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Refactor mtd to make available to board startup

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This commit is contained in:
David Sidrane
2020-11-16 13:34:46 -08:00
committed by Daniel Agar
parent 1b9ab2a3e2
commit 68ab736b16
11 changed files with 895 additions and 467 deletions
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1
platforms/common/include/px4_platform_common/init.h
View File

@@ -35,6 +35,7 @@ __BEGIN_DECLS
int px4_platform_init(void);
int px4_platform_console_init(void);
int px4_platform_configure(void);
__END_DECLS

80
platforms/common/include/px4_platform_common/mtd_manifest.h Normal file
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@@ -0,0 +1,80 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <stdint.h>
typedef enum {
MTD_PARAMETERS = 1,
MTD_WAYPOINTS = 2,
MTD_CALDATA = 3,
MTD_MFT = 4,
MTD_ID = 5,
MTD_NET = 6,
} px4_mtd_types_t;
typedef struct {
const px4_mtd_types_t type;
const char *path;
const uint32_t nblocks;
} px4_mtd_part_t;
typedef struct {
const px4_mft_device_t *device;
const uint32_t npart;
const px4_mtd_part_t partd[];
} px4_mtd_entry_t;
typedef struct {
const uint32_t nconfigs;
const px4_mtd_entry_t *entries[];
} px4_mtd_manifest_t;
__BEGIN_DECLS
/************************************************************************************
* Name: px4_mtd_config
*
* Description:
* A board will call this function, to set up the mtd partitions
*
* Input Parameters:
* mtd_list - px4_mtd_config list/count
*
* Returned Value:
* non zero if error
*
************************************************************************************/
__EXPORT int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd);
__END_DECLS

102
platforms/common/include/px4_platform_common/px4_manifest.h Normal file
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@@ -0,0 +1,102 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <stdint.h>
typedef enum {
MFT = 0,
MTD = 1,
} px4_manifest_types_e;
typedef struct {
enum px4_bus_type {
I2C = 0,
SPI = 1,
} bus_type;
uint32_t devid;
} px4_mft_device_t;
#define PX4_MK_I2C_DEVID(b,a) ((b) << 16 | ((a) & 0xffff))
#define PX4_I2C_DEVID_BUS(d) (((d) >> 16) & 0xffff)
#define PX4_I2C_DEVID_ADDR(d) ((d) & 0xffff)
typedef struct {
const px4_manifest_types_e type;
const void *pmft;
} px4_mft_entry_s;
typedef struct {
const uint32_t nmft;
const px4_mft_entry_s *mfts;
} px4_mft_s;
#include "px4_platform_common/mtd_manifest.h"
__BEGIN_DECLS
/************************************************************************************
* Name: board_get_manifest
*
* Description:
* A board will provide this function to return the manifest
*
* Input Parameters:
* mft - a pointer to the receive the manifest
*
* Returned Value:
* non zero if error
*
************************************************************************************/
__EXPORT const px4_mft_s *board_get_manifest(void);
/************************************************************************************
* Name: px4_mft_configure
*
* Description:
* The Px4 layer will provide this interface to start/configure the
* hardware.
*
* Input Parameters:
* mft - a pointer to the manifest
*
* Returned Value:
* non zero if error
*
************************************************************************************/
__EXPORT int px4_mft_configure(const px4_mft_s *mft);
__END_DECLS

80
platforms/common/include/px4_platform_common/px4_mtd.h Normal file
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@@ -0,0 +1,80 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <stdint.h>
__BEGIN_DECLS
// The data needed to interface with mtd device's
typedef struct {
struct mtd_dev_s *mtd_dev;
int *partition_block_counts;
const char **partition_names;
struct mtd_dev_s **part_dev;
uint32_t devid;
unsigned n_partitions_current;
} mtd_instance_s;
/*
mtd operations
*/
/*
* Get device an pinter to the array of mtd_instance_s of the system
* count - receives the number of instances pointed to by the pointer
* retunred.
*
* returns: - A pointer to the mtd_instance_s of the system
* This can be Null if there are no mtd instances.
*
*/
__EXPORT mtd_instance_s *px4_mtd_get_instances(unsigned int *count);
/*
Get device complete geometry or a device
*/
__EXPORT int px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long *blocksize, unsigned long *erasesize,
unsigned long *neraseblocks, unsigned *blkpererase, unsigned *nblocks,
unsigned *partsize);
/*
Get size of a parttion on an instance.
*/
__EXPORT ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *partname);
FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
uint8_t address);
__END_DECLS

