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Merge pull request #593 from PX4/mtd_eeprom 

EEPROM supported in MTD interface
This commit is contained in:
Lorenz Meier 2014-01-14 22:38:36 -08:00
parent b529e112b8 202e89de91
commit cd72f564ef
13 changed files with 151 additions and 632 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
makefiles/config_px4fmu-v1_backside.mk
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@ -38,8 +38,7 @@ MODULES += modules/sensors
# #
# System commands # System commands
# #
MODULES += systemcmds/eeprom MODULES += systemcmds/mtd
MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo MODULES += systemcmds/boardinfo
MODULES += systemcmds/i2c MODULES += systemcmds/i2c

3
makefiles/config_px4fmu-v1_default.mk
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@ -42,8 +42,7 @@ MODULES += modules/sensors
# #
# System commands # System commands
# #
MODULES += systemcmds/eeprom MODULES += systemcmds/mtd
MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo MODULES += systemcmds/boardinfo
MODULES += systemcmds/i2c MODULES += systemcmds/i2c

1
makefiles/config_px4fmu-v1_test.mk
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@ -22,6 +22,7 @@ MODULES += systemcmds/perf
MODULES += systemcmds/reboot MODULES += systemcmds/reboot
MODULES += systemcmds/tests MODULES += systemcmds/tests
MODULES += systemcmds/nshterm MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
# #
# Library modules # Library modules

1
makefiles/config_px4fmu-v2_default.mk
View File

@ -46,7 +46,6 @@ MODULES += modules/sensors
# #
# System commands # System commands
# #
MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo MODULES += systemcmds/boardinfo
MODULES += systemcmds/mixer MODULES += systemcmds/mixer

4
src/drivers/boards/px4fmu-v2/board_config.h
View File

@ -87,7 +87,7 @@ __BEGIN_DECLS
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) #define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) #define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) #define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) #define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* SPI1 off */ /* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) #define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
@ -98,7 +98,7 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) #define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) #define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) #define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */ /* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)

11
src/drivers/px4fmu/fmu.cpp
View File

@ -1108,10 +1108,12 @@ PX4FMU::sensor_reset(int ms)
stm32_configgpio(GPIO_SPI_CS_GYRO_OFF); stm32_configgpio(GPIO_SPI_CS_GYRO_OFF);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF); stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
stm32_configgpio(GPIO_SPI_CS_BARO_OFF); stm32_configgpio(GPIO_SPI_CS_BARO_OFF);
stm32_configgpio(GPIO_SPI_CS_MPU_OFF);
stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0); stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0); stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
stm32_configgpio(GPIO_SPI1_SCK_OFF); stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF); stm32_configgpio(GPIO_SPI1_MISO_OFF);
@ -1124,10 +1126,12 @@ PX4FMU::sensor_reset(int ms)
stm32_configgpio(GPIO_GYRO_DRDY_OFF); stm32_configgpio(GPIO_GYRO_DRDY_OFF);
stm32_configgpio(GPIO_MAG_DRDY_OFF); stm32_configgpio(GPIO_MAG_DRDY_OFF);
stm32_configgpio(GPIO_ACCEL_DRDY_OFF); stm32_configgpio(GPIO_ACCEL_DRDY_OFF);
stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0); stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0); stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0); stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */ /* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
@ -1160,6 +1164,13 @@ PX4FMU::sensor_reset(int ms)
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
// // XXX bring up the EXTI pins again
// stm32_configgpio(GPIO_GYRO_DRDY);
// stm32_configgpio(GPIO_MAG_DRDY);
// stm32_configgpio(GPIO_ACCEL_DRDY);
// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif #endif
#endif #endif
} }

