Enabled MTD partitions, successfully tested params

5 files changed, 74 insertions, 33 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 66cb3f237..8de615746 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
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index e60120b49..1dc96b3c3 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
@@ -483,6 +483,25 @@ CONFIG_USART1_SERIAL_CONSOLE=y
 # 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
 #
 CONFIG_USART1_RXBUFSIZE=512
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index ad845e095..2a734c27e 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/param/param.c b/src/modules/systemlib/param/param.c
index 398657dd7..b12ba2919 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
@@ -512,6 +512,22 @@ param_save_default(void)
 	int fd;
 
 	const char *filename = param_get_default_file();
+
+	/* write parameters to temp file */
+	fd = open(filename, O_WRONLY);
+
+	if (fd < 0) {
+		warn("failed to open param file: %s", filename);
+		res = ERROR;
+	}
+
+	if (res == OK) {
+		res = param_export(fd, false);
+	}
+
+	close(fd);
+
+#if 0
 	const char *filename_tmp = malloc(strlen(filename) + 5);
 	sprintf(filename_tmp, "%s.tmp", filename);
 
@@ -563,6 +579,7 @@ param_save_default(void)
 	}
 
 	free(filename_tmp);
+#endif
 
 	return res;
 }
@@ -573,9 +590,9 @@ 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 +601,8 @@ 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 36ff7e262..5104df09e 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/src/systemcmds/mtd/mtd.c
@@ -81,10 +81,10 @@ static void	mtd_test(void);
 static bool attached = false;
 static bool started = false;
 static struct mtd_dev_s *mtd_dev;
-static const int n_partitions_default = 2;
 
 /* note, these will be equally sized */
-static char *partition_names_default[n_partitions] = {"/dev/mtd_params", "/dev/mtd_waypoints"};
+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[])
 {
@@ -108,7 +108,8 @@ int mtd_main(int argc, char *argv[])
 }
 
 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)
@@ -157,7 +158,7 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 		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);
 	}
 
@@ -166,17 +167,17 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 
 	FAR struct mtd_geometry_s geo;
 
-	ret = mtd_dev->ioctl(master, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
+	ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
 
 	if (ret < 0) {
-		fdbg("ERROR: mtd->ioctl failed: %d\n", ret);
+		warnx("ERROR: mtd->ioctl failed: %d", ret);
 		exit(3);
 	}
 
-	warnx("Flash Geometry:\n");
-	warnx("  blocksize:      %lu\n", (unsigned long)geo.blocksize);
-	warnx("  erasesize:      %lu\n", (unsigned long)geo.erasesize);
-	warnx("  neraseblocks:   %lu\n", (unsigned long)geo.neraseblocks);
+	warnx("Flash Geometry:");
+	warnx("  blocksize:      %lu", (unsigned long)geo.blocksize);
+	warnx("  erasesize:      %lu", (unsigned long)geo.erasesize);
+	warnx("  neraseblocks:   %lu", (unsigned long)geo.neraseblocks);
 
 	/* Determine the size of each partition.  Make each partition an even
 	 * multiple of the erase block size (perhaps not using some space at the
@@ -187,18 +188,21 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 	unsigned nblocks     = (geo.neraseblocks / n_partitions) * blkpererase;
 	unsigned partsize    = nblocks * geo.blocksize;
 
-	warnx("  No. partitions: %u\n", n_partitions);
-	warnx("  Partition size: %lu Blocks (%lu bytes)\n", nblocks, partsize);
+	warnx("  No. partitions: %u", n_partitions);
+	warnx("  Partition size: %lu Blocks (%lu bytes)", nblocks, partsize);
 
 	/* Now create MTD FLASH partitions */
 
-	warnx("Creating partitions\n");
+	warnx("Creating partitions");
 	FAR struct mtd_dev_s *part[n_partitions];
 	char blockname[32];
 
-	for (unsigned offset = 0, unsigned i = 0; i < n_partitions; offset += nblocks, i++) {
+	unsigned offset;
+	unsigned i;
+
+	for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
 
-		warnx("  Partition %d. Block offset=%lu, size=%lu\n",
+		warnx("  Partition %d. Block offset=%lu, size=%lu",
 		      i, (unsigned long)offset, (unsigned long)nblocks);
 
 		/* Create the partition */
@@ -206,7 +210,7 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 		part[i] = mtd_partition(mtd_dev, offset, nblocks);
 
 		if (!part[i]) {
-			warnx("ERROR: mtd_partition failed. offset=%lu nblocks=%lu\n",
+			warnx("ERROR: mtd_partition failed. offset=%lu nblocks=%lu",
 			      (unsigned long)offset, (unsigned long)nblocks);
 			fsync(stderr);
 			exit(4);
@@ -219,7 +223,7 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 		ret = ftl_initialize(i, part[i]);
 
 		if (ret < 0) {
-			warnx("ERROR: ftl_initialize %s failed: %d\n", blockname, ret);
+			warnx("ERROR: ftl_initialize %s failed: %d", blockname, ret);
 			fsync(stderr);
 			exit(5);
 		}
@@ -229,7 +233,7 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 		ret = bchdev_register(blockname, partition_names[i], false);
 
 		if (ret < 0) {
-			warnx("ERROR: bchdev_register %s failed: %d\n", charname, ret);
+			warnx("ERROR: bchdev_register %s failed: %d", partition_names[i], ret);
 			fsync(stderr);
 			exit(6);
 		}