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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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280 lines
6.4 KiB
C
280 lines
6.4 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ramtron.c
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*
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* ramtron service and utility app.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mount.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <nuttx/spi.h>
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#include <nuttx/mtd.h>
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#include <nuttx/fs/nxffs.h>
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#include <nuttx/fs/ioctl.h>
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#include <arch/board/board.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/param/param.h"
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#include "systemlib/err.h"
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__EXPORT int ramtron_main(int argc, char *argv[]);
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#ifndef CONFIG_MTD_RAMTRON
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/* create a fake command with decent message to not confuse users */
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int ramtron_main(int argc, char *argv[])
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{
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errx(1, "RAMTRON not enabled, skipping.");
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}
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#else
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static void ramtron_attach(void);
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static void ramtron_start(void);
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static void ramtron_erase(void);
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static void ramtron_ioctl(unsigned operation);
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static void ramtron_save(const char *name);
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static void ramtron_load(const char *name);
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static void ramtron_test(void);
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static bool attached = false;
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static bool started = false;
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static struct mtd_dev_s *ramtron_mtd;
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int ramtron_main(int argc, char *argv[])
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{
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if (argc >= 2) {
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if (!strcmp(argv[1], "start"))
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ramtron_start();
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if (!strcmp(argv[1], "save_param"))
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ramtron_save(argv[2]);
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if (!strcmp(argv[1], "load_param"))
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ramtron_load(argv[2]);
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if (!strcmp(argv[1], "erase"))
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ramtron_erase();
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if (!strcmp(argv[1], "test"))
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ramtron_test();
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if (0) { /* these actually require a file on the filesystem... */
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if (!strcmp(argv[1], "reformat"))
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ramtron_ioctl(FIOC_REFORMAT);
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if (!strcmp(argv[1], "repack"))
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ramtron_ioctl(FIOC_OPTIMIZE);
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}
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}
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errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
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}
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struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
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static void
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ramtron_attach(void)
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{
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/* find the right spi */
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struct spi_dev_s *spi = up_spiinitialize(2);
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/* this resets the spi bus, set correct bus speed again */
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// xxx set in ramtron driver, leave this out
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// SPI_SETFREQUENCY(spi, 4000000);
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SPI_SETFREQUENCY(spi, 375000000);
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SPI_SETBITS(spi, 8);
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SPI_SETMODE(spi, SPIDEV_MODE3);
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SPI_SELECT(spi, SPIDEV_FLASH, false);
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if (spi == NULL)
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errx(1, "failed to locate spi bus");
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/* start the MTD driver, attempt 5 times */
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for (int i = 0; i < 5; i++) {
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ramtron_mtd = ramtron_initialize(spi);
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if (ramtron_mtd) {
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/* abort on first valid result */
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if (i > 0) {
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warnx("warning: ramtron needed %d attempts to attach", i+1);
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}
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break;
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}
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}
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/* if last attempt is still unsuccessful, abort */
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if (ramtron_mtd == NULL)
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errx(1, "failed to initialize ramtron driver");
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attached = true;
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}
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static void
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ramtron_start(void)
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{
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int ret;
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if (started)
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errx(1, "ramtron already mounted");
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if (!attached)
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ramtron_attach();
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/* start NXFFS */
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ret = nxffs_initialize(ramtron_mtd);
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if (ret < 0)
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errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
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/* mount the ramtron */
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ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
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if (ret < 0)
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errx(1, "failed to mount /ramtron - erase ramtron to reformat");
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started = true;
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warnx("mounted ramtron at /ramtron");
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exit(0);
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}
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//extern int at24c_nuke(void);
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static void
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ramtron_erase(void)
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{
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if (!attached)
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ramtron_attach();
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// if (at24c_nuke())
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errx(1, "erase failed");
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errx(0, "erase done, reboot now");
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}
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static void
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ramtron_ioctl(unsigned operation)
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{
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int fd;
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fd = open("/ramtron/.", 0);
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if (fd < 0)
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err(1, "open /ramtron");
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if (ioctl(fd, operation, 0) < 0)
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err(1, "ioctl");
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exit(0);
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}
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static void
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ramtron_save(const char *name)
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{
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if (!started)
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errx(1, "must be started first");
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if (!name)
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err(1, "missing argument for device name, try '/ramtron/parameters'");
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warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
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/* delete the file in case it exists */
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unlink(name);
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/* create the file */
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int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
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if (fd < 0)
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err(1, "opening '%s' failed", name);
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int result = param_export(fd, false);
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close(fd);
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if (result < 0) {
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unlink(name);
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errx(1, "error exporting to '%s'", name);
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}
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exit(0);
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}
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static void
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ramtron_load(const char *name)
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{
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if (!started)
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errx(1, "must be started first");
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if (!name)
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err(1, "missing argument for device name, try '/ramtron/parameters'");
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warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
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int fd = open(name, O_RDONLY);
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if (fd < 0)
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err(1, "open '%s'", name);
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int result = param_load(fd);
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close(fd);
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if (result < 0)
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errx(1, "error importing from '%s'", name);
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exit(0);
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}
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//extern void at24c_test(void);
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static void
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ramtron_test(void)
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{
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// at24c_test();
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exit(0);
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}
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#endif
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