diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 66cb3f2375..ed034877f1 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/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 diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index e60120b492..1dc96b3c3f 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/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 # diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index ad845e095b..2a734c27e5 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/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 # diff --git a/src/modules/systemlib/bson/tinybson.c b/src/modules/systemlib/bson/tinybson.c index 8aca6a25dd..49403c98bd 100644 --- a/src/modules/systemlib/bson/tinybson.c +++ b/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; } diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c index 398657dd79..2d773fd251 100644 --- a/src/modules/systemlib/param/param.c +++ b/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()); diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c index 43e42c9517..baef9dcccd 100644 --- a/src/systemcmds/mtd/mtd.c +++ b/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 "); + } + 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); } diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index 65f291f401..580fdc62f4 100644 --- a/src/systemcmds/param/param.c +++ b/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: ",