265
src/systemcmds/eeprom/eeprom.c
View File

@ -1,265 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 eeprom.c
*
* EEPROM service and utility app.
*/
#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/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <board_config.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
#endif
__EXPORT int eeprom_main(int argc, char *argv[]);
static void eeprom_attach(void);
static void eeprom_start(void);
static void eeprom_erase(void);
static void eeprom_ioctl(unsigned operation);
static void eeprom_save(const char *name);
static void eeprom_load(const char *name);
static void eeprom_test(void);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *eeprom_mtd;
int eeprom_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start"))
eeprom_start();
if (!strcmp(argv[1], "save_param"))
eeprom_save(argv[2]);
if (!strcmp(argv[1], "load_param"))
eeprom_load(argv[2]);
if (!strcmp(argv[1], "erase"))
eeprom_erase();
if (!strcmp(argv[1], "test"))
eeprom_test();
if (0) { /* these actually require a file on the filesystem... */
if (!strcmp(argv[1], "reformat"))
eeprom_ioctl(FIOC_REFORMAT);
if (!strcmp(argv[1], "repack"))
eeprom_ioctl(FIOC_OPTIMIZE);
}
}
errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n");
}
static void
eeprom_attach(void)
{
/* find the right I2C */
struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
/* this resets the I2C bus, set correct bus speed again */
I2C_SETFREQUENCY(i2c, 400000);
if (i2c == NULL)
errx(1, "failed to locate I2C bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
eeprom_mtd = at24c_initialize(i2c);
if (eeprom_mtd) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: EEPROM needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (eeprom_mtd == NULL)
errx(1, "failed to initialize EEPROM driver");
attached = true;
}
static void
eeprom_start(void)
{
int ret;
if (started)
errx(1, "EEPROM already mounted");
if (!attached)
eeprom_attach();
/* start NXFFS */
ret = nxffs_initialize(eeprom_mtd);
if (ret < 0)
errx(1, "failed to initialize NXFFS - erase EEPROM to reformat");
/* mount the EEPROM */
ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /eeprom - erase EEPROM to reformat");
started = true;
warnx("mounted EEPROM at /eeprom");
exit(0);
}
extern int at24c_nuke(void);
static void
eeprom_erase(void)
{
if (!attached)
eeprom_attach();
if (at24c_nuke())
errx(1, "erase failed");
errx(0, "erase done, reboot now");
}
static void
eeprom_ioctl(unsigned operation)
{
int fd;
fd = open("/eeprom/.", 0);
if (fd < 0)
err(1, "open /eeprom");
if (ioctl(fd, operation, 0) < 0)
err(1, "ioctl");
exit(0);
}
static void
eeprom_save(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
/* delete the file in case it exists */
unlink(name);
/* create the file */
int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0)
err(1, "opening '%s' failed", name);
int result = param_export(fd, false);
close(fd);
if (result < 0) {
unlink(name);
errx(1, "error exporting to '%s'", name);
}
exit(0);
}
static void
eeprom_load(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
int fd = open(name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", name);
int result = param_load(fd);
close(fd);
if (result < 0)
errx(1, "error importing from '%s'", name);
exit(0);
}
extern void at24c_test(void);
static void
eeprom_test(void)
{
at24c_test();
exit(0);
}

39
src/systemcmds/eeprom/module.mk
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@ -1,39 +0,0 @@
############################################################################
#
# Copyright (c) 2012, 2013 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.
#
############################################################################
#
# EEPROM file system driver
#
MODULE_COMMAND = eeprom
SRCS = 24xxxx_mtd.c eeprom.c

0
src/systemcmds/eeprom/24xxxx_mtd.c → src/systemcmds/mtd/24xxxx_mtd.c
View File

2
src/systemcmds/mtd/module.mk
View File

@ -3,4 +3,4 @@
# #
MODULE_COMMAND = mtd MODULE_COMMAND = mtd
SRCS = mtd.c SRCS = mtd.c 24xxxx_mtd.c

