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[BHI26AP] Improved startup speed when flash is present
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@lewisxhe
lewisxhe committed Jul 25, 2024
1 parent fd646e3 commit 1f8dd9a
Showing 1 changed file with 143 additions and 20 deletions.
163 changes: 143 additions & 20 deletions src/SensorBHI260AP.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,10 +111,10 @@ class SensorBHI260AP

void deinit()
{
if (processBuffer) {
free(processBuffer);
if (__pro_buf) {
free(__pro_buf);
}
processBuffer = NULL;
__pro_buf = NULL;

if (bhy2) {
free(bhy2);
Expand All @@ -141,18 +141,23 @@ class SensorBHI260AP

void update()
{
if (!processBuffer) {
if (!__pro_buf) {
return;
}
if (__handler.irq != SENSOR_PIN_NONE) {
if (__data_available) {
bhy2_get_and_process_fifo(processBuffer, processBufferSize, bhy2);
bhy2_get_and_process_fifo(__pro_buf, __pro_buf_size, bhy2);
}
} else {
bhy2_get_and_process_fifo(processBuffer, processBufferSize, bhy2);
bhy2_get_and_process_fifo(__pro_buf, __pro_buf_size, bhy2);
}
}

void setBootFormFlash(bool boot_from_flash)
{
__boot_from_flash = boot_from_flash;
}

bool enablePowerSave()
{
return true;
Expand Down Expand Up @@ -360,7 +365,7 @@ class SensorBHI260AP
if (__error_code != BHY2_OK) {
return false;
}
return (boot_status & BHY2_BST_HOST_INTERFACE_READY) == false;
return (boot_status & BHY2_BST_HOST_INTERFACE_READY);
}

uint16_t getKernelVersion()
Expand All @@ -370,7 +375,7 @@ class SensorBHI260AP
if ((__error_code != BHY2_OK) && (version == 0)) {
return 0;
}
log_i("Boot successful. Kernel version %u.", version);
log_d("Boot successful. Kernel version %u.", version);
return version;
}

Expand Down Expand Up @@ -421,7 +426,7 @@ class SensorBHI260AP

void setProcessBufferSize(uint32_t size)
{
processBufferSize = size;
__pro_buf_size = size;
}


Expand Down Expand Up @@ -464,7 +469,7 @@ class SensorBHI260AP
log_e("%s", get_sensor_error_text(sensor_error));
return false;
}


if (write2Flash) {
log_i("Booting from FLASH.");
Expand Down Expand Up @@ -492,6 +497,9 @@ class SensorBHI260AP

bool configure(uint8_t sensor_id, float sample_rate, uint32_t report_latency_ms)
{
if (!bhy2_is_sensor_available(sensor_id, bhy2)) {
log_e("Sensor not present"); return false;
}
__error_code = bhy2_set_virt_sensor_cfg(sensor_id, sample_rate, report_latency_ms, bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_set_virt_sensor_cfg failed!", false);
log_i("Enable %s at %.2fHz.", get_sensor_name(sensor_id), sample_rate);
Expand Down Expand Up @@ -530,6 +538,110 @@ class SensorBHI260AP
}

private:

bool bootFromFlash()
{
int8_t rslt;
uint8_t boot_status, feat_status;
uint8_t error_val = 0;
uint16_t tries = 300; /* Wait for up to little over 3s */

log_d("Waiting for firmware verification to complete");
do {
__error_code = bhy2_get_boot_status(&boot_status, bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_boot_status failed!", false);
if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) {
break;
}
delay(10);
} while (tries--);

__error_code = bhy2_get_boot_status(&boot_status, bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_boot_status failed!", false);
print_boot_status(boot_status);

if (boot_status & BHY2_BST_HOST_INTERFACE_READY) {

if (boot_status & BHY2_BST_FLASH_DETECTED) {

/* If no firmware is running, boot from Flash */
log_d("Booting from flash");
rslt = bhy2_boot_from_flash(bhy2);
if (rslt != BHY2_OK) {
log_e("%s. Booting from flash failed.\r\n", get_api_error(rslt));
__error_code = bhy2_get_regs(BHY2_REG_ERROR_VALUE, &error_val, 1, bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_regs failed!", false);
if (error_val) {
log_e("%s\r\n", get_sensor_error_text(error_val));
}
return false;
}

