Merge branch 'master' of github.com:PX4/Firmware into paul_estimator

ROMFS/px4fmu_common/init.d/rcS

@@ -75,14 +75,15 @@ then
 	#
 	# Load microSD params
 	#
-	#if ramtron start
-	#then
-	#	param select /ramtron/params
-	#	if [ -f /ramtron/params ]
-	#	then
-	#		param load /ramtron/params
-	#	fi
-	#else
+	if mtd start
+	then
+		param select /fs/mtd_params
+		if param load /fs/mtd_params
+		then
+		else
+			echo "FAILED LOADING PARAMS"
+		fi
+	else
 		param select /fs/microsd/params
 		if [ -f /fs/microsd/params ]
 		then
@@ -93,7 +94,7 @@ then
 				echo "Parameter file corrupt - ignoring"
 			fi
 		fi
-	#fi
+	fi
 	
 	#
 	# Start system state indicator

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -460,7 +460,7 @@ CONFIG_MMCSD_NSLOTS=1
 CONFIG_MMCSD_SPI=y
 CONFIG_MMCSD_SPICLOCK=24000000
 # CONFIG_MMCSD_SDIO is not set
-# CONFIG_MTD is not set
+CONFIG_MTD=y
 CONFIG_PIPES=y
 # CONFIG_PM is not set
 # CONFIG_POWER is not set
@@ -482,6 +482,25 @@ CONFIG_USART1_SERIAL_CONSOLE=y
 # CONFIG_USART6_SERIAL_CONSOLE is not set
 # CONFIG_NO_SERIAL_CONSOLE is not set
 
+#
+# MTD Configuration
+#
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_BYTE_WRITE=y
+
+#
+# MTD Device Drivers
+#
+# CONFIG_RAMMTD is not set
+# CONFIG_MTD_AT24XX is not set
+# CONFIG_MTD_AT45DB is not set
+# CONFIG_MTD_M25P is not set
+# CONFIG_MTD_SMART is not set
+# CONFIG_MTD_RAMTRON is not set
+# CONFIG_MTD_SST25 is not set
+# CONFIG_MTD_SST39FV is not set
+# CONFIG_MTD_W25 is not set
+
 #
 # USART1 Configuration
 #

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -500,7 +500,7 @@ CONFIG_MTD=y
 #
 # MTD Configuration
 #
-# CONFIG_MTD_PARTITION is not set
+CONFIG_MTD_PARTITION=y
 CONFIG_MTD_BYTE_WRITE=y
 
 #

src/modules/systemlib/bson/tinybson.c

@@ -407,6 +407,9 @@ bson_encoder_fini(bson_encoder_t encoder)
 		memcpy(encoder->buf, &len, sizeof(len));
 	}
 
+	/* sync file */
+	fsync(encoder->fd);
+
 	return 0;
 }
 

src/modules/systemlib/param/param.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -61,7 +61,7 @@
 #include "uORB/uORB.h"
 #include "uORB/topics/parameter_update.h"
 
-#if 1
+#if 0
 # define debug(fmt, args...)		do { warnx(fmt, ##args); } while(0)
 #else
 # define debug(fmt, args...)		do { } while(0)
@@ -512,6 +512,28 @@ param_save_default(void)
 	int fd;
 
 	const char *filename = param_get_default_file();
+
+	/* write parameters to temp file */
+	fd = open(filename, O_WRONLY | O_CREAT);
+
+	if (fd < 0) {
+		warn("failed to open param file: %s", filename);
+		return ERROR;
+	}
+
+	if (res == OK) {
+		res = param_export(fd, false);
+
+	        if (res != OK) {
+	            warnx("failed to write parameters to file: %s", filename);
+	        }
+	}
+
+	close(fd);
+
+	return res;
+
+#if 0
 	const char *filename_tmp = malloc(strlen(filename) + 5);
 	sprintf(filename_tmp, "%s.tmp", filename);
 
@@ -565,6 +587,7 @@ param_save_default(void)
 	free(filename_tmp);
 
 	return res;
+#endif
 }
 
 /**
@@ -573,9 +596,9 @@ param_save_default(void)
 int
 param_load_default(void)
 {
-	int fd = open(param_get_default_file(), O_RDONLY);
+	int fd_load = open(param_get_default_file(), O_RDONLY);
 
-	if (fd < 0) {
+	if (fd_load < 0) {
 		/* no parameter file is OK, otherwise this is an error */
 		if (errno != ENOENT) {
 			warn("open '%s' for reading failed", param_get_default_file());
@@ -584,8 +607,8 @@ param_load_default(void)
 		return 1;
 	}
 