3
platforms/nuttx/src/px4/common/CMakeLists.txt
View File

@@ -45,6 +45,9 @@ if(NOT PX4_BOARD MATCHES "px4_io")
tasks.cpp
px4_nuttx_impl.cpp
px4_init.cpp
px4_manifest.cpp
px4_mtd.cpp
px4_24xxxx_mtd.c
)
target_link_libraries(px4_layer
PRIVATE

7
src/systemcmds/mtd/24xxxx_mtd.c → platforms/nuttx/src/px4/common/px4_24xxxx_mtd.c
View File

@@ -51,6 +51,7 @@
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_mtd.h>
#include <px4_platform_common/time.h>
#include <sys/types.h>
@@ -536,8 +537,9 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
* other functions (such as a block or character driver front end).
*
************************************************************************************/
FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
uint8_t address)
FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_master_s *dev)
{
FAR struct at24c_dev_s *priv;
@@ -554,8 +556,7 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_master_s *dev)
if (priv) {
/* Initialize the allocated structure */
priv->addr = CONFIG_AT24XX_ADDR;
priv->addr = address;
priv->pagesize = AT24XX_PAGESIZE;
priv->npages = AT24XX_NPAGES;

7
platforms/nuttx/src/px4/common/px4_init.cpp
View File

@@ -33,6 +33,7 @@
#include <px4_platform_common/init.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform_common/console_buffer.h>
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
@@ -119,3 +120,9 @@ int px4_platform_init(void)
return PX4_OK;
}
int px4_platform_configure(void)
{
return px4_mft_configure(board_get_manifest());
}

89
platforms/nuttx/src/px4/common/px4_manifest.cpp Normal file
View File

@@ -0,0 +1,89 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file px4_manifest.cpp
*
* manifest utilites
*
* @author David Sidrane <david.sidrane@nscdg.com>
*/
#ifndef MODULE_NAME
#define MODULE_NAME "PX4_MANIFEST"
#endif
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform_common/log.h>
#include <errno.h>
__EXPORT const px4_mft_s *board_get_manifest(void) weak_function;
/* This is the default manifest when no MTD driver is installed */
static const px4_mft_entry_s mtd_mft = {
.type = MTD,
};
static const px4_mft_s default_mft = {
.nmft = 1,
.mfts = &mtd_mft
};
const px4_mft_s *board_get_manifest(void)
{
return &default_mft;
}
__EXPORT int px4_mft_configure(const px4_mft_s *mft)
{
if (mft != nullptr) {
for (uint32_t m = 0; m < mft->nmft; m++) {
switch (mft->mfts[m].type) {
case MTD:
px4_mtd_config(static_cast<const px4_mtd_manifest_t *>(mft->mfts[m].pmft));
break;
case MFT:
default:
break;
}
}
}
return 0;
}

