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x06); // Write-Enable command
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x05);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x02);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//chip erase
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x60); //chip erase command
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x05);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//wait for SPI interface ready
result = wait_till_ready(scaler, PAGE2_ADDRESS,0x9e, 0x0c);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//wait for SPI ROM until not busy
for(i=0; i<3; i++)
{
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x05); // 0x05 RDSR; Read-Status-Register
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00); // command length
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x01); // trigger read
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = wait_till_ready(scaler, PAGE2_ADDRESS, 0x93, 0x01);// wait for SPI command done
if(!result)
break;
}
if(i >= 3)
return result;
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x02);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//Step 3: Load F/W to SPI ROM
result = WriteReg(scaler, PAGE2_ADDRESS, 0x82, 0x20);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
msleep(100);
result = WriteReg(scaler, PAGE2_ADDRESS, 0x82, 0x00);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
for(k=0;k<16;k++) //1Mbytes SPI ROM Size (16 banks)
{
for(j=0; j<256; j++)
{
result = WriteReg(scaler, PAGE2_ADDRESS, 0x8e, j);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x8f, k);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
for( i = 0; i <256; i++ )
{
result = WriteReg(scaler, PAGE7_ADDRESS, i, binary_data_dp703[(k<<16) + (j<<8) + i]); //
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
// maybe should add some delay here
}
}
}
//Step 4: Verify SPI ROM
fail=0;
for(k=0;k<16;k++) //1Mbytes SPI ROM Size (16 banks)
{
for(j=0;j<256;j++) //read SPI ROM data to ReadHex
{
result = WriteReg(scaler, PAGE2_ADDRESS, 0x8e, j);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x8f, k);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = ReadPage(scaler, PAGE7_ADDRESS, 0, 256, &binary_data_dp703_read[(k<<16) + (j<<8)]);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
}
err_count = 0;
for(m=0; m<65536; m++)
{
if(binary_data_dp703_read[m + (k<<16)] != binary_data_dp703[m + (k<<16)])
{
err_count ++;
printk("%d:0x%x,0x%x ", m + (k<<16), binary_data_dp703[m + (k<<16)], binary_data_dp703_read[m + (k<<16)]);
if((m%6) == 0)
printk("\n");
}
}
if(err_count > 0)
{
printk("%s:err_count=%d\n",__func__, err_count);
return -1;
}
}
//Step 5: Enable Write Protection
//write enable
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x50); // Enable-Write-Status-Register
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x05);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x02);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//enable write register protection
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x03);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x01); //write status register value
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x8C); //protect BPL/BP0/BP1
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x01);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x05);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0xb0, 0x02);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
//wait for SPI module ready
result = wait_till_ready(scaler, PAGE2_ADDRESS, 0x9e, 0x0c);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
for(i=0; i<3; i++)
{
result = WriteReg(scaler, PAGE2_ADDRESS, 0x90, 0x05); // 0x05 RDSR; command of flash
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x92, 0x00); // command length
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = WriteReg(scaler, PAGE2_ADDRESS, 0x93, 0x01); // trigger read
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
result = wait_till_ready(scaler, PAGE2_ADDRESS, 0x93, 0x01);// wait for SPI command done
if(!result)
break;
} //disable DP701 mapping function
if(i >= 3)
return result;
result = WriteReg(scaler, PAGE2_ADDRESS, 0xda, 0x00);
if(result)
{
printk("%s:line=%d, error\n",__func__, __LINE__);
return result;
}
return result;
}