Added automated test code.

SConstruct

@@ -11,3 +11,5 @@ env.SelectMCU('stm32f303rc')
 env.Firmware('arcin.elf', ['main.cpp'], LINK_SCRIPT = 'arcin.ld')
 
 env.Firmware('bootloader.elf', ['bootloader.cpp'], LINK_SCRIPT = 'bootloader.ld')
+
+env.Firmware('test.elf', ['test.cpp'])

autotest.py

@@ -0,0 +1,206 @@
+#!/usr/bin/env python
+
+import usb.core
+import usb.util
+import time, struct
+
+from hidapi import hidapi
+import ctypes
+
+from elftools.elf.elffile import ELFFile
+
+pid_runtime = 0x6080
+pid_bootloader = 0x6084
+
+e = ELFFile(open('arcin.elf'))
+
+firmware = ''
+
+for segment in sorted(e.iter_segments(), key = lambda x: x.header.p_paddr):
+	if segment.header.p_type != 'PT_LOAD':
+		continue
+
+	data = segment.data()
+	lma = segment.header.p_paddr
+
+	# Workaround for LD aligning segments to a larger boundary than 8k.
+	if lma == 0x8000000:
+		lma += 0x2000
+		data = data[0x2000:]
+
+	# Add padding if necessary.
+	firmware += '\0' * (lma - 0x8002000 - len(firmware))
+
+	firmware += data
+
+# Align to 64B
+if len(firmware) & (64 - 1):
+	firmware += '\0' * (64 - (len(firmware) & (64 - 1)))
+
+# Find test board.
+dev = usb.core.find(idVendor = 0x1234, idProduct = 0x5678)
+
+if not dev:
+	print 'Test board not found.'
+	exit(1)
+
+def set_buttons(value):
+	dev.ctrl_transfer(0xc0, 0xf0, value, 0, 0)
+
+def get_leds():
+	return struct.unpack('<I', ''.join(chr(c) for c in dev.ctrl_transfer(0xc0, 0xf1, 0, 0, 4)))[0]
+
+def count_qe(value):
+	dev.ctrl_transfer(0xc0, 0xf2, value & 0xffff, 0, 0)
+
+def open_hiddev(pid):
+	global hiddev
+
+	hidapi.hid_exit()
+	hiddev = hidapi.hid_open(0x1d50, pid, None)
+
+	if not hiddev: 
+		raise RuntimeError('Target not found.')
+
+def flash_board():
+	print 'Found bootloader device, starting flashing.'
+
+	# Prepare
+	if hidapi.hid_send_feature_report(hiddev, ctypes.c_char_p('\x00\x20'), 2) != 2:
+		raise RuntimeError('Prepare failed.')
+
+	buf = firmware
+
+	# Flash
+	while buf:
+		if hidapi.hid_write(hiddev, ctypes.c_char_p('\x00' + buf[:64]), 65) != 65:
+			raise RuntimeError('Writing failed.')
+		buf = buf[64:]
+
+	# Finish
+	if hidapi.hid_send_feature_report(hiddev, ctypes.c_char_p('\x00\x21'), 2) != 2:
+		raise RuntimeError('Finish failed.')
+
+	print 'Flashing finished, resetting to runtime.'
+
+	# Reset
+	if hidapi.hid_send_feature_report(hiddev, ctypes.c_char_p('\x00\x11'), 2) != 2:
+		raise RuntimeError('Reset failed.')
+
+class TestFail(Exception):
+	pass
+
+def test_leds(value):
+	if hidapi.hid_write(hiddev, ctypes.c_char_p('\x00' + struct.pack('<H', value)), 3) != 3:
+		raise RuntimeError('Writing failed.')
+
+	v = get_leds()
+
+	#print 'Set leds to %#x, got back %#x.' % (value, v)
+
+	if v != value | 0x30000:
+		raise TestFail('leds')
+
+def test_buttons(value):
+	set_buttons(value)
+
+	time.sleep(0.04)
+
+	data = ctypes.create_string_buffer(4)
+	if hidapi.hid_read(hiddev, data, 4) != 4:
+		raise RuntimeError('Reading failed.')
+
+	v = struct.unpack('<HBB', data)[0]
+
+	#print 'Set buttons to %#x, got back %#x.' % (value, v)
+
+	if v != value:
+		raise TestFail('buttons')
+
+def test_qe(value):
+	data = ctypes.create_string_buffer(4)
+	if hidapi.hid_read(hiddev, data, 4) != 4:
+		raise RuntimeError('Reading failed.')
+
+	but, a, b = struct.unpack('<HBB', data)
+
+	count_qe(value)
+
+	time.sleep(0.1)
+
+	data = ctypes.create_string_buffer(4)
+	if hidapi.hid_read(hiddev, data, 4) != 4:
+		raise RuntimeError('Reading failed.')
+
+	but, va, vb = struct.unpack('<HBB', data)
+
+	#print 'Count of %d: %d -> %d, %d -> %d' % (value, a, va, b, vb)
+
+	if (a + value) & 0xff != va:
+		raise TestFail('qe1')
+
+	if (b + value) & 0xff != vb:
+		raise TestFail('qe2')
+
+def test_all():
+	print 'Testing leds.'
+
+	test_leds(0)
+	test_leds(0x7ff)
+
+	for i in range(11):
+		test_leds(1 << i)
+
+	print 'Testing buttons.'
+
+	test_buttons(0)
+	test_buttons(0x7ff)
+
+	for i in range(11):
+		test_buttons(1 << i)
+
+	print 'Testing encoders.'
+
+	test_qe(5)
+	test_qe(5)
+	test_qe(-5)
+	test_qe(-5)
+
+	print 'All passed.'
+
+def process():
+	try:
+		open_hiddev(pid_runtime)
+
+		print 'Found runtime device, resetting to bootloader.'
+
+		# Reset bootloader
+		if hidapi.hid_send_feature_report(hiddev, ctypes.c_char_p('\x00\x10'), 2) != 2:
+			raise RuntimeError('Reset failed.')
+
+		time.sleep(1)
+	except:
+		pass
+
+	try:
+		open_hiddev(pid_bootloader)
+
+		flash_board()
+
+		time.sleep(1)
+
+		open_hiddev(pid_runtime)
+
+		test_all()
+
+	except TestFail, e:
+		print 'Test failed:', e
+
+	except RuntimeError, e:
+		print 'Error:', e
+
+while 1:
+	raw_input('Press enter to start\n')
+
+	process()
+	print