408
platforms/nuttx/src/px4/common/px4_mtd.cpp Normal file
View File

@@ -0,0 +1,408 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file px4_mtd.cpp
*
* mtd services.
*
* @author David Sidrane <david.sidrane@nscdg.com>
*/
#ifndef MODULE_NAME
#define MODULE_NAME "PX4_MTD"
#endif
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_mtd.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/spi.h>
#include <errno.h>
#include <stdbool.h>
#include <nuttx/drivers/drivers.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mtd/mtd.h>
extern "C" {
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
off_t firstblock, off_t nblocks);
}
static int num_instances = 0;
static mtd_instance_s *instances = nullptr;
static int ramtron_attach(mtd_instance_s &instance)
{
#if !defined(CONFIG_MTD_RAMTRON)
PX4_ERR("Misconfiguration CONFIG_MTD_RAMTRON not set");
return ENXIO;
#else
/* initialize the right spi */
struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(instance.devid));
if (spi == nullptr) {
PX4_ERR("failed to locate spi bus");
return -ENXIO;
}
/* this resets the spi bus, set correct bus speed again */
SPI_SETFREQUENCY(spi, 10 * 1000 * 1000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, instance.devid, false);
/* start the RAMTRON driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
instance.mtd_dev = ramtron_initialize(spi);
if (instance.mtd_dev) {
/* abort on first valid result */
if (i > 0) {
PX4_WARN("mtd needed %d attempts to attach", i + 1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (instance.mtd_dev == nullptr) {
PX4_ERR("failed to initialize mtd driver");
return -EIO;
}
int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)10 * 1000 * 1000);
if (ret != OK) {
// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried
// that but setting the bus speed does fail all the time. Which was then exiting and the board would
// not run correctly. So changed to PX4_WARN.
PX4_WARN("failed to set bus speed");
}
return 0;
#endif
}
static int at24xxx_attach(mtd_instance_s &instance)
{
#if !defined(PX4_I2C_BUS_MTD)
PX4_ERR("Misconfiguration PX4_I2C_BUS_MTD not set");
return -ENXIO;
#else
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_DEVID_BUS(instance.devid));
if (i2c == nullptr) {
PX4_ERR("failed to locate I2C bus");
return -ENXIO;
}
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
instance.mtd_dev = px4_at24c_initialize(i2c, PX4_I2C_DEVID_ADDR(instance.devid));
if (instance.mtd_dev) {
/* abort on first valid result */
if (i > 0) {
PX4_WARN("EEPROM needed %d attempts to attach", i + 1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (instance.mtd_dev == nullptr) {
PX4_ERR("failed to initialize EEPROM driver");
return -EIO;
}
return 0;
#endif
}
int px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long *blocksize, unsigned long *erasesize,
unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize)
{
/* Get the geometry of the FLASH device */
FAR struct mtd_geometry_s geo;
int ret = instance->mtd_dev->ioctl(instance->mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
if (ret < 0) {
PX4_ERR("mtd->ioctl failed: %d", ret);
return ret;
}
*blocksize = geo.blocksize;
*erasesize = geo.erasesize;
*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 / instance->n_partitions_current) * *blkpererase;
*partsize = *nblocks * geo.blocksize;
return ret;
}
/*
get partition size in bytes
*/
ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *partname)
{
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize = 0;
int ret = px4_mtd_get_geometry(instance, &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
if (ret != OK) {
PX4_ERR("Failed to get geometry");
return 0;
}
unsigned partn = 0;
for (unsigned n = 0; n < instance->n_partitions_current; n++) {
if (instance->partition_names[n] != nullptr &&
partname != nullptr &&
strcmp(instance->partition_names[n], partname) == 0) {
