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Refactor mtd to make available to board startup
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
1b9ab2a3e2
commit
68ab736b16
@@ -0,0 +1,408 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_mtd.cpp
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*
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* mtd services.
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*
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* @author David Sidrane <david.sidrane@nscdg.com>
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*/
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#ifndef MODULE_NAME
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#define MODULE_NAME "PX4_MTD"
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#endif
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_mtd.h>
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#include <px4_platform_common/px4_manifest.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/spi.h>
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#include <errno.h>
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#include <stdbool.h>
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#include <nuttx/drivers/drivers.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/mtd/mtd.h>
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extern "C" {
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struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
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struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
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off_t firstblock, off_t nblocks);
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}
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static int num_instances = 0;
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static mtd_instance_s *instances = nullptr;
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static int ramtron_attach(mtd_instance_s &instance)
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{
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#if !defined(CONFIG_MTD_RAMTRON)
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PX4_ERR("Misconfiguration CONFIG_MTD_RAMTRON not set");
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return ENXIO;
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#else
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/* initialize the right spi */
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struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(instance.devid));
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if (spi == nullptr) {
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PX4_ERR("failed to locate spi bus");
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return -ENXIO;
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}
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/* this resets the spi bus, set correct bus speed again */
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SPI_SETFREQUENCY(spi, 10 * 1000 * 1000);
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SPI_SETBITS(spi, 8);
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SPI_SETMODE(spi, SPIDEV_MODE3);
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SPI_SELECT(spi, instance.devid, false);
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/* start the RAMTRON driver, attempt 5 times */
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for (int i = 0; i < 5; i++) {
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instance.mtd_dev = ramtron_initialize(spi);
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if (instance.mtd_dev) {
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/* abort on first valid result */
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if (i > 0) {
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PX4_WARN("mtd needed %d attempts to attach", i + 1);
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}
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break;
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}
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}
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/* if last attempt is still unsuccessful, abort */
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if (instance.mtd_dev == nullptr) {
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PX4_ERR("failed to initialize mtd driver");
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return -EIO;
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}
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int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)10 * 1000 * 1000);
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if (ret != OK) {
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// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried
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// that but setting the bus speed does fail all the time. Which was then exiting and the board would
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// not run correctly. So changed to PX4_WARN.
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PX4_WARN("failed to set bus speed");
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}
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return 0;
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#endif
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}
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static int at24xxx_attach(mtd_instance_s &instance)
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{
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#if !defined(PX4_I2C_BUS_MTD)
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PX4_ERR("Misconfiguration PX4_I2C_BUS_MTD not set");
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return -ENXIO;
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#else
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struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_DEVID_BUS(instance.devid));
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if (i2c == nullptr) {
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PX4_ERR("failed to locate I2C bus");
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return -ENXIO;
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}
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/* start the MTD driver, attempt 5 times */
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for (int i = 0; i < 5; i++) {
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instance.mtd_dev = px4_at24c_initialize(i2c, PX4_I2C_DEVID_ADDR(instance.devid));
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if (instance.mtd_dev) {
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/* abort on first valid result */
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if (i > 0) {
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PX4_WARN("EEPROM needed %d attempts to attach", i + 1);
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}
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break;
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}
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}
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/* if last attempt is still unsuccessful, abort */
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if (instance.mtd_dev == nullptr) {
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PX4_ERR("failed to initialize EEPROM driver");
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return -EIO;
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}
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return 0;
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#endif
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}
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int px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long *blocksize, unsigned long *erasesize,
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unsigned long *neraseblocks,
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unsigned *blkpererase, unsigned *nblocks, unsigned *partsize)
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{
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/* Get the geometry of the FLASH device */
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FAR struct mtd_geometry_s geo;
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int ret = instance->mtd_dev->ioctl(instance->mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
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if (ret < 0) {
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PX4_ERR("mtd->ioctl failed: %d", ret);
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return ret;
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}
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*blocksize = geo.blocksize;
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*erasesize = geo.erasesize;
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*neraseblocks = geo.neraseblocks;
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/* Determine the size of each partition. Make each partition an even
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* multiple of the erase block size (perhaps not using some space at the
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* end of the FLASH).
