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[RFC] NuttX use littlefs for F-RAM parameter storage

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This commit is contained in:
Daniel Agar
2022-01-08 20:31:15 -05:00
parent 0b1402afe2
commit 89b9701a33
72 changed files with 181 additions and 155 deletions
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platforms/nuttx/src/px4/common/px4_manifest.cpp
+6
View File
@@ -74,9 +74,12 @@ __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:
@@ -97,9 +100,12 @@ __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);
break;
#endif // CONFIG_MTD
case MFT:
default:
platforms/nuttx/src/px4/common/px4_mtd.cpp
+43 -31
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);
@@ -117,15 +120,6 @@ 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
}
@@ -251,18 +245,12 @@ const px4_mft_device_t spifram = { // FM25V02A on FMUM 32K 512 X 64
const px4_mtd_entry_t fram = {
.device = &spifram,
.npart = 2,
.npart = 1,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/fs/mtd_params",
.nblocks = 32
},
{
.type = MTD_WAYPOINTS,
.path = "/fs/mtd_waypoints",
.nblocks = 32
.nblocks = 64
}
},
};
@@ -389,27 +377,49 @@ 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) {
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
rv = nx_mount(blockname, instances[i].partition_names[part], "littlefs", 0, "autoformat");
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++;
}
@@ -470,3 +480,5 @@ __EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get)
return rv;
}
#endif // CONFIG_MTD