partn = n;
break;
}
}
return instance->partition_block_counts[partn] * blocksize;
}
mtd_instance_s *px4_mtd_get_instances(unsigned int *count)
{
*count = num_instances;
return instances;
}
// Define the default FRAM usage
#if !defined(CONFIG_MTD_RAMTRON)
static const px4_mtd_manifest_t default_mtd_config = {
};
#else
const px4_mft_device_t spifram = { // FM25V02A on FMUM 32K 512 X 64
.bus_type = px4_mft_device_t::SPI,
.devid = SPIDEV_FLASH(0)
};
const px4_mtd_entry_t fram = {
.device = &spifram,
.npart = 2,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/fs/mtd_params",
.nblocks = 32
},
{
.type = MTD_WAYPOINTS,
.path = "/fs/mtd_waypoints",
.nblocks = 32
}
},
};
static const px4_mtd_manifest_t default_mtd_config = {
.nconfigs = 1,
.entries = {
&fram,
}
};
#endif
int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)
{
int rv = -EINVAL;
const px4_mtd_manifest_t *mtd_list = mft_mtd ? mft_mtd : &default_mtd_config;
if (mtd_list == nullptr) {
PX4_ERR("Invalid mtd configuration!");
return rv;
}
if (mtd_list->nconfigs == 0) {
return 0;
}
rv = -ENOMEM;
int total_blocks = 0;
instances = new mtd_instance_s[mtd_list->nconfigs];
if (instances == nullptr) {
memoryout:
PX4_ERR("failed to allocate memory!");
return rv;
}
for (uint32_t i = 0; i < mtd_list->nconfigs; i++) {
num_instances++;
uint32_t nparts = mtd_list->entries[i]->npart;
instances[i].devid = mtd_list->entries[i]->device->devid;
instances[i].mtd_dev = nullptr;
instances[i].n_partitions_current = 0;
rv = -ENOMEM;
instances[i].part_dev = new FAR struct mtd_dev_s *[nparts];
if (instances[i].part_dev == nullptr) {
goto memoryout;
}
instances[i].partition_block_counts = new int[nparts];
if (instances[i].partition_block_counts == nullptr) {
goto memoryout;
}
instances[i].partition_names = new const char *[nparts];
if (instances[i].partition_names == nullptr) {
goto memoryout;
}
for (uint32_t p = 0; p < nparts; p++) {
instances[i].partition_block_counts[p] = mtd_list->entries[i]->partd[p].nblocks;
instances[i].partition_names[p] = mtd_list->entries[i]->partd[p].path;
}
if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::I2C) {
rv = at24xxx_attach(instances[i]);
} else {
rv = ramtron_attach(instances[i]);
}
if (rv != 0) {
goto errout;
}
unsigned long blocksize;
unsigned long erasesize;
unsigned long neraseblocks;
unsigned int blkpererase;
unsigned int nblocks;
unsigned int partsize;
rv = px4_mtd_get_geometry(&instances[i], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
if (rv != 0) {
goto errout;
}
/* Now create MTD FLASH partitions */
char blockname[32];
unsigned offset;
unsigned part;
for (offset = 0, part = 0; rv == 0 && part < nparts; offset += instances[i].partition_block_counts[part], part++) {
/* Create the partition */
instances[i].part_dev[part] = mtd_partition(instances[i].mtd_dev, offset, instances[i].partition_block_counts[part]);
if (instances[i].part_dev[part] == nullptr) {
PX4_ERR("mtd_partition failed. offset=%lu nblocks=%lu",
(unsigned long)offset, (unsigned long)nblocks);
rv = -ENOSPC;
goto errout;
}
/* Initialize to provide an FTL block driver on the MTD FLASH interface */
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", total_blocks);
rv = ftl_initialize(total_blocks, instances[i].part_dev[part]);
if (rv < 0) {
PX4_ERR("ftl_initialize %s failed: %d", blockname, rv);
goto errout;
}
total_blocks++;
/* Now create a character device on the block device */
rv = bchdev_register(blockname, instances[i].partition_names[part], false);
if (rv < 0) {
PX4_ERR("bchdev_register %s failed: %d", instances[i].partition_names[part], rv);
goto errout;
}
instances[i].n_partitions_current++;
}
errout:
if (rv < 0) {
PX4_ERR("mtd failure: %d bus %d address %d class %d",
rv,
PX4_I2C_DEVID_BUS(instances[i].devid),
PX4_I2C_DEVID_ADDR(instances[i].devid),
mtd_list->entries[i]->partd[instances[i].n_partitions_current].type);
break;
}
}
return rv;
}

