wip: squashed patch

platforms/common/include/px4_platform_common/board_common.h

@@ -82,6 +82,10 @@
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 1
 #endif
 
+#ifndef BOARD_MTD_NUM_EEPROM
+#define BOARD_MTD_NUM_EEPROM 1
+#endif
+
 /* ADC defining tools
  * We want to normalize the V5 Sensing to V = (adc_dn) * ADC_V5_V_FULL_SCALE/(2 ^ ADC_BITS) * ADC_V5_SCALE)
  */
@@ -258,9 +262,12 @@
 
 #if defined(BOARD_HAS_HW_VERSIONING)
 #  define BOARD_HAS_VERSIONING 1
-#  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xff) << 8) | ((uint32_t)(r) & 0xff)
+#  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
 #endif
 
+#define HW_INFO_REV_DIGITS    3
+#define HW_INFO_VER_DIGITS    3
+
 /* Default LED logical to color mapping */
 
 #if defined(BOARD_OVERLOAD_LED)
@@ -950,7 +957,7 @@ int board_get_mfguid_formated(char *format_buffer, int size); // DEPRICATED use
 int board_get_px4_guid(px4_guid_t guid);
 
 /************************************************************************************
- * Name: board_get_mfguid_formated
+ * Name: board_get_px4_guid_formated
  *
  * Description:
  *   All boards either provide a way to retrieve a formatted string of the

platforms/common/include/px4_platform_common/defines.h

@@ -70,6 +70,9 @@ static inline constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(
 #define PX4_O_MODE_666 0666
 #define PX4_O_MODE_600 0600
 
+#define DIRENT_REGULAR_FILE DTYPE_FILE
+#define DIRENT_DIRECTORY DTYPE_DIRECTORY
+
 #elif defined(__PX4_POSIX)
 /****************************************************************************
  * POSIX Specific defines
@@ -91,6 +94,9 @@ static inline constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(
 #define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
 
+#define DIRENT_REGULAR_FILE DT_REG
+#define DIRENT_DIRECTORY DT_DIR
+
 __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS

platforms/common/include/px4_platform_common/mtd_manifest.h

@@ -37,12 +37,13 @@ typedef enum  {
 	MTD_PARAMETERS  = 1,
 	MTD_WAYPOINTS   = 2,
 	MTD_CALDATA     = 3,
-	MTD_MFT         = 4,
-	MTD_ID          = 5,
-	MTD_NET         = 6,
+	MTD_MFT_VER     = 4,
+	MTD_MFT_REV     = 5,
+	MTD_ID          = 6,
+	MTD_NET         = 7
 } px4_mtd_types_t;
-#define PX4_MFT_MTD_TYPES  {MTD_PARAMETERS, MTD_WAYPOINTS, MTD_CALDATA, MTD_MFT, MTD_ID, MTD_NET}
-#define PX4_MFT_MTD_STR_TYPES  {"MTD_PARAMETERS", "MTD_WAYPOINTS", "MTD_CALDATA", "MTD_MFT", "MTD_ID", "MTD_NET"}
+#define PX4_MFT_MTD_TYPES  {MTD_PARAMETERS, MTD_WAYPOINTS, MTD_CALDATA, MTD_MFT_VER, MTD_MFT_REV, MTD_ID, MTD_NET}
+#define PX4_MFT_MTD_STR_TYPES  {"MTD_PARAMETERS", "MTD_WAYPOINTS", "MTD_CALDATA", "MTD_MFT_VER", "MTD_MFT_REV", "MTD_ID", "MTD_NET"}
 
 typedef struct  {
 	const px4_mtd_types_t   type;
@@ -100,6 +101,6 @@ __EXPORT int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd);
  *   0 (get !=null) item by type's value is returned at get;
  *
  ************************************************************************************/
-__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get = nullptr);
+__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get);
 
 __END_DECLS

platforms/common/include/px4_platform_common/px4_manifest.h

@@ -65,7 +65,7 @@ typedef struct {
 
 typedef struct {
 	const uint32_t        nmft;
-	const px4_mft_entry_s *mfts;
+	const px4_mft_entry_s *mfts[];
 } px4_mft_s;
 
 #include "px4_platform_common/mtd_manifest.h"
@@ -88,6 +88,19 @@ __BEGIN_DECLS
 
 __EXPORT const px4_mft_s *board_get_manifest(void);
 
+/************************************************************************************
+ * Name: board_get_base_eeprom_mtd_manifest
+ *
+ * Description:
+ *   A board will provide this function to return the mtd with eeprom manifest
+ *
+ * Returned Value:
+ *   pointer to mtd manifest
+ *
+ ************************************************************************************/
+
+__EXPORT const px4_mtd_manifest_t *board_get_base_eeprom_mtd_manifest(void);
+
 /************************************************************************************
  * Name: px4_mft_configure
  *

platforms/common/include/px4_platform_common/px4_mtd.h

@@ -35,6 +35,8 @@
 
 __BEGIN_DECLS
 
+#define MAX_MTD_INSTANCES 5u
+
 // The data needed to interface with mtd device's
 
 typedef struct {
@@ -60,7 +62,7 @@ typedef struct {
  *            This can be  Null if there are no mtd instances.
  *
  */
-__EXPORT mtd_instance_s *px4_mtd_get_instances(unsigned int *count);
+__EXPORT mtd_instance_s **px4_mtd_get_instances(unsigned int *count);
 
 /*
   Get device complete geometry or a device
@@ -75,7 +77,9 @@ __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);
 
-FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
-		uint8_t address);
+int px4_at24c_initialize(FAR struct i2c_master_s *dev,
+			 uint8_t address, FAR struct mtd_dev_s **mtd_dev);
+
+void px4_at24c_deinitialize(void);
 
 __END_DECLS

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -65,7 +65,7 @@ static constexpr wq_config_t I2C3{"wq:I2C3", 2336, -11};
 static constexpr wq_config_t I2C4{"wq:I2C4", 2336, -12};
 
 // PX4 att/pos controllers, highest priority after sensors.
-static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 2240, -13};
+static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 2280, -13};
 
 static constexpr wq_config_t INS0{"wq:INS0", 6000, -14};
 static constexpr wq_config_t INS1{"wq:INS1", 6000, -15};