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boards: use littlefs for parameter storage

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Co-authored-by: Igor Mišić <igy1000mb@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Daniel Agar
2023-09-20 19:13:54 -04:00
co-authored by Igor Mišić
parent be56f74c1d
commit 7667b3a782
73 changed files with 528 additions and 54 deletions
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platforms/common/include/px4_platform_common/px4_mtd.h
+18
View File
@@ -77,6 +77,24 @@ __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);
/*
Helper function for transition to LittleFS.
It will unmount MTD for parameters with LittleFS and mount Block Device
*/
__EXPORT int px4_mtd_unmount_littlefs_mount_block_device(void);
/*
Helper function for transition to LittleFS.
It will unmount MTD for parameters with Block Device and mount LittleFS with force formatting
*/
__EXPORT int px4_mtd_unmount_block_device_mount_littlefs(void);
/*
Helper function for transition to LittleFS.
It will force formatting to LittleFS
*/
__EXPORT int px4_mtd_forceformat_littlefs(void);
int px4_at24c_initialize(FAR struct i2c_master_s *dev,
uint8_t address, FAR struct mtd_dev_s **mtd_dev);
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+1 -1
View File
@@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};
static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50};
static constexpr wq_config_t lp_default{"wq:lp_default", 2048, -50};
static constexpr wq_config_t test1{"wq:test1", 2000, 0};
static constexpr wq_config_t test2{"wq:test2", 2000, 0};
platforms/nuttx/src/px4/common/px4_manifest.cpp
+6
View File
@@ -76,9 +76,12 @@ __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) {
#if defined(CONFIG_MTD)
case MTD:
px4_mtd_config(static_cast<const px4_mtd_manifest_t *>(mft->mfts[m]->pmft));
break;
#endif // CONFIG_MTD
case MFT:
default:
@@ -99,9 +102,12 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
for (uint32_t m = 0; m < mft->nmft; m++) {
if (mft->mfts[m]->type == type)
switch (type) {
#if defined(CONFIG_MTD)
case MTD:
return px4_mtd_query(sub, val, nullptr);
break;
#endif // CONFIG_MTD
case MFT:
default:
platforms/nuttx/src/px4/common/px4_mtd.cpp
+141 -23
View File
@@ -39,6 +39,8 @@
* @author David Sidrane <david.sidrane@nscdg.com>
*/
#if defined(CONFIG_MTD)
#ifndef MODULE_NAME
#define MODULE_NAME "PX4_MTD"
#endif
@@ -57,6 +59,7 @@
#include <nuttx/drivers/drivers.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mtd/mtd.h>
#include <nuttx/fs/fs.h>
extern "C" {
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
@@ -67,6 +70,9 @@ static int num_instances = 0;
static int total_blocks = 0;
static mtd_instance_s *instances[MAX_MTD_INSTANCES] = {};
static int8_t param_instance = -1;
static int8_t param_part = -1;
static int8_t param_block = -1;
static int ramtron_attach(mtd_instance_s &instance)
{
@@ -118,15 +124,6 @@ static int ramtron_attach(mtd_instance_s &instance)
return -EIO;
}
int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)spi_speed_mhz * 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
}
@@ -395,27 +392,54 @@ memoryout:
}
/* 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]);
printf("blockname: %s, type: %d, name: %s\n", blockname, instances[i]->partition_types[part],
instances[i]->partition_names[part]);
if (rv < 0) {
PX4_ERR("ftl_initialize %s failed: %d", blockname, rv);
goto errout;
if (instances[i]->partition_types[part] == MTD_PARAMETERS) {
param_instance = i;
param_part = part;
param_block = total_blocks;
rv = register_mtddriver(blockname, instances[i]->part_dev[part], 0755, nullptr);
if (rv < 0) {
PX4_ERR("register_mtddriver %s failed: %d", blockname, rv);
goto errout;
}
// Now create a character device on the block device
//TODO: after the transition period return "autoformat"
rv = nx_mount(blockname, instances[i]->partition_names[part], "littlefs", 0, "");
printf("nx_mount: blockname: %s partition: %s\n", blockname, instances[i]->partition_names[part]);
if (rv < 0) {
PX4_ERR("nx_mount %s failed: %d", instances[i]->partition_names[part], rv);
goto errout;
}
} else {
rv = ftl_initialize(total_blocks, instances[i]->part_dev[part]);
if (rv < 0) {
PX4_ERR("ftl_initialize %s failed: %d", blockname, rv);
goto errout;
}
/* 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;
}
}
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++;
}
@@ -474,3 +498,97 @@ __EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get)
return rv;
}
int px4_mtd_unmount_littlefs_mount_block_device(void)
{
if ((param_instance == -1) || (param_part == -1) || (param_block == -1)) {
PX4_ERR("MTD_PARAMETERS never initialized");
return -1;
}
char blockname[32];
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
// in case LittleFS is mounted, unmount it
nx_umount2(instances[param_instance]->partition_names[param_part], 0);
unregister_mtddriver(blockname);
int ret = ftl_initialize(0, instances[param_instance]->part_dev[param_part]);
if (ret < 0) {
PX4_ERR("ftl_initialize failed with error %d, param_block %d, param_instance %d, param_part %d, block_counts %d",
ret, param_block, param_instance, param_part, *instances[param_instance]->partition_block_counts);
} else {
ret = bchdev_register(blockname, instances[param_instance]->partition_names[param_part], false);
if (ret < 0) {
PX4_ERR("bchdev_register failed: %d", ret);
}
}
return ret;
}
int px4_mtd_unmount_block_device_mount_littlefs(void)
{
if ((param_instance == -1) || (param_part == -1) || (param_block == -1)) {
PX4_ERR("MTD_PARAMETERS never initialized");
return -1;
}
char blockname[32];
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
int ret = bchdev_unregister(instances[param_instance]->partition_names[param_part]);
if (ret < 0) {
PX4_ERR("bchdev_unregister %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
} else {
ret = unregister_blockdriver(blockname);
if (ret < 0) {
PX4_ERR("unregister_blockdriver %s failed: %d", blockname, ret);
} else {
ret = px4_mtd_forceformat_littlefs();
}
}
return ret;
}
int px4_mtd_forceformat_littlefs(void)
{
if ((param_instance == -1) || (param_part == -1) || (param_block == -1)) {
PX4_ERR("MTD_PARAMETERS never initialized");
return -1;
}
char blockname[32];
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
// in case bchdev is register
bchdev_unregister(instances[param_instance]->partition_names[param_part]);
unregister_blockdriver(blockname);
int ret = register_mtddriver(blockname, instances[param_instance]->part_dev[param_part], 0755, nullptr);
if (ret < 0) {
PX4_ERR("register_mtddriver %s failed: %d", blockname, ret);
} else {
ret = nx_mount(blockname, instances[param_instance]->partition_names[param_part], "littlefs", 0, "forceformat");
if (ret < 0) {
PX4_ERR("nx_mount %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
}
}
return ret;
}
#endif // CONFIG_MTD