1
src/systemcmds/mtd/CMakeLists.txt
View File

@@ -36,7 +36,6 @@ px4_add_module(
COMPILE_FLAGS
SRCS
mtd.cpp
24xxxx_mtd.c
DEPENDS
)

584
src/systemcmds/mtd/mtd.cpp
View File

@@ -43,8 +43,11 @@
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/spi.h>
#include <px4_platform_common/px4_mtd.h>
#include <px4_platform_common/getopt.h>
#include <stdio.h>
#include <errno.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
@@ -70,89 +73,56 @@
extern "C" __EXPORT int mtd_main(int argc, char *argv[]);
#ifndef CONFIG_MTD
/* create a fake command with decent warning to not confuse users */
int mtd_main(int argc, char *argv[])
{
PX4_WARN("MTD not enabled, skipping.");
return 1;
}
#else
struct mtd_instance_s;
# if defined(BOARD_HAS_MTD_PARTITION_OVERRIDE)
# define MTD_PARTITION_TABLE BOARD_HAS_MTD_PARTITION_OVERRIDE
# else
# define MTD_PARTITION_TABLE {"/fs/mtd_params", "/fs/mtd_waypoints"}
# endif
/* note, these will be equally sized */
static const char *partition_names_default[] = MTD_PARTITION_TABLE;
#if defined(BOARD_MTD_PARTITION_TABLE_SIZES)
static const float partition_sizes_default[] = BOARD_MTD_PARTITION_TABLE_SIZES;
#else
# define partition_sizes_default nullptr
#endif
#ifdef CONFIG_MTD_RAMTRON
static int ramtron_attach(mtd_instance_s &instance);
#else
#ifndef PX4_I2C_BUS_MTD
#error "Board needs to define PX4_I2C_BUS_MTD for onboard EEPROM bus"
#endif
#endif
#ifdef PX4_I2C_BUS_MTD
static int at24xxx_attach(mtd_instance_s &instance);
#endif
static int mtd_start(mtd_instance_s &instance, const char *partition_names[], unsigned n_partitions);
static int mtd_erase(const char *partition_names[], unsigned n_partitions);
static int mtd_readtest(const mtd_instance_s &instance, const char *partition_names[], unsigned n_partitions);
static int mtd_rwtest(const mtd_instance_s &instance, const char *partition_names[], unsigned n_partitions);
static int mtd_print_info(int instance);
static int mtd_get_geometry(const mtd_instance_s &instance, unsigned long *blocksize, unsigned long *erasesize,
unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize);
struct mtd_instance_s {
int (*attach)(mtd_instance_s &instance);
bool attached;
bool started;
struct mtd_dev_s *mtd_dev;
unsigned n_partitions_current;
int *partition_block_counts;
const float *partition_percentages;
const char **partition_names;
};
static mtd_instance_s instances[] = {
#ifdef CONFIG_MTD_RAMTRON
{&ramtron_attach, false, false, nullptr, 0, nullptr, partition_sizes_default, partition_names_default},
#endif
#ifdef PX4_I2C_BUS_MTD
{&at24xxx_attach, false, false, nullptr, 0, nullptr, nullptr, nullptr},
#endif
};
static constexpr int num_instances = arraySize(instances);
static const int n_partitions_default = arraySize(partition_names_default);
static int
mtd_status(void)
static int mtd_status(void)
{
int ret = 0;
bool running = false;
unsigned int num_instances;
for (int i = 0; i < num_instances; ++i) {
if (instances[i].attached) {
ret |= mtd_print_info(i);
running = true;
const mtd_instance_s *instances = px4_mtd_get_instances(&num_instances);
if (instances) {
for (unsigned int i = 0; i < num_instances; ++i) {
if (instances[i].mtd_dev) {
unsigned long blocksize;
unsigned long erasesize;
unsigned long neraseblocks;
unsigned int blkpererase;
unsigned int nblocks;
unsigned int partsize;
ret = px4_mtd_get_geometry(&instances[i], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
if (ret == 0) {
PX4_INFO("Flash Geometry of instance %i:", i);
printf(" blocksize: %lu\n", blocksize);
printf(" erasesize: %lu\n", erasesize);
printf(" neraseblocks: %lu\n", neraseblocks);
printf(" No. partitions: %u\n", instances[i].n_partitions_current);
unsigned int totalnblocks = 0;
unsigned int totalpartsize = 0;
for (unsigned int p = 0; p < instances[i].n_partitions_current; p++) {
FAR struct mtd_geometry_s geo;
ret = instances[i].part_dev[p]->ioctl(instances[i].part_dev[p], MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
printf(" partition: %u:\n", p);
printf(" name: %s\n", instances[i].partition_names[p]);
printf(" blocks: %u (%u bytes)\n", geo.neraseblocks, erasesize * geo.neraseblocks);
totalnblocks += geo.neraseblocks;
totalpartsize += erasesize * geo.neraseblocks;
}
printf(" Device size: %u Blocks (%u bytes)\n", totalnblocks, totalpartsize);