169
src/systemcmds/mtd/mtd.c
View File

@ -62,26 +62,41 @@
#include "systemlib/param/param.h" #include "systemlib/param/param.h"
#include "systemlib/err.h" #include "systemlib/err.h"
#include <board_config.h>
__EXPORT int mtd_main(int argc, char *argv[]); __EXPORT int mtd_main(int argc, char *argv[]);
#ifndef CONFIG_MTD_RAMTRON #ifndef CONFIG_MTD
/* create a fake command with decent warnx to not confuse users */ /* create a fake command with decent warnx to not confuse users */
int mtd_main(int argc, char *argv[]) int mtd_main(int argc, char *argv[])
{ {
errx(1, "RAMTRON not enabled, skipping."); errx(1, "MTD not enabled, skipping.");
} }
#else #else
static void mtd_attach(void); #ifdef CONFIG_MTD_RAMTRON
static void ramtron_attach(void);
#else
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
#endif
static void at24xxx_attach(void);
#endif
static void mtd_start(char *partition_names[], unsigned n_partitions); static void mtd_start(char *partition_names[], unsigned n_partitions);
static void mtd_test(void); static void mtd_test(void);
static void mtd_erase(char *partition_names[], unsigned n_partitions); static void mtd_erase(char *partition_names[], unsigned n_partitions);
static void mtd_print_info();
static int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
static bool attached = false; static bool attached = false;
static bool started = false; static bool started = false;
static struct mtd_dev_s *mtd_dev; static struct mtd_dev_s *mtd_dev;
static unsigned n_partitions_current = 0;
/* note, these will be equally sized */ /* note, these will be equally sized */
static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"}; static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
@ -104,6 +119,9 @@ int mtd_main(int argc, char *argv[])
if (!strcmp(argv[1], "test")) if (!strcmp(argv[1], "test"))
mtd_test(); mtd_test();
if (!strcmp(argv[1], "status"))
mtd_status();
if (!strcmp(argv[1], "erase")) { if (!strcmp(argv[1], "erase")) {
if (argc < 3) { if (argc < 3) {
errx(1, "usage: mtd erase <PARTITION_PATH..>"); errx(1, "usage: mtd erase <PARTITION_PATH..>");
@ -119,8 +137,9 @@ struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd, struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
off_t firstblock, off_t nblocks); off_t firstblock, off_t nblocks);
#ifdef CONFIG_MTD_RAMTRON
static void static void
mtd_attach(void) ramtron_attach(void)
{ {
/* find the right spi */ /* find the right spi */
struct spi_dev_s *spi = up_spiinitialize(2); struct spi_dev_s *spi = up_spiinitialize(2);
@ -133,7 +152,7 @@ mtd_attach(void)
if (spi == NULL) if (spi == NULL)
errx(1, "failed to locate spi bus"); errx(1, "failed to locate spi bus");
/* start the MTD driver, attempt 5 times */ /* start the RAMTRON driver, attempt 5 times */
for (int i = 0; i < 5; i++) { for (int i = 0; i < 5; i++) {
mtd_dev = ramtron_initialize(spi); mtd_dev = ramtron_initialize(spi);
@ -153,6 +172,38 @@ mtd_attach(void)
attached = true; attached = true;
} }
#else
static void
at24xxx_attach(void)
{
/* find the right I2C */
struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
/* this resets the I2C bus, set correct bus speed again */
I2C_SETFREQUENCY(i2c, 400000);
if (i2c == NULL)
errx(1, "failed to locate I2C bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
mtd_dev = at24c_initialize(i2c);
if (mtd_dev) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: EEPROM needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (mtd_dev == NULL)
errx(1, "failed to initialize EEPROM driver");
attached = true;
}
#endif
static void static void
mtd_start(char *partition_names[], unsigned n_partitions) mtd_start(char *partition_names[], unsigned n_partitions)
@ -162,42 +213,25 @@ mtd_start(char *partition_names[], unsigned n_partitions)
if (started) if (started)
errx(1, "mtd already mounted"); errx(1, "mtd already mounted");
if (!attached) if (!attached) {
mtd_attach(); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
at24xxx_attach();
#else
ramtron_attach();
#endif
}
if (!mtd_dev) { if (!mtd_dev) {
warnx("ERROR: Failed to create RAMTRON FRAM MTD instance"); warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
exit(1); exit(1);
} }
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize;
/* Get the geometry of the FLASH device */ ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions);
if (ret)
FAR struct mtd_geometry_s geo;
ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
if (ret < 0) {
warnx("ERROR: mtd->ioctl failed: %d", ret);
exit(3); exit(3);
}
warnx("Flash Geometry:");
warnx(" blocksize: %lu", (unsigned long)geo.blocksize);
warnx(" erasesize: %lu", (unsigned long)geo.erasesize);
warnx(" neraseblocks: %lu", (unsigned long)geo.neraseblocks);
/* Determine the size of each partition. Make each partition an even
* multiple of the erase block size (perhaps not using some space at the
* end of the FLASH).
*/
unsigned blkpererase = geo.erasesize / geo.blocksize;
unsigned nblocks = (geo.neraseblocks / n_partitions) * blkpererase;
unsigned partsize = nblocks * geo.blocksize;
warnx(" No. partitions: %u", n_partitions);
warnx(" Partition size: %lu Blocks (%lu bytes)", (unsigned long)nblocks, (unsigned long)partsize);
/* Now create MTD FLASH partitions */ /* Now create MTD FLASH partitions */
@ -244,18 +278,83 @@ mtd_start(char *partition_names[], unsigned n_partitions)
} }
} }
n_partitions_current = n_partitions;
started = true; started = true;
exit(0); exit(0);
} }
static void int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions)
{
/* Get the geometry of the FLASH device */
FAR struct mtd_geometry_s geo;
int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
if (ret < 0) {
warnx("ERROR: mtd->ioctl failed: %d", ret);
return ret;
}
*blocksize = geo.blocksize;
*erasesize = geo.blocksize;
*neraseblocks = geo.neraseblocks;
/* Determine the size of each partition. Make each partition an even
* multiple of the erase block size (perhaps not using some space at the
* end of the FLASH).
*/
*blkpererase = geo.erasesize / geo.blocksize;
*nblocks = (geo.neraseblocks / n_partitions) * *blkpererase;
*partsize = *nblocks * geo.blocksize;
return ret;
}
void mtd_print_info()
{
if (!attached)
exit(1);
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize;
int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
if (ret)
exit(3);
warnx("Flash Geometry:");
printf(" blocksize: %lu\n", blocksize);
printf(" erasesize: %lu\n", erasesize);
printf(" neraseblocks: %lu\n", neraseblocks);
printf(" No. partitions: %u\n", n_partitions_current);
printf(" Partition size: %u Blocks (%u bytes)\n", nblocks, partsize);
printf(" TOTAL SIZE: %u KiB\n", neraseblocks * erasesize / 1024);
}
void
mtd_test(void) mtd_test(void)
{ {
warnx("This test routine does not test anything yet!"); warnx("This test routine does not test anything yet!");
exit(1); exit(1);
} }
static void void
mtd_status(void)
{
if (!attached)
errx(1, "MTD driver not started");
mtd_print_info();
exit(0);
}
void
mtd_erase(char *partition_names[], unsigned n_partitions) mtd_erase(char *partition_names[], unsigned n_partitions)
{ {
uint8_t v[64]; uint8_t v[64];

