Merge branch 'master' into autostart_cleanup

4 files changed, 332 insertions, 16 deletions

diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk
new file mode 100644
index 000000000..686656597
--- /dev/null
+++ b/src/systemcmds/mtd/module.mk
@@ -0,0 +1,6 @@
+#
+# RAMTRON file system driver
+#
+
+MODULE_COMMAND	 = mtd
+SRCS		 = mtd.c
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
new file mode 100644
index 000000000..baef9dccc
--- /dev/null
+++ b/src/systemcmds/mtd/mtd.c
@@ -0,0 +1,279 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mtd.c
+ *
+ * mtd service and utility app.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mount.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+
+#include <nuttx/spi.h>
+#include <nuttx/mtd.h>
+#include <nuttx/fs/nxffs.h>
+#include <nuttx/fs/ioctl.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+__EXPORT int mtd_main(int argc, char *argv[]);
+
+#ifndef CONFIG_MTD_RAMTRON
+
+/* create a fake command with decent warnx to not confuse users */
+int mtd_main(int argc, char *argv[])
+{
+	errx(1, "RAMTRON not enabled, skipping.");
+}
+
+#else
+
+static void	mtd_attach(void);
+static void	mtd_start(char *partition_names[], unsigned n_partitions);
+static void	mtd_test(void);
+static void	mtd_erase(char *partition_names[], unsigned n_partitions);
+
+static bool attached = false;
+static bool started = false;
+static struct mtd_dev_s *mtd_dev;
+
+/* note, these will be equally sized */
+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[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "start")) {
+
+			/* start mapping according to user request */
+			if (argc > 3) {
+				mtd_start(argv + 2, argc - 2);
+
+			} else {
+				mtd_start(partition_names_default, n_partitions_default);
+			}
+		}
+
+		if (!strcmp(argv[1], "test"))
+			mtd_test();
+
+		if (!strcmp(argv[1], "erase")) {
+			if (argc < 3) {
+				errx(1, "usage: mtd erase <PARTITION_PATH..>");
+			}
+			mtd_erase(argv + 2, argc - 2);
+                }
+	}
+
+	errx(1, "expected a command, try 'start', 'erase' or 'test'");
+}
+
+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)
+{
+	/* find the right spi */
+	struct spi_dev_s *spi = up_spiinitialize(2);
+	/* this resets the spi bus, set correct bus speed again */
+	SPI_SETFREQUENCY(spi, 40 * 1000 * 1000);
+	SPI_SETBITS(spi, 8);
+	SPI_SETMODE(spi, SPIDEV_MODE3);
+	SPI_SELECT(spi, SPIDEV_FLASH, false);
+
+	if (spi == NULL)
+		errx(1, "failed to locate spi bus");
+
+	/* start the MTD driver, attempt 5 times */
+	for (int i = 0; i < 5; i++) {
+		mtd_dev = ramtron_initialize(spi);
+
+		if (mtd_dev) {
+			/* abort on first valid result */
+			if (i > 0) {
+				warnx("warning: mtd needed %d attempts to attach", i + 1);
+			}
+
+			break;
+		}
+	}
+
+	/* if last attempt is still unsuccessful, abort */
+	if (mtd_dev == NULL)
+		errx(1, "failed to initialize mtd driver");
+
+	attached = true;
+}
+
+static void
+mtd_start(char *partition_names[], unsigned n_partitions)
+{
+	int ret;
+
+	if (started)
+		errx(1, "mtd already mounted");
+
+	if (!attached)
+		mtd_attach();
+
+	if (!mtd_dev) {
+		warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
+		exit(1);
+	}
+
+
+	/* Get the geometry of the FLASH device */
+
+	FAR struct mtd_geometry_s geo;
+
+	ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
+
+	if (ret < 0) {
+		warnx("ERROR: mtd->ioctl failed: %d", ret);
+		exit(3);
+	}
+
+	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
+	 * end of the FLASH).
+	 */
+
+	unsigned blkpererase = geo.erasesize / geo.blocksize;
+	unsigned nblocks     = (geo.neraseblocks / n_partitions) * blkpererase;
+	unsigned partsize    = nblocks * geo.blocksize;
+
+	warnx("  No. partitions: %u", n_partitions);
+	warnx("  Partition size: %lu Blocks (%lu bytes)", (unsigned long)nblocks, (unsigned long)partsize);
+
+	/* Now create MTD FLASH partitions */
+
+	warnx("Creating partitions");
+	FAR struct mtd_dev_s *part[n_partitions];
+	char blockname[32];
+
+	unsigned offset;
+	unsigned i;
+
+	for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
+
+		warnx("  Partition %d. Block offset=%lu, size=%lu",
+		      i, (unsigned long)offset, (unsigned long)nblocks);
+
+		/* Create the partition */
+
+		part[i] = mtd_partition(mtd_dev, offset, nblocks);
+
+		if (!part[i]) {
+			warnx("ERROR: mtd_partition failed. offset=%lu nblocks=%lu",
+			      (unsigned long)offset, (unsigned long)nblocks);
+			exit(4);
+		}
+
+		/* Initialize to provide an FTL block driver on the MTD FLASH interface */
+
+		snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", i);
+
+		ret = ftl_initialize(i, part[i]);
+
+		if (ret < 0) {
+			warnx("ERROR: ftl_initialize %s failed: %d", blockname, ret);
+			exit(5);
+		}
+
+		/* Now create a character device on the block device */
+
+		ret = bchdev_register(blockname, partition_names[i], false);
+
+		if (ret < 0) {
+			warnx("ERROR: bchdev_register %s failed: %d", partition_names[i], ret);
+			exit(6);
+		}
+	}
+
+	started = true;
+	exit(0);
+}
+
+static void
+mtd_test(void)
+{
+	warnx("This test routine does not test anything yet!");
+	exit(1);
+}
+
+static void
+mtd_erase(char *partition_names[], unsigned n_partitions)
+{
+	uint8_t v[64];
+	memset(v, 0xFF, sizeof(v));
+	for (uint8_t i = 0; i < n_partitions; i++) {
+		uint32_t count = 0;
+		printf("Erasing %s\n", partition_names[i]);
+		int fd = open(partition_names[i], O_WRONLY);
+		if (fd == -1) {
+			errx(1, "Failed to open partition");
+		}
+		while (write(fd, &v, sizeof(v)) == sizeof(v)) {
+			count += sizeof(v);
+		}
+		printf("Erased %lu bytes\n", (unsigned long)count);
+		close(fd);
+	}
+	exit(0);
+}
+
+#endif
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 65f291f40..580fdc62f 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -72,7 +72,12 @@ param_main(int argc, char *argv[])
 			if (argc >= 3) {
 				do_save(argv[2]);
 			} else {
-				do_save(param_get_default_file());
+				if (param_save_default()) {
+					warnx("Param export failed.");
+					exit(1);
+				} else {
+					exit(0);
+				}
 			}
 		}
 