printf(" TOTAL SIZE: %u KiB\n", totalpartsize / 1024);
}
running |= true;
}
}
}
@@ -170,389 +140,27 @@ static void print_usage(void)
PRINT_MODULE_USAGE_NAME("mtd", "command");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print status information");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Mount partitions");
PRINT_MODULE_USAGE_COMMAND_DESCR("readtest", "Perform read test");
PRINT_MODULE_USAGE_COMMAND_DESCR("rwtest", "Perform read-write test");
PRINT_MODULE_USAGE_COMMAND_DESCR("erase", "Erase partition(s)");
PRINT_MODULE_USAGE_COMMAND_DESCR("has-secondary", "Check if the board has configured a secondary device");
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'start', 'readtest' and 'rwtest' have an optional instance index:");
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'readtest' and 'rwtest' have an optional instance index:");
PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 1, "storage index (if the board has multiple storages)", true);
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'start', 'readtest', 'rwtest' and 'erase' have an optional parameter:");
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'readtest', 'rwtest' and 'erase' have an optional parameter:");
PRINT_MODULE_USAGE_ARG("<partition_name1> [<partition_name2> ...]",
"Partition names (eg. /fs/mtd_params), use system default if not provided", true);
}
int mtd_main(int argc, char *argv[])
{
if (argc >= 2) {
int instance = 0;
int partition_index = 2;
if (argc > 3 && !strcmp(argv[2], "-i")) {
instance = strtol(argv[3], nullptr, 10);
if (instance < 0 || instance >= num_instances) {
PX4_ERR("invalid instance");
return -1;
}
partition_index += 2;
}
if (!strcmp(argv[1], "start")) {
/* start mapping according to user request */
if (argc > partition_index) {
return mtd_start(instances[instance], (const char **)(argv + partition_index), argc - partition_index);
} else {
return mtd_start(instances[instance], partition_names_default, n_partitions_default);
}
}
if (!strcmp(argv[1], "readtest")) {
if (argc > partition_index) {
return mtd_readtest(instances[instance], (const char **)(argv + partition_index), argc - partition_index);
} else {
return mtd_readtest(instances[instance], partition_names_default, n_partitions_default);
}
}
if (!strcmp(argv[1], "rwtest")) {
if (argc > partition_index) {
return mtd_rwtest(instances[instance], (const char **)(argv + partition_index), argc - partition_index);
} else {
return mtd_rwtest(instances[instance], partition_names_default, n_partitions_default);
}
}
if (!strcmp(argv[1], "status")) {
return mtd_status();
}
if (!strcmp(argv[1], "erase")) {
if (argc > partition_index) {
return mtd_erase((const char **)(argv + partition_index), argc - partition_index);
} else {
return mtd_erase(partition_names_default, n_partitions_default);
}
}
if (!strcmp(argv[1], "has-secondary")) {
return num_instances > 1 ? 0 : 1;
}
}
print_usage();
return 1;
}
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
off_t firstblock, off_t nblocks);
#ifdef CONFIG_MTD_RAMTRON
static int
ramtron_attach(mtd_instance_s &instance)
{
/* initialize the right spi */
struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(SPIDEV_FLASH(0)));
if (spi == nullptr) {
PX4_ERR("failed to locate spi bus");
return 1;
}
/* this resets the spi bus, set correct bus speed again */
SPI_SETFREQUENCY(spi, 10 * 1000 * 1000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, SPIDEV_FLASH(0), false);
/* start the RAMTRON driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
instance.mtd_dev = ramtron_initialize(spi);
if (instance.mtd_dev) {
/* abort on first valid result */
if (i > 0) {
PX4_WARN("mtd needed %d attempts to attach", i + 1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (instance.mtd_dev == nullptr) {
PX4_ERR("failed to initialize mtd driver");
return 1;
}
int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)10 * 1000 * 1000);
if (ret != OK) {
// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried
// that but setting the bus speed does fail all the time. Which was then exiting and the board would
// not run correctly. So changed to PX4_WARN.
PX4_WARN("failed to set bus speed");
}
instance.attached = true;
return 0;
}
#endif
#ifdef PX4_I2C_BUS_MTD
static int
at24xxx_attach(mtd_instance_s &instance)