__error_code = bhy2_get_boot_status(&boot_status, bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_boot_status failed!", false);
print_boot_status(boot_status);

if (!(boot_status & BHY2_BST_HOST_INTERFACE_READY)) {
/* hub is not ready, need reset hub */
log_d("Host interface is not ready, triggering a reset");
__error_code = bhy2_soft_reset(bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_soft_reset failed!", false);
}

__error_code = (bhy2_get_feature_status(&feat_status, bhy2));
BHY2_RLST_CHECK(__error_code != BHY2_OK, "Reading Feature status failed, booting from flash failed!", false);

} else {
log_e("Can't detect external flash");
return false;
}
} else {
log_e("Host interface is not ready");
return false;
}

log_d("Booting from flash successful");
return true;
}



void print_boot_status(uint8_t boot_status)
{
log_d("Boot Status : 0x%02x: ", boot_status);
if (boot_status & BHY2_BST_FLASH_DETECTED) {
log_d("Flash detected. ");
}

if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) {
log_d("Flash verify done. ");
}

if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) {
log_d("Flash verification failed. ");
}

if (boot_status & BHY2_BST_NO_FLASH) {
log_d("No flash installed. ");
}

if (boot_status & BHY2_BST_HOST_INTERFACE_READY) {
log_d("Host interface ready. ");
}

if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) {
log_d("Firmware verification done. ");
}

if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) {
log_d("Firmware verification error. ");
}

if (boot_status & BHY2_BST_HOST_FW_IDLE) {
log_d("Firmware halted. ");
}
}

static void handleISR()
{
__data_available = true;
Expand Down Expand Up @@ -591,8 +703,6 @@ class SensorBHI260AP
return false;
}



__error_code = bhy2_soft_reset(bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "reset bhy2 failed!", false);

Expand All @@ -613,7 +723,19 @@ class SensorBHI260AP
setFirmware(bhy2_firmware_image, sizeof(bhy2_firmware_image), false);
}

if (!isReady()) {
if (__boot_from_flash) {
if (!bootFromFlash()) {
//** If the boot from flash fails, re-upload the firmware to flash
__error_code = bhy2_soft_reset(bhy2);
BHY2_RLST_CHECK(__error_code != BHY2_OK, "reset bhy2 failed!", false);

if (!uploadFirmware(__firmware, __firmware_size, __write_flash)) {
log_e("uploadFirmware failed!");
return false;
}
}
} else {
// ** Upload firmware to RAM
if (!uploadFirmware(__firmware, __firmware_size, __write_flash)) {
log_e("uploadFirmware failed!");
return false;
Expand All @@ -636,16 +758,16 @@ class SensorBHI260AP

//Set process buffer
#if (defined(ESP32) || defined(ARDUINO_ARCH_ESP32)) && defined(BOARD_HAS_PSRAM)
processBuffer = (uint8_t *)ps_malloc(processBufferSize);
__pro_buf = (uint8_t *)ps_malloc(__pro_buf_size);
#else
processBuffer = (uint8_t *)malloc(processBufferSize);
__pro_buf = (uint8_t *)malloc(__pro_buf_size);
#endif
BHY2_RLST_CHECK(!processBuffer, "process buffer malloc failed!", false);
BHY2_RLST_CHECK(!__pro_buf, "process buffer malloc failed!", false);

__error_code = bhy2_get_and_process_fifo(processBuffer, processBufferSize, bhy2);
__error_code = bhy2_get_and_process_fifo(__pro_buf, __pro_buf_size, bhy2);
if (__error_code != BHY2_OK) {
log_e("bhy2_get_and_process_fifo failed");
free(processBuffer);
free(__pro_buf);
return false;
}

Expand Down Expand Up @@ -680,11 +802,12 @@ class SensorBHI260AP
SensorLibConfigure __handler;
int8_t __error_code;
static volatile bool __data_available;
uint8_t *processBuffer = NULL;
size_t processBufferSize = BHY_PROCESS_BUFFER_SIZE;
uint8_t *__pro_buf = NULL;
size_t __pro_buf_size = BHY_PROCESS_BUFFER_SIZE;
const uint8_t *__firmware;
size_t __firmware_size;
bool __write_flash;
bool __boot_from_flash;
uint16_t __max_rw_length;
uint8_t __accuracy; /* Accuracy is reported as a meta event. */
};
Expand Down

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