px4_mtd: update eeprom at24c driver to initialize multiple instances

boards/px4/fmu-v5x/src/board_config.h

@@ -111,6 +111,8 @@
  *
  * Note that these are unshifted addresses.
  */
+
+#define BOARD_MTD_NUM_EEPROM        2 /* MTD: base_eeprom, imu_eeprom*/
 #define PX4_I2C_OBDEV_SE050         0x48
 
 #define GPIO_I2C4_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)

platforms/common/include/px4_platform_common/board_common.h

@@ -82,6 +82,10 @@
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 1
 #endif
 
+#ifndef BOARD_MTD_NUM_EEPROM
+#define BOARD_MTD_NUM_EEPROM 1
+#endif
+
 /* ADC defining tools
  * We want to normalize the V5 Sensing to V = (adc_dn) * ADC_V5_V_FULL_SCALE/(2 ^ ADC_BITS) * ADC_V5_SCALE)
  */

platforms/common/include/px4_platform_common/px4_mtd.h

@@ -75,7 +75,8 @@ __EXPORT int  px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long
  */
 __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);
+int px4_at24c_initialize(FAR struct i2c_master_s *dev,
+			 uint8_t address, FAR struct mtd_dev_s **mtd_dev);
+
 
 __END_DECLS

platforms/nuttx/src/px4/common/px4_24xxxx_mtd.c

@@ -70,6 +70,7 @@
 #include <nuttx/mtd/mtd.h>
 
 #include <perf/perf_counter.h>
+#include <board_config.h>
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -195,11 +196,8 @@ int at24c_nuke(void);
  * Private Data
  ************************************************************************************/
 
-/* At present, only a single AT24 part is supported.  In this case, a statically
- * allocated state structure may be used.
- */
-
-static struct at24c_dev_s g_at24c;
+static uint8_t number_of_instances = 0u;
+static struct at24c_dev_s g_at24c[BOARD_MTD_NUM_EEPROM];
 
 /************************************************************************************
  * Private Functions
@@ -262,7 +260,7 @@ void at24c_test(void)
 	unsigned errors = 0;
 
 	for (count = 0; count < 10000; count++) {
-		ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf);
+		ssize_t result = at24c_bread(&g_at24c[0].mtd, 0, 1, buf);
 
 		if (result == ERROR) {
 			if (errors++ > 2) {
@@ -538,13 +536,17 @@ 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)
+int px4_at24c_initialize(FAR struct i2c_master_s *dev,
+			 uint8_t address, FAR struct mtd_dev_s **mtd_dev)
 
 {
+	if (number_of_instances >= BOARD_MTD_NUM_EEPROM) {
+		return -ENOMEM;
+	}
+
 	FAR struct at24c_dev_s *priv;
 
-	finfo("dev: %p\n", dev);
+	finfo("dev: %p, mtd_dev %p\n", dev, mtd_dev);
 
 	/* Allocate a state structure (we allocate the structure instead of using
 	 * a fixed, static allocation so that we can handle multiple FLASH devices.
@@ -553,7 +555,7 @@ FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
 	 * to be extended to handle multiple FLASH parts on the same I2C bus.
 	 */
 
-	priv = &g_at24c;
+	priv = &g_at24c[number_of_instances];
 
 	if (priv) {
 		/* Initialize the allocated structure */
@@ -608,13 +610,13 @@ FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
 		priv->perf_resets_retries = NULL;
 		priv->perf_errors = NULL;
 
-		return NULL;
+		return ret;
 	}
 
-	/* Return the implementation-specific state structure as the MTD device */
+	*mtd_dev = (FAR struct mtd_dev_s *)priv;
+	++number_of_instances;
 
-	finfo("Return %p\n", priv);
-	return (FAR struct mtd_dev_s *)priv;
+	return 0;
 }
 
 /*
@@ -622,5 +624,5 @@ FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
  */
 int at24c_nuke(void)
 {
-	return at24c_eraseall(&g_at24c);
+	return at24c_eraseall(&g_at24c[0]);
 }

platforms/nuttx/src/px4/common/px4_mtd.cpp

@@ -147,15 +147,19 @@ static int at24xxx_attach(mtd_instance_s &instance)
 
 	/* 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));
+		int ret_val = px4_at24c_initialize(i2c, PX4_I2C_DEVID_ADDR(instance.devid), &(instance.mtd_dev));
 
-		if (instance.mtd_dev) {
+		if (ret_val == 0) {
 			/* abort on first valid result */
 			if (i > 0) {
 				PX4_WARN("EEPROM needed %d attempts to attach", i + 1);
 			}
 
 			break;
+
+		} else if (ret_val == -ENOMEM) {
+			PX4_ERR("Number of at24c EEPROM instances reached the board limit of %d", BOARD_MTD_NUM_EEPROM);
+			break;
 		}
 	}