{
/* find the right I2C */
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_MTD);
if (i2c == nullptr) {
PX4_ERR("failed to locate I2C bus");
return 1;
}
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
instance.mtd_dev = at24c_initialize(i2c);
if (instance.mtd_dev) {
/* abort on first valid result */
if (i > 0) {
PX4_WARN("EEPROM needed %d attempts to attach", i + 1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (instance.mtd_dev == nullptr) {
PX4_ERR("failed to initialize EEPROM driver");
return 1;
}
instance.attached = true;
return 0;
}
#endif
static int
mtd_start(mtd_instance_s &instance, const char *partition_names[], unsigned n_partitions)
{
int ret;
if (instance.started) {
PX4_ERR("mtd already mounted");
return 1;
}
if (!instance.attached) {
ret = instance.attach(instance);
if (ret != 0) {
return ret;
}
}
if (!instance.mtd_dev) {
PX4_ERR("Failed to create MTD instance");
return 1;
}
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize;
instance.n_partitions_current = n_partitions;
ret = mtd_get_geometry(instance, &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
if (ret) {
return ret;
}
/* Now create MTD FLASH partitions */
FAR struct mtd_dev_s *part[n_partitions];
char blockname[32];
unsigned offset;
unsigned i;
instance.partition_block_counts = new int[n_partitions];
if (instance.partition_block_counts == nullptr) {
PX4_ERR("mtd_partition failed allocation counts");
return 1;
}
instance.partition_names = new const char *[n_partitions];
if (instance.partition_names == nullptr) {
PX4_ERR("mtd_partition failed allocation for names");
return 1;
}
for (unsigned int n = 0; n < n_partitions; n++) {
float percentage = instance.partition_percentages == nullptr ?
100.0f / n_partitions : instance.partition_percentages[n];
volatile int nb = neraseblocks * (percentage / 100.0f);
instance.partition_block_counts[n] = (nb == 0 ? 1 : nb);
instance.partition_names[n] = nullptr;
}
for (offset = 0, i = 0; i < n_partitions; offset += instance.partition_block_counts[i], i++) {
/* Create the partition */
part[i] = mtd_partition(instance.mtd_dev, offset, instance.partition_block_counts[i]);
if (!part[i]) {
PX4_ERR("mtd_partition failed. offset=%lu nblocks=%lu",
(unsigned long)offset, (unsigned long)nblocks);
return 1;
}
instance.partition_names[i] = strdup(partition_names[i]);
/* Initialize to provide an FTL block driver on the MTD FLASH interface */
ret = -1;
for (int dev_index = 0; ret != 0; ++dev_index) {
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", i + dev_index);
ret = ftl_initialize(i + dev_index, part[i]);
if (ret == -EEXIST) {
continue;
}
if (ret < 0 || dev_index >= 9) {
PX4_ERR("ftl_initialize %s failed: %d", blockname, ret);
return 1;
}
}
/* Now create a character device on the block device */
ret = bchdev_register(blockname, partition_names[i], false);
if (ret < 0) {
PX4_ERR("bchdev_register %s failed: %d", partition_names[i], ret);
return 1;
}
}
instance.started = true;
return 0;
}
int mtd_get_geometry(const mtd_instance_s &instance, unsigned long *blocksize, unsigned long *erasesize,
unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize)
{
/* Get the geometry of the FLASH device */
FAR struct mtd_geometry_s geo;
int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
if (ret < 0) {
PX4_ERR("mtd->ioctl failed: %d", ret);
return ret;
}
*blocksize = geo.blocksize;
*erasesize = geo.erasesize;
*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 / instance.n_partitions_current) * *blkpererase;
*partsize = *nblocks * geo.blocksize;
return ret;
}
/*
get partition size in bytes
*/
static ssize_t mtd_get_partition_size(const mtd_instance_s &instance, const char *partname)
{
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize = 0;
int ret = mtd_get_geometry(instance, &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
if (ret != OK) {
PX4_ERR("Failed to get geometry");
return 0;
}
unsigned partn = 0;
for (unsigned n = 0; n < instance.n_partitions_current; n++) {
if (instance.partition_names[n] != nullptr &&
partname != nullptr &&
strcmp(instance.partition_names[n], partname) == 0) {
partn = n;
break;
}
}
return instance.partition_block_counts[partn] * erasesize;
}
int mtd_print_info(int instance)
{
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize;
