mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 06:51:37 +08:00
henrykotze
8b58c01cd7
nsh console running on USB param module running working with i2c and common drivers provided implementation for drv_pwm_output.h i2cdetect working as expected with no device mavlink started succesfully mounts sd card and logger runs logger to file succesfully pwm_servo implemented without using Nuttx lib pwm_out outputs expected waveforms - however currently if the frequency is higher than what the pwm_out driver runs, there will be aliasing, based on how the registers gets resets wifi softap working - Seeing wifi hotspot - cant connect due to wrong password - problems with adjusting ssid and password wifi ssid and password being set accordinglu connected to wifi hotspot with dhpcd - made some changes to nuttx to only build for SoftAP mode, however this was effectivelyy removing the ifdef for STATION mode. Should investigate the coexist option again added ifdef to not use timer 0 when wifi enabled - reverted esp32 rt_timer to make use of timer 0 by default fix setting incorrect bit in hrt timer register - hrt running as expected, but on startup the pwm_out driver starts up at about 200Hz and then rises over a minute or so 250Hz. Not sure if this was present previously, and could be due to Wifi running at time priority on timer 0 pull xtensa compilers in setup.ubuntu.sh revert logger stacksize and cmake argument esp32 chip revision and PX4 UUID implemented spi board reset implemented, formatting checked devkit acts on startup as a wifi bridge for comms - the most usefull setting for the general developer when buying a esp32 devkit - testing Mavlink shell using ./Tools/mavlink_shell.py - todo: Test mavlink messages being forward improve wifi telemetry by increasing prio - Remove power save mode on wifi - increased daemon thread schedule priority to 50 compiles without Nuttx changes - updated compiler settings to match those of nuttx on px4 side add espressif_esp32 to excluded boards ci: allow docker to find xtensa compilers
354 lines
8.9 KiB
C
354 lines
8.9 KiB
C
/****************************************************************************
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* boards/xtensa/esp32/common/src/esp32_board_spiflash.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <assert.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/mtd/mtd.h>
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#include <nuttx/spi/spi.h>
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#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
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#include <nuttx/fs/nxffs.h>
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#endif
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#ifdef CONFIG_BCH
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#include <nuttx/drivers/drivers.h>
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#endif
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#include <px4_platform_common/log.h>
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#define MODULE_NAME "spiflash"
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#include "esp32_spiflash.h"
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#include "esp32_partition.h"
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// #include "esp32_board_spiflash_setup.h"
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#include "board_config.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0]))
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#ifdef CONFIG_ESP32_OTA_PARTITION_ENCRYPT
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# define OTA_ENCRYPT true
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#else
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# define OTA_ENCRYPT false
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#endif
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#ifdef CONFIG_ESP32_WIFI_MTD_ENCRYPT
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# define WIFI_ENCRYPT true
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#else
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# define WIFI_ENCRYPT false
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#endif
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#ifdef CONFIG_ESP32_STORAGE_MTD_ENCRYPT
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# define STORAGE_ENCRYPT true
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#else
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# define STORAGE_ENCRYPT false
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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int esp32_spiflash_init(void);
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int esp32_partition_init(void);
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static int init_ota_partitions(void)
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{
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struct mtd_dev_s *mtd;
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char blockdev[18];
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int ret = OK;
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mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET, CONFIG_ESP32_STORAGE_MTD_SIZE, false);
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ret = ftl_initialize(0, mtd);
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if (ret < 0) {
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PX4_INFO("ERROR: Failed to initialize the FTL layer: %d\n", ret);
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return ret;
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}
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snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d", 0);
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ret = bchdev_register(blockdev, "/fs/mtd_params", false);
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if (ret < 0) {
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PX4_INFO("ERROR: bchdev_register %s failed: %d\n", "/fs/mtd_params", ret);
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return ret;
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}
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return ret;
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}
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/****************************************************************************
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* Name: setup_smartfs
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*
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* Description:
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* Provide a block driver wrapper around MTD partition and mount a
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* SMART FS over it.
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*
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* Parameters:
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* smartn - Number used to register the mtd partition: /dev/smartx, where
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* x = smartn.
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* mtd - Pointer to a pre-allocated mtd partition.
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* mnt_pt - Mount point
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure.
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*
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****************************************************************************/
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/****************************************************************************
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* Name: setup_littlefs
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*
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* Description:
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* Register a mtd driver and mount a Little FS over it.
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*
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* Parameters:
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* path - Path name used to register the mtd driver.
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* mtd - Pointer to a pre-allocated mtd partition.
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* mnt_pt - Mount point
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* priv - Privileges
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure.