-	int result = param_load(fd);
-	close(fd);
+	int result = param_load(fd_load);
+	close(fd_load);
 
 	if (result != 0) {
 		warn("error reading parameters from '%s'", param_get_default_file());

src/systemcmds/mtd/mtd.c

@@ -66,7 +66,7 @@ __EXPORT int mtd_main(int argc, char *argv[]);
 
 #ifndef CONFIG_MTD_RAMTRON
 
-/* create a fake command with decent message to not confuse users */
+/* create a fake command with decent warnx to not confuse users */
 int mtd_main(int argc, char *argv[])
 {
 	errx(1, "RAMTRON not enabled, skipping.");
@@ -75,34 +75,49 @@ int mtd_main(int argc, char *argv[])
 #else
 
 static void	mtd_attach(void);
-static void	mtd_start(void);
-static void	mtd_erase(void);
-static void	mtd_ioctl(unsigned operation);
-static void	mtd_save(const char *name);
-static void	mtd_load(const char *name);
+static void	mtd_start(char *partition_names[], unsigned n_partitions);
 static void	mtd_test(void);
+static void	mtd_erase(char *partition_names[], unsigned n_partitions);
 
 static bool attached = false;
 static bool started = false;
 static struct mtd_dev_s *mtd_dev;
-static char *_mtdname = "/dev/mtd_params";
-static char *_wpname = "/dev/mtd_waypoints";
+
+/* note, these will be equally sized */
+static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
+static const int n_partitions_default = sizeof(partition_names_default) / sizeof(partition_names_default[0]);
 
 int mtd_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
-		if (!strcmp(argv[1], "start"))
-			mtd_start();
+		if (!strcmp(argv[1], "start")) {
+
+			/* start mapping according to user request */
+			if (argc > 3) {
+				mtd_start(argv + 2, argc - 2);
+
+			} else {
+				mtd_start(partition_names_default, n_partitions_default);
+			}
+		}
 
 		if (!strcmp(argv[1], "test"))
 			mtd_test();
+
+		if (!strcmp(argv[1], "erase")) {
+			if (argc < 3) {
+				errx(1, "usage: mtd erase <PARTITION_PATH..>");
+			}
+			mtd_erase(argv + 2, argc - 2);
+                }
 	}
 
-	errx(1, "expected a command, try 'start' or 'test'");
+	errx(1, "expected a command, try 'start', 'erase' or 'test'");
 }
 
 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 void
 mtd_attach(void)
@@ -140,7 +155,7 @@ mtd_attach(void)
 }
 
 static void
-mtd_start(void)
+mtd_start(char *partition_names[], unsigned n_partitions)
 {
 	int ret;
 
@@ -151,65 +166,113 @@ mtd_start(void)
 		mtd_attach();
 
 	if (!mtd_dev) {
-		warnx("ERROR: Failed to create RAMTRON FRAM MTD instance\n");
+		warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
 		exit(1);
 	}
 
-	/* Initialize to provide an FTL block driver on the MTD FLASH interface.
-	 *
-	 * NOTE:  We could just skip all of this FTL and BCH stuff.  We could
-	 * instead just use the MTD drivers bwrite and bread to perform this
-	 * test.  Creating the character drivers, however, makes this test more
-	 * interesting.
-	 */
 
-	ret = ftl_initialize(0, mtd_dev);
+	/* Get the geometry of the FLASH device */
+
+	FAR struct mtd_geometry_s geo;
+
+	ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
 
 	if (ret < 0) {
-		warnx("Creating /dev/mtdblock0 failed: %d\n", ret);
-		exit(2);
-	}
-
-	/* Now create a character device on the block device */
-
-	ret = bchdev_register("/dev/mtdblock0", _mtdname, false);
-
-	if (ret < 0) {
-		warnx("ERROR: bchdev_register %s failed: %d\n", _mtdname, ret);
+		warnx("ERROR: mtd->ioctl failed: %d", ret);
 		exit(3);
 	}
 
-	/* mount the mtd */
-	ret = mount(NULL, "/mtd", "nxffs", 0, NULL);
+	warnx("Flash Geometry:");
+	warnx("  blocksize:      %lu", (unsigned long)geo.blocksize);
+	warnx("  erasesize:      %lu", (unsigned long)geo.erasesize);
+	warnx("  neraseblocks:   %lu", (unsigned long)geo.neraseblocks);
 