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*/
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*blkpererase = geo.erasesize / geo.blocksize;
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*nblocks = (geo.neraseblocks / instance->n_partitions_current) * *blkpererase;
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*partsize = *nblocks * geo.blocksize;
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return ret;
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}
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/*
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get partition size in bytes
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*/
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ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *partname)
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{
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unsigned long blocksize, erasesize, neraseblocks;
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unsigned blkpererase, nblocks, partsize = 0;
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int ret = px4_mtd_get_geometry(instance, &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
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if (ret != OK) {
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PX4_ERR("Failed to get geometry");
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return 0;
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}
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unsigned partn = 0;
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for (unsigned n = 0; n < instance->n_partitions_current; n++) {
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if (instance->partition_names[n] != nullptr &&
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partname != nullptr &&
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strcmp(instance->partition_names[n], partname) == 0) {
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partn = n;
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break;
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}
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}
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return instance->partition_block_counts[partn] * blocksize;
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}
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mtd_instance_s *px4_mtd_get_instances(unsigned int *count)
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{
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*count = num_instances;
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return instances;
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}
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// Define the default FRAM usage
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#if !defined(CONFIG_MTD_RAMTRON)
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static const px4_mtd_manifest_t default_mtd_config = {
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};
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#else
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const px4_mft_device_t spifram = { // FM25V02A on FMUM 32K 512 X 64
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.bus_type = px4_mft_device_t::SPI,
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.devid = SPIDEV_FLASH(0)
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};
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const px4_mtd_entry_t fram = {
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.device = &spifram,
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.npart = 2,
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.partd = {
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{
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.type = MTD_PARAMETERS,
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.path = "/fs/mtd_params",
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.nblocks = 32
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},
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{
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.type = MTD_WAYPOINTS,
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.path = "/fs/mtd_waypoints",
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.nblocks = 32
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}
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},
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};
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static const px4_mtd_manifest_t default_mtd_config = {
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.nconfigs = 1,
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.entries = {
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&fram,
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}
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};
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#endif
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int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)
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{
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int rv = -EINVAL;
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const px4_mtd_manifest_t *mtd_list = mft_mtd ? mft_mtd : &default_mtd_config;
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if (mtd_list == nullptr) {
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PX4_ERR("Invalid mtd configuration!");
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return rv;
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}
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if (mtd_list->nconfigs == 0) {
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return 0;
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}
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rv = -ENOMEM;
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int total_blocks = 0;
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instances = new mtd_instance_s[mtd_list->nconfigs];
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if (instances == nullptr) {
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memoryout:
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PX4_ERR("failed to allocate memory!");
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return rv;
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}
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for (uint32_t i = 0; i < mtd_list->nconfigs; i++) {
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num_instances++;
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uint32_t nparts = mtd_list->entries[i]->npart;
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instances[i].devid = mtd_list->entries[i]->device->devid;
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instances[i].mtd_dev = nullptr;
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instances[i].n_partitions_current = 0;
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rv = -ENOMEM;
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instances[i].part_dev = new FAR struct mtd_dev_s *[nparts];
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if (instances[i].part_dev == nullptr) {
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goto memoryout;
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}
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instances[i].partition_block_counts = new int[nparts];
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if (instances[i].partition_block_counts == nullptr) {
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goto memoryout;
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}
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instances[i].partition_names = new const char *[nparts];
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if (instances[i].partition_names == nullptr) {
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goto memoryout;
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}
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for (uint32_t p = 0; p < nparts; p++) {
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instances[i].partition_block_counts[p] = mtd_list->entries[i]->partd[p].nblocks;
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instances[i].partition_names[p] = mtd_list->entries[i]->partd[p].path;
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}
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if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::I2C) {
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rv = at24xxx_attach(instances[i]);
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} else {
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rv = ramtron_attach(instances[i]);
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}
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if (rv != 0) {
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goto errout;
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}
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unsigned long blocksize;
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unsigned long erasesize;
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unsigned long neraseblocks;
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unsigned int blkpererase;
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unsigned int nblocks;
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unsigned int partsize;
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rv = px4_mtd_get_geometry(&instances[i], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
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if (rv != 0) {
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goto errout;
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}
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/* Now create MTD FLASH partitions */
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char blockname[32];
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unsigned offset;
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unsigned part;
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for (offset = 0, part = 0; rv == 0 && part < nparts; offset += instances[i].partition_block_counts[part], part++) {
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/* Create the partition */
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instances[i].part_dev[part] = mtd_partition(instances[i].mtd_dev, offset, instances[i].partition_block_counts[part]);
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if (instances[i].part_dev[part] == nullptr) {
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PX4_ERR("mtd_partition failed. offset=%lu nblocks=%lu",
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(unsigned long)offset, (unsigned long)nblocks);
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rv = -ENOSPC;
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goto errout;
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}
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/* Initialize to provide an FTL block driver on the MTD FLASH interface */
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snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", total_blocks);
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rv = ftl_initialize(total_blocks, instances[i].part_dev[part]);
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if (rv < 0) {
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PX4_ERR("ftl_initialize %s failed: %d", blockname, rv);
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goto errout;
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}
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total_blocks++;
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/* Now create a character device on the block device */
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rv = bchdev_register(blockname, instances[i].partition_names[part], false);
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if (rv < 0) {
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PX4_ERR("bchdev_register %s failed: %d", instances[i].partition_names[part], rv);
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goto errout;
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}
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instances[i].n_partitions_current++;
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}
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errout:
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if (rv < 0) {
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PX4_ERR("mtd failure: %d bus %d address %d class %d",
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rv,
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PX4_I2C_DEVID_BUS(instances[i].devid),
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PX4_I2C_DEVID_ADDR(instances[i].devid),
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mtd_list->entries[i]->partd[instances[i].n_partitions_current].type);
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break;
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}
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}
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return rv;
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}
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