@@ -133,11 +138,8 @@ param_main(int argc, char *argv[])
 static void
 do_save(const char* param_file_name)
 {
-	/* delete the parameter file in case it exists */
-	unlink(param_file_name);
-
 	/* create the file */
-	int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
+	int fd = open(param_file_name, O_WRONLY | O_CREAT);
 
 	if (fd < 0)
 		err(1, "opening '%s' failed", param_file_name);
@@ -146,7 +148,7 @@ do_save(const char* param_file_name)
 	close(fd);
 
 	if (result < 0) {
-		unlink(param_file_name);
+		(void)unlink(param_file_name);
 		errx(1, "error exporting to '%s'", param_file_name);
 	}
 
@@ -203,11 +205,38 @@ do_show_print(void *arg, param_t param)
 	int32_t i;
 	float f;
 	const char *search_string = (const char*)arg;
+	const char *p_name = (const char*)param_name(param);
 
 	/* print nothing if search string is invalid and not matching */
-	if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
-		/* param not found */
-		return;
+	if (!(arg == NULL)) {
+
+		/* start search */
+		char *ss = search_string;
+		char *pp = p_name;
+		bool mismatch = false;
+
+		/* XXX this comparison is only ok for trailing wildcards */
+		while (*ss != '\0' && *pp != '\0') {
+
+			if (*ss == *pp) {
+				ss++;
+				pp++;
+			} else if (*ss == '*') {
+				if (*(ss + 1) != '\0') {
+					warnx("* symbol only allowed at end of search string.");
+					exit(1);
+				}
+
+				pp++;
+			} else {
+				/* param not found */
+				return;
+			}
+		}
+
+		/* the search string must have been consumed */
+		if (!(*ss == '\0' || *ss == '*'))
+			return;
 	}
 
 	printf("%c %s: ",
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 7206b87d6..83d09dd5e 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -54,9 +54,9 @@
 
 #include "tests.h"
 
-int check_user_abort();
+int check_user_abort(int fd);
 
-int check_user_abort() {
+int check_user_abort(int fd) {
 	/* check if user wants to abort */
 	char c;
 
@@ -77,6 +77,8 @@ int check_user_abort() {
 		case 'q':
 		{
 			warnx("Test aborted.");
+			fsync(fd);
+			close(fd);
 			return OK;
 			/* not reached */
 			}
@@ -141,7 +143,7 @@ test_file(int argc, char *argv[])
 
 				fsync(fd);
 
-				if (!check_user_abort())
+				if (!check_user_abort(fd))
 					return OK;
 
 			}
@@ -175,7 +177,7 @@ test_file(int argc, char *argv[])
 					return 1;
 				}
 
-				if (!check_user_abort())
+				if (!check_user_abort(fd))
 					return OK;
 
 			}
@@ -199,7 +201,7 @@ test_file(int argc, char *argv[])
 					return 1;
 				}
 
-				if (!check_user_abort())
+				if (!check_user_abort(fd))
 					return OK;
 
 			}
@@ -232,7 +234,7 @@ test_file(int argc, char *argv[])
 						break;
 					}
 
-					if (!check_user_abort())
+					if (!check_user_abort(fd))
 						return OK;
 				}
 
@@ -275,7 +277,7 @@ test_file(int argc, char *argv[])
 							break;
 					}
 
-					if (!check_user_abort())
+					if (!check_user_abort(fd))
 						return OK;
 				}