6
src/systemcmds/ramtron/module.mk
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@ -1,6 +0,0 @@
#
# RAMTRON file system driver
#
MODULE_COMMAND = ramtron
SRCS = ramtron.c

279
src/systemcmds/ramtron/ramtron.c
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@ -1,279 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 ramtron.c
*
* ramtron service and utility app.
*/
#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 ramtron_main(int argc, char *argv[]);
#ifndef CONFIG_MTD_RAMTRON
/* create a fake command with decent message to not confuse users */
int ramtron_main(int argc, char *argv[])
{
errx(1, "RAMTRON not enabled, skipping.");
}
#else
static void ramtron_attach(void);
static void ramtron_start(void);
static void ramtron_erase(void);
static void ramtron_ioctl(unsigned operation);
static void ramtron_save(const char *name);
static void ramtron_load(const char *name);
static void ramtron_test(void);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *ramtron_mtd;
int ramtron_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start"))
ramtron_start();
if (!strcmp(argv[1], "save_param"))
ramtron_save(argv[2]);
if (!strcmp(argv[1], "load_param"))
ramtron_load(argv[2]);
if (!strcmp(argv[1], "erase"))
ramtron_erase();
if (!strcmp(argv[1], "test"))
ramtron_test();
if (0) { /* these actually require a file on the filesystem... */
if (!strcmp(argv[1], "reformat"))
ramtron_ioctl(FIOC_REFORMAT);
if (!strcmp(argv[1], "repack"))
ramtron_ioctl(FIOC_OPTIMIZE);
}
}
errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
}
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
static void
ramtron_attach(void)
{
/* find the right spi */
struct spi_dev_s *spi = up_spiinitialize(2);
/* this resets the spi bus, set correct bus speed again */
// xxx set in ramtron driver, leave this out
// SPI_SETFREQUENCY(spi, 4000000);
SPI_SETFREQUENCY(spi, 375000000);
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++) {
ramtron_mtd = ramtron_initialize(spi);
if (ramtron_mtd) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: ramtron needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (ramtron_mtd == NULL)
errx(1, "failed to initialize ramtron driver");
attached = true;
}
static void
ramtron_start(void)
{
int ret;
if (started)
errx(1, "ramtron already mounted");
if (!attached)
ramtron_attach();
/* start NXFFS */
ret = nxffs_initialize(ramtron_mtd);
if (ret < 0)
errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
/* mount the ramtron */
ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /ramtron - erase ramtron to reformat");
started = true;
warnx("mounted ramtron at /ramtron");
exit(0);
}
//extern int at24c_nuke(void);
static void
ramtron_erase(void)
{
if (!attached)
ramtron_attach();
// if (at24c_nuke())
errx(1, "erase failed");
errx(0, "erase done, reboot now");
}
static void
ramtron_ioctl(unsigned operation)
{
int fd;
fd = open("/ramtron/.", 0);
if (fd < 0)
err(1, "open /ramtron");
if (ioctl(fd, operation, 0) < 0)
err(1, "ioctl");
exit(0);
}
static void
ramtron_save(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/ramtron/parameters'");
warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
/* delete the file in case it exists */
unlink(name);
/* create the file */
int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0)
err(1, "opening '%s' failed", name);
int result = param_export(fd, false);
close(fd);
if (result < 0) {
unlink(name);
errx(1, "error exporting to '%s'", name);
}
exit(0);
}
static void
ramtron_load(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/ramtron/parameters'");
warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
int fd = open(name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", name);
int result = param_load(fd);
close(fd);
if (result < 0)
errx(1, "error importing from '%s'", name);
exit(0);
}
//extern void at24c_test(void);
static void
ramtron_test(void)
{
// at24c_test();
exit(0);
}
#endif