From 1bb2b0b06c7be22b26a566b56221e06bd886aa84 Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Fri, 20 Nov 2020 06:13:48 -0800
Subject: [PATCH] bitcraze_crazyflie: Use px4_platform_configure

---
 .../crazyflie/nuttx-config/scripts/script.ld  |  1 +
 boards/bitcraze/crazyflie/src/CMakeLists.txt  |  1 +
 boards/bitcraze/crazyflie/src/init.c          |  4 +
 boards/bitcraze/crazyflie/src/mtd.cpp         | 81 +++++++++++++++++++
 4 files changed, 87 insertions(+)
 create mode 100644 boards/bitcraze/crazyflie/src/mtd.cpp

diff --git a/boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld b/boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld
index 83d5c12a93..0324a64c33 100644
--- a/boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld
+++ b/boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld
@@ -64,6 +64,7 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
+EXTERN(board_get_manifest)
 
 SECTIONS
 {
diff --git a/boards/bitcraze/crazyflie/src/CMakeLists.txt b/boards/bitcraze/crazyflie/src/CMakeLists.txt
index d967b47016..d574b47f00 100644
--- a/boards/bitcraze/crazyflie/src/CMakeLists.txt
+++ b/boards/bitcraze/crazyflie/src/CMakeLists.txt
@@ -35,6 +35,7 @@ add_library(drivers_board
 	i2c.cpp
 	init.c
 	led.c
+	mtd.cpp
 	spi.cpp
 	timer_config.cpp
 	usb.c
diff --git a/boards/bitcraze/crazyflie/src/init.c b/boards/bitcraze/crazyflie/src/init.c
index 97e05c090e..9ad2fb410b 100644
--- a/boards/bitcraze/crazyflie/src/init.c
+++ b/boards/bitcraze/crazyflie/src/init.c
@@ -169,5 +169,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
diff --git a/boards/bitcraze/crazyflie/src/mtd.cpp b/boards/bitcraze/crazyflie/src/mtd.cpp
new file mode 100644
index 0000000000..2255e0d60a
--- /dev/null
+++ b/boards/bitcraze/crazyflie/src/mtd.cpp
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 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.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                                      KiB BS    nB
+static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::I2C,
+	.devid    = PX4_MK_I2C_DEVID(1, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmu_eeprom = {
+	.device = &i2c1,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 128
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 128
+
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmu_eeprom,
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = &mtd_mft
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}