int ret = mtd_get_geometry(instances[instance], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks,
&partsize);
if (ret) {
return ret;
}
PX4_INFO("Flash Geometry of instance %i:", instance);
printf(" blocksize: %lu\n", blocksize);
printf(" erasesize: %lu\n", erasesize);
printf(" neraseblocks: %lu\n", neraseblocks);
printf(" No. partitions: %u\n", instances[instance].n_partitions_current);
printf(" Partition size: %u Blocks (%u bytes)\n", nblocks, partsize);
printf(" TOTAL SIZE: %u KiB\n", neraseblocks * erasesize / 1024);
return 0;
}
int
mtd_erase(const char *partition_names[], unsigned n_partitions)
int mtd_erase(mtd_instance_s &instance)
{
uint8_t v[64];
memset(v, 0xFF, sizeof(v));
for (uint8_t i = 0; i < n_partitions; i++) {
for (uint8_t i = 0; i < instance.n_partitions_current; i++) {
uint32_t count = 0;
printf("Erasing %s\n", partition_names[i]);
int fd = open(partition_names[i], O_WRONLY);
printf("Erasing %s\n", instance.partition_names[i]);
int fd = open(instance.partition_names[i], O_WRONLY);
if (fd == -1) {
PX4_ERR("Failed to open partition");
@@ -575,25 +183,22 @@ mtd_erase(const char *partition_names[], unsigned n_partitions)
responding on the bus. It relies on the driver returning an error on
bad reads (the ramtron driver does return an error)
*/
int
mtd_readtest(const mtd_instance_s &instance, const char *partition_names[], unsigned n_partitions)
int mtd_readtest(const mtd_instance_s &instance)
{
uint8_t v[128];
for (uint8_t i = 0; i < n_partitions; i++) {
for (uint8_t i = 0; i < instance.n_partitions_current; i++) {
ssize_t count = 0;
ssize_t expected_size = mtd_get_partition_size(instance, partition_names[i]);
ssize_t expected_size = px4_mtd_get_partition_size(&instance, instance.partition_names[i]);
if (expected_size == 0) {
PX4_ERR("Failed partition size is 0");
return 1;
}
printf("reading %s expecting %u bytes\n", partition_names[i], expected_size);
int fd = open(partition_names[i], O_RDONLY);
printf("reading %s expecting %u bytes\n", instance.partition_names[i], expected_size);
int fd = open(instance.partition_names[i], O_RDONLY);
if (fd == -1) {
PX4_ERR("Failed to open partition");
@@ -622,24 +227,23 @@ mtd_readtest(const mtd_instance_s &instance, const char *partition_names[], unsi
blocks and writes the data back, then reads it again, failing if the
data isn't the same
*/
int
mtd_rwtest(const mtd_instance_s &instance, const char *partition_names[], unsigned n_partitions)
int mtd_rwtest(const mtd_instance_s &instance)
{
uint8_t v[128], v2[128];
for (uint8_t i = 0; i < n_partitions; i++) {
for (uint8_t i = 0; i < instance.n_partitions_current; i++) {
ssize_t count = 0;
off_t offset = 0;
ssize_t expected_size = mtd_get_partition_size(instance, partition_names[i]);
ssize_t expected_size = px4_mtd_get_partition_size(&instance, instance.partition_names[i]);
if (expected_size == 0) {
PX4_ERR("Failed partition size is 0");
return 1;
}
printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size);
int fd = open(partition_names[i], O_RDWR);
printf("rwtest %s testing %u bytes\n", instance.partition_names[i], expected_size);
int fd = open(instance.partition_names[i], O_RDWR);
if (fd == -1) {
PX4_ERR("Failed to open partition");
@@ -689,4 +293,58 @@ mtd_rwtest(const mtd_instance_s &instance, const char *partition_names[], unsign
return 0;
}
#endif
int mtd_main(int argc, char *argv[])
{
int myoptind = 1;
const char *myoptarg = NULL;
int ch;
int instance = 0;
while ((ch = px4_getopt(argc, argv, "i:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'i':
instance = atoi(myoptarg);
break;
default:
print_usage();
return -1;
break;
}
}
if (myoptind < argc) {
unsigned int num_instances;
mtd_instance_s *instances = px4_mtd_get_instances(&num_instances);
if (instances == nullptr) {
PX4_ERR("Driver not running");
return -1;
}
if (instance < 0 || (unsigned) instance >= num_instances) {
PX4_ERR("invalid instance");
return -1;
}
if (!strcmp(argv[myoptind], "readtest")) {
return mtd_readtest(instances[instance]);
}
if (!strcmp(argv[myoptind], "rwtest")) {
return mtd_rwtest(instances[instance]);
}
if (!strcmp(argv[myoptind], "status")) {
return mtd_status();
}
if (!strcmp(argv[myoptind], "erase")) {
return mtd_erase(instances[instance]);
}
}
print_usage();
return 1;
}