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*
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****************************************************************************/
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static int setup_littlefs(const char *path, struct mtd_dev_s *mtd,
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const char *mnt_pt, int priv)
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{
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int ret = OK;
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ret = register_mtddriver(path, mtd, priv, NULL);
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if (ret < 0) {
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PX4_INFO("ERROR: Failed to register MTD: %d\n", ret);
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return -ENOMEM;
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}
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// if (mnt_pt != NULL)
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// {
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// ret = nx_mount(path, "/mnt/lfs", "littlefs", 0, "");
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// if (ret < 0)
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// {
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// ret = nx_mount(path, "/fs/lfs", "littlefs", 0, "forceformat");
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// if (ret < 0)
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// {
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// PX4_INFO("ERROR: Failed to mount the FS volume: %d\n", ret);
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// return ret;
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// }
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// }
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// }
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return OK;
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}
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/****************************************************************************
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* Name: setup_spiffs
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*
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* Description:
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* Register a mtd driver and mount a SPIFFS over it.
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*
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* Parameters:
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* path - Path name used to register the mtd driver.
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* mtd - Pointer to a pre-allocated mtd partition.
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* mnt_pt - Mount point
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* priv - Privileges
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure.
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*
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****************************************************************************/
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static int setup_spiffs(const char *path, struct mtd_dev_s *mtd,
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const char *mnt_pt, int priv)
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{
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int ret = OK;
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ret = register_mtddriver(path, mtd, priv, NULL);
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if (ret < 0) {
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ferr("ERROR: Failed to register MTD: %d\n", ret);
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return -ENOMEM;
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}
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if (mnt_pt != NULL) {
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ret = nx_mount(path, mnt_pt, "spiffs", 0, NULL);
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if (ret < 0) {
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ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
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return ret;
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}
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}
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return ret;
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}
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/****************************************************************************
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* Name: setup_nxffs
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*
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* Description:
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* Register a mtd driver and mount a SPIFFS over it.
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*
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* Parameters:
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* mtd - Pointer to a pre-allocated mtd partition.
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* mnt_pt - Mount point
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure.
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*
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****************************************************************************/
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#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
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static int setup_nxffs(struct mtd_dev_s *mtd, const char *mnt_pt)
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{
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int ret = OK;
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ret = nxffs_initialize(mtd);
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if (ret < 0) {
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ferr("ERROR: NXFFS init failed: %d\n", ret);
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return ret;
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}
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if (mnt_pt != NULL) {
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ret = nx_mount(NULL, mnt_pt, "nxffs", 0, NULL);
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if (ret < 0) {
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ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
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return ret;
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}
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}
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return ret;
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}
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#endif
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/****************************************************************************
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* Name: init_storage_partition
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*
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* Description:
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* Initialize partition that is dedicated to general use.
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure.
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*
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****************************************************************************/
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static int init_storage_partition(void)
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{
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int ret = OK;
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struct mtd_dev_s *mtd;
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mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET,
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CONFIG_ESP32_STORAGE_MTD_SIZE,
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STORAGE_ENCRYPT);
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if (!mtd) {
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PX4_INFO("ERROR: Failed to alloc MTD partition of SPI Flash\n");
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return -ENOMEM;
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}
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const char *path = "/dev/esp32flash";
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ret = setup_littlefs(path, mtd, "/mnt/esp32", 0755);
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if (ret < 0) {
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PX4_INFO("ERROR: Failed to setup littlefs\n");
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return ret;
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}
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// const char *path = "/dev/esp32flash";
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// ret = setup_spiffs(path, mtd, "/mnt/spiffs/", 0755);
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// if (ret < 0)
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// {
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// ferr("ERROR: Failed to setup spiffs\n");
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// return ret;
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// }
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: esp32_spiflash_init
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*
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* Description:
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* Initialize the SPI Flash and register the MTD.
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*
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* Input Parameters:
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* None.
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*
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* Returned Value:
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* Zero (OK) is returned on success. A negated errno value is returned
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* on failure.
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*
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****************************************************************************/
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int esp32_spiflash_init(void)
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{
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int ret = OK;
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ret = init_ota_partitions();
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PX4_INFO("ret = %d = init_ota_paritions()\n", ret);
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if (ret < 0) {
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return ret;
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}
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// ret = esp32_partition_init();
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// if (ret < 0)
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// {
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// syslog(LOG_ERR, "ERROR: Failed to initialize partition error=%d\n",
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// ret);
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// }
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//
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// ret = init_storage_partition();
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// PX4_INFO("ret = %d = init_storage_paritions()\n", ret);
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// if (ret < 0)
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// {
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// return ret;
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// }
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return ret;
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}
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