Enable support for RAMTRON, enable support for EEPROM on FMU 1.x

makefiles/config_px4fmu_default.mk

@@ -11,6 +11,7 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
 # Board support modules
 #
 MODULES		+= drivers/px4fmu
+MODULES		+= systemcmds/eeprom
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -36,7 +37,6 @@ BUILTIN_COMMANDS := \
 	$(call _B, commander,              SCHED_PRIORITY_MAX-30,     2048,  commander_main             ) \
 	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
 	$(call _B, delay_test,             ,                          2048,  delay_test_main            ) \
-	$(call _B, eeprom,                 ,                          4096,  eeprom_main                ) \
 	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
 	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
 	$(call _B, gps,                    ,                          2048,  gps_main                   ) \
@@ -66,4 +66,5 @@ BUILTIN_COMMANDS := \
 	$(call _B, tests,                  ,                          12000, tests_main                 ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
 	$(call _B, top,                    SCHED_PRIORITY_DEFAULT-10, 3000,  top_main                   ) \
+	$(call _B, param,                  SCHED_PRIORITY_DEFAULT-10, 2048,  param_main                 ) \
 	$(call _B, uorb,                   ,                          4096,  uorb_main                  )

makefiles/config_px4fmuv2_default.mk

@@ -14,6 +14,7 @@ MODULES		+= drivers/boards/px4fmuv2
 MODULES		+= drivers/lsm303d
 MODULES		+= drivers/px4fmu
 MODULES		+= drivers/rgbled
+MODULES		+= systemcmds/ramtron
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -61,4 +62,5 @@ BUILTIN_COMMANDS := \
 	$(call _B, tests,                  ,                          12000, tests_main                 ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
 	$(call _B, top,                    SCHED_PRIORITY_DEFAULT-10, 3000,  top_main                   ) \
+	$(call _B, param,                  SCHED_PRIORITY_DEFAULT-10, 2048,  param_main                 ) \
 	$(call _B, uorb,                   ,                          4096,  uorb_main                  )

nuttx/configs/px4fmu/nsh/appconfig

@@ -65,7 +65,6 @@ CONFIGURED_APPS += systemcmds/perf
 CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
-CONFIGURED_APPS += systemcmds/eeprom
 CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/pwm
 CONFIGURED_APPS += systemcmds/bl_update

nuttx/configs/px4fmuv2/nsh/appconfig

@@ -65,9 +65,7 @@ CONFIGURED_APPS += systemcmds/perf
 CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
-# No I2C EEPROM - need new param interface
+CONFIGURED_APPS += systemcmds/param
-#CONFIGURED_APPS += systemcmds/eeprom
-#CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/pwm
 CONFIGURED_APPS += systemcmds/bl_update
 CONFIGURED_APPS += systemcmds/preflight_check
@@ -95,10 +93,8 @@ CONFIGURED_APPS += sdlog
 CONFIGURED_APPS += sensors
 
 ifneq ($(CONFIG_APM),y)
-#CONFIGURED_APPS += ardrone_interface
 CONFIGURED_APPS += multirotor_att_control
 CONFIGURED_APPS += multirotor_pos_control
-#CONFIGURED_APPS += fixedwing_control
 CONFIGURED_APPS += fixedwing_att_control
 CONFIGURED_APPS += fixedwing_pos_control
 CONFIGURED_APPS += position_estimator

nuttx/configs/px4fmuv2/nsh/defconfig

@@ -365,6 +365,10 @@ CONFIG_I2C_RESET=y
 # XXX fixed per-transaction timeout
 CONFIG_STM32_I2CTIMEOMS=10
 
+#
+# MTD support
+#
+CONFIG_MTD=y
 
 # XXX re-enable after integration testing
 

nuttx/drivers/mtd/ramtron.c

@@ -161,6 +161,14 @@ struct ramtron_dev_s
 
 static struct ramtron_parts_s ramtron_parts[] =
 {
+  {
+    "FM25V01",                    /* name */
+    0x21,                         /* id1 */
+    0x00,                         /* id2 */
+    16L*1024L,                    /* size */
+    2,                            /* addr_len */
+    40000000                      /* speed */
+  },
   {
     "FM25V02",                    /* name */
     0x22,                         /* id1 */

src/drivers/boards/px4fmuv2/px4fmu_init.c

@@ -192,12 +192,12 @@ __EXPORT int nsh_archinitialize(void)
 	spi1 = up_spiinitialize(1);
 
 	if (!spi1) {
-		message("[boot] FAILED to initialize SPI port 1\r\n");
+		message("[boot] FAILED to initialize SPI port 1\n");
 		up_ledon(LED_AMBER);
 		return -ENODEV;
 	}
 
-	// Default SPI1 to 1MHz and de-assert the known chip selects.
+	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi1, 10000000);
 	SPI_SETBITS(spi1, 8);
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
@@ -206,11 +206,10 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
 	up_udelay(20);
 
-	message("[boot] Successfully initialized SPI port 1\r\n");
+	message("[boot] Successfully initialized SPI port 1\n");
 
 	/* Get the SPI port for the FRAM */
 
-	message("[boot] Initializing SPI port 2\n");
 	spi2 = up_spiinitialize(2);
 
 	if (!spi2) {
@@ -219,11 +218,13 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
+	/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi2, 375000000);
+	SPI_SETBITS(spi2, 8);
+	SPI_SETMODE(spi2, SPIDEV_MODE3);
+	SPI_SELECT(spi2, SPIDEV_FLASH, false);
+
 	message("[boot] Successfully initialized SPI port 2\n");
 
-	/* XXX need a driver to bind the FRAM to */
-
-	//message("[boot] Successfully bound SPI port 2 to the FRAM driver\n");
-
 	return OK;
 }

src/systemcmds/eeprom/eeprom.c

@@ -0,0 +1,265 @@
+/****************************************************************************
+ *
+ *   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 <arch/board/board.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);
+}

src/systemcmds/eeprom/module.mk

@@ -0,0 +1,6 @@
+#
+# EEPROM file system driver
+#
+
+MODULE_COMMAND	 = eeprom
+SRCS		 = 24xxxx_mtd.c eeprom.c

src/systemcmds/ramtron/module.mk

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

src/systemcmds/ramtron/ramtron.c

@@ -0,0 +1,268 @@
+/****************************************************************************
+ *
+ *   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[]);
+
+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);
+}