-	if (ret < 0)
-		errx(1, "failed to mount /mtd - erase mtd to reformat");
+	/* 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).
+	 */
+
+	unsigned blkpererase = geo.erasesize / geo.blocksize;
+	unsigned nblocks     = (geo.neraseblocks / n_partitions) * blkpererase;
+	unsigned partsize    = nblocks * geo.blocksize;
+
+	warnx("  No. partitions: %u", n_partitions);
+	warnx("  Partition size: %lu Blocks (%lu bytes)", (unsigned long)nblocks, (unsigned long)partsize);
+
+	/* Now create MTD FLASH partitions */
+
+	warnx("Creating partitions");
+	FAR struct mtd_dev_s *part[n_partitions];
+	char blockname[32];
+
+	unsigned offset;
+	unsigned i;
+
+	for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
+
+		warnx("  Partition %d. Block offset=%lu, size=%lu",
+		      i, (unsigned long)offset, (unsigned long)nblocks);
+
+		/* Create the partition */
+
+		part[i] = mtd_partition(mtd_dev, offset, nblocks);
+
+		if (!part[i]) {
+			warnx("ERROR: mtd_partition failed. offset=%lu nblocks=%lu",
+			      (unsigned long)offset, (unsigned long)nblocks);
+			exit(4);
+		}
+
+		/* Initialize to provide an FTL block driver on the MTD FLASH interface */
+
+		snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", i);
+
+		ret = ftl_initialize(i, part[i]);
+
+		if (ret < 0) {
+			warnx("ERROR: ftl_initialize %s failed: %d", blockname, ret);
+			exit(5);
+		}
+
+		/* Now create a character device on the block device */
+
+		ret = bchdev_register(blockname, partition_names[i], false);
+
+		if (ret < 0) {
+			warnx("ERROR: bchdev_register %s failed: %d", partition_names[i], ret);
+			exit(6);
+		}
+	}
 
 	started = true;
-	warnx("mounted mtd at /mtd");
-	exit(0);
-}
-
-static void
-mtd_ioctl(unsigned operation)
-{
-	int fd;
-
-	fd = open("/mtd/.", 0);
-
-	if (fd < 0)
-		err(1, "open /mtd");
-
-	if (ioctl(fd, operation, 0) < 0)
-		err(1, "ioctl");
-
 	exit(0);
 }
 
 static void
 mtd_test(void)
 {
-//	at24c_test();
+	warnx("This test routine does not test anything yet!");
+	exit(1);
+}
+
+static void
+mtd_erase(char *partition_names[], unsigned n_partitions)
+{
+	uint8_t v[64];
+	memset(v, 0xFF, sizeof(v));
+	for (uint8_t i = 0; i < n_partitions; i++) {
+		uint32_t count = 0;
+		printf("Erasing %s\n", partition_names[i]);
+		int fd = open(partition_names[i], O_WRONLY);
+		if (fd == -1) {
+			errx(1, "Failed to open partition");
+		}
+		while (write(fd, &v, sizeof(v)) == sizeof(v)) {
+			count += sizeof(v);
+		}
+		printf("Erased %lu bytes\n", (unsigned long)count);
+		close(fd);
+	}
 	exit(0);
 }
 

src/systemcmds/param/param.c

@@ -72,7 +72,12 @@ param_main(int argc, char *argv[])
 			if (argc >= 3) {
 				do_save(argv[2]);
 			} else {
-				do_save(param_get_default_file());
+				if (param_save_default()) {
+					warnx("Param export failed.");
+					exit(1);
+				} else {
+					exit(0);
+				}
 			}
 		}
 
@@ -133,11 +138,8 @@ param_main(int argc, char *argv[])
 static void
 do_save(const char* param_file_name)
 {
-	/* delete the parameter file in case it exists */
-	unlink(param_file_name);
-
 	/* create the file */
-	int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
+	int fd = open(param_file_name, O_WRONLY | O_CREAT);
 
 	if (fd < 0)
 		err(1, "opening '%s' failed", param_file_name);
@@ -146,7 +148,7 @@ do_save(const char* param_file_name)
 	close(fd);
 
 	if (result < 0) {
-		unlink(param_file_name);
+		(void)unlink(param_file_name);
 		errx(1, "error exporting to '%s'", param_file_name);
 	}
 
@@ -203,11 +205,38 @@ do_show_print(void *arg, param_t param)
 	int32_t i;
 	float f;
 	const char *search_string = (const char*)arg;
+	const char *p_name = (const char*)param_name(param);
 
 	/* print nothing if search string is invalid and not matching */
-	if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
-		/* param not found */
-		return;
+	if (!(arg == NULL)) {
+
+		/* start search */
+		char *ss = search_string;
+		char *pp = p_name;
+		bool mismatch = false;
+
+		/* XXX this comparison is only ok for trailing wildcards */
+		while (*ss != '\0' && *pp != '\0') {
+
+			if (*ss == *pp) {
+				ss++;
+				pp++;
+			} else if (*ss == '*') {
+				if (*(ss + 1) != '\0') {
+					warnx("* symbol only allowed at end of search string.");
+					exit(1);
+				}
+
+				pp++;
+			} else {
+				/* param not found */
+				return;
+			}
+		}
+
+		/* the search string must have been consumed */
+		if (!(*ss == '\0' || *ss == '*'))
+			return;
 	}
 
 	printf("%c %s: ",