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Merge branch 'master' into paul_estimator 

ssage aborts
This commit is contained in:
Lorenz Meier 2014-01-12 12:27:17 +01:00
parent 0bcdfa18c7 5a0c635369
commit 0d3a743f75
7 changed files with 239 additions and 8 deletions
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1
makefiles/config_px4fmu-v2_default.mk
View File

@ -60,6 +60,7 @@ MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
#
# General system control

1
makefiles/config_px4fmu-v2_test.mk
View File

@ -22,6 +22,7 @@ MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
#
# Library modules

2
nuttx-configs/px4fmu-v2/nsh/defconfig
View File

@ -501,7 +501,7 @@ CONFIG_MTD=y
# MTD Configuration
#
# CONFIG_MTD_PARTITION is not set
# CONFIG_MTD_BYTE_WRITE is not set
CONFIG_MTD_BYTE_WRITE=y
#
# MTD Device Drivers

9
src/drivers/hil/hil.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -193,9 +193,10 @@ HIL::~HIL()
} while (_task != -1);
}
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
// XXX already claimed with CDEV
// /* clean up the alternate device node */
// if (_primary_pwm_device)
// unregister_driver(PWM_OUTPUT_DEVICE_PATH);
g_hil = nullptr;
}

12
src/drivers/rgbled/rgbled.cpp
View File

@ -559,7 +559,7 @@ RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
void
rgbled_usage()
{
warnx("missing command: try 'start', 'test', 'info', 'off', 'rgb 30 40 50'");
warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'rgb 30 40 50'");
warnx("options:");
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
warnx(" -a addr (0x%x)", ADDR);
@ -643,7 +643,7 @@ rgbled_main(int argc, char *argv[])
if (g_rgbled == nullptr) {
warnx("not started");
rgbled_usage();
exit(0);
exit(1);
}
if (!strcmp(verb, "test")) {
@ -669,7 +669,7 @@ rgbled_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(verb, "off")) {
if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
@ -681,6 +681,12 @@ rgbled_main(int argc, char *argv[])
exit(ret);
}
if (!strcmp(verb, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
exit(0);
}
if (!strcmp(verb, "rgb")) {
if (argc < 5) {
errx(1, "Usage: rgbled rgb <red> <green> <blue>");

6
src/systemcmds/mtd/module.mk Normal file
View File

@ -0,0 +1,6 @@
#
# RAMTRON file system driver
#
MODULE_COMMAND = mtd
SRCS = mtd.c

216
src/systemcmds/mtd/mtd.c Normal file
View File

@ -0,0 +1,216 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mtd.c
*
* mtd service and utility app.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/spi.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
__EXPORT int mtd_main(int argc, char *argv[]);
#ifndef CONFIG_MTD_RAMTRON
/* create a fake command with decent message to not confuse users */
int mtd_main(int argc, char *argv[])
{
errx(1, "RAMTRON not enabled, skipping.");
}
#else
static void mtd_attach(void);
static void mtd_start(void);
static void mtd_erase(void);
static void mtd_ioctl(unsigned operation);
static void mtd_save(const char *name);
static void mtd_load(const char *name);
static void mtd_test(void);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *mtd_dev;
static char *_mtdname = "/dev/mtd_params";
static char *_wpname = "/dev/mtd_waypoints";
int mtd_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start"))
mtd_start();
if (!strcmp(argv[1], "test"))
mtd_test();
}
errx(1, "expected a command, try 'start' or 'test'");
}
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
static void
mtd_attach(void)
{
/* find the right spi */
struct spi_dev_s *spi = up_spiinitialize(2);
/* this resets the spi bus, set correct bus speed again */
SPI_SETFREQUENCY(spi, 40 * 1000 * 1000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, SPIDEV_FLASH, false);
if (spi == NULL)
errx(1, "failed to locate spi bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
mtd_dev = ramtron_initialize(spi);
if (mtd_dev) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: mtd needed %d attempts to attach", i + 1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (mtd_dev == NULL)
errx(1, "failed to initialize mtd driver");
attached = true;
}
static void
mtd_start(void)
{
int ret;
if (started)
errx(1, "mtd already mounted");
if (!attached)
mtd_attach();
if (!mtd_dev) {
warnx("ERROR: Failed to create RAMTRON FRAM MTD instance\n");
exit(1);
}
/* Initialize to provide an FTL block driver on the MTD FLASH interface.
*
* NOTE: We could just skip all of this FTL and BCH stuff. We could
* instead just use the MTD drivers bwrite and bread to perform this
* test. Creating the character drivers, however, makes this test more
* interesting.
*/
ret = ftl_initialize(0, mtd_dev);
if (ret < 0) {
warnx("Creating /dev/mtdblock0 failed: %d\n", ret);
exit(2);
}
/* Now create a character device on the block device */
ret = bchdev_register("/dev/mtdblock0", _mtdname, false);
if (ret < 0) {
warnx("ERROR: bchdev_register %s failed: %d\n", _mtdname, ret);
exit(3);
}
/* mount the mtd */
ret = mount(NULL, "/mtd", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /mtd - erase mtd to reformat");
started = true;
warnx("mounted mtd at /mtd");
exit(0);
}
static void
mtd_ioctl(unsigned operation)
{
int fd;
fd = open("/mtd/.", 0);
if (fd < 0)
err(1, "open /mtd");
if (ioctl(fd, operation, 0) < 0)
err(1, "ioctl");
exit(0);
}
static void
mtd_test(void)
{
// at24c_test();
exit(0);
}
#endif