Merge branch 'master' into paul_estimator

ssage aborts

4 files changed, 236 insertions, 7 deletions

diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index c1d73dd87..0a047f38f 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -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
@@ -193,9 +193,10 @@ HIL::~HIL()
 		} while (_task != -1);
 	}
 
-	/* clean up the alternate device node */
-	if (_primary_pwm_device)
-		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+	// XXX already claimed with CDEV
+	// /* clean up the alternate device node */
+	// if (_primary_pwm_device)
+	// 	unregister_driver(PWM_OUTPUT_DEVICE_PATH);
 
 	g_hil = nullptr;
 }
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index 727c86e02..4f58891ed 100644
--- a/src/drivers/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp
@@ -559,7 +559,7 @@ RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
 void
 rgbled_usage()
 {
-	warnx("missing command: try 'start', 'test', 'info', 'off', 'rgb 30 40 50'");
+	warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'rgb 30 40 50'");
 	warnx("options:");
 	warnx("    -b i2cbus (%d)", PX4_I2C_BUS_LED);
 	warnx("    -a addr (0x%x)", ADDR);
@@ -643,7 +643,7 @@ rgbled_main(int argc, char *argv[])
 	if (g_rgbled == nullptr) {
 		warnx("not started");
 		rgbled_usage();
-		exit(0);
+		exit(1);
 	}
 
 	if (!strcmp(verb, "test")) {
@@ -669,7 +669,7 @@ rgbled_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(verb, "off")) {
+	if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
 		fd = open(RGBLED_DEVICE_PATH, 0);
 
 		if (fd == -1) {
@@ -681,6 +681,12 @@ rgbled_main(int argc, char *argv[])
 		exit(ret);
 	}
 
+	if (!strcmp(verb, "stop")) {
+		delete g_rgbled;
+		g_rgbled = nullptr;
+		exit(0);
+	}
+
 	if (!strcmp(verb, "rgb")) {
 		if (argc < 5) {
 			errx(1, "Usage: rgbled rgb <red> <green> <blue>");
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..43e42c951
--- /dev/null
+++ b/src/systemcmds/mtd/mtd.c
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ *   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 message 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(void);
+static void	mtd_erase(void);
+static void	mtd_ioctl(unsigned operation);
+static void	mtd_save(const char *name);
+static void	mtd_load(const char *name);
+static void	mtd_test(void);
+
+static bool attached = false;
+static bool started = false;
+static struct mtd_dev_s *mtd_dev;
+static char *_mtdname = "/dev/mtd_params";
+static char *_wpname = "/dev/mtd_waypoints";
+
+int mtd_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "start"))
+			mtd_start();
+
+		if (!strcmp(argv[1], "test"))
+			mtd_test();
+	}
+
+	errx(1, "expected a command, try 'start' or 'test'");
+}
+
+struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
+
+
+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(void)
+{
+	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\n");
+		exit(1);
+	}
+
+	/* Initialize to provide an FTL block driver on the MTD FLASH interface.
+	 *
+	 * NOTE:  We could just skip all of this FTL and BCH stuff.  We could
+	 * instead just use the MTD drivers bwrite and bread to perform this
+	 * test.  Creating the character drivers, however, makes this test more
+	 * interesting.
+	 */
+
+	ret = ftl_initialize(0, mtd_dev);
+
+	if (ret < 0) {
+		warnx("Creating /dev/mtdblock0 failed: %d\n", ret);
+		exit(2);
+	}
+
+	/* Now create a character device on the block device */
+
+	ret = bchdev_register("/dev/mtdblock0", _mtdname, false);
+
+	if (ret < 0) {
+		warnx("ERROR: bchdev_register %s failed: %d\n", _mtdname, ret);
+		exit(3);
+	}
+
+	/* mount the mtd */
+	ret = mount(NULL, "/mtd", "nxffs", 0, NULL);
+
+	if (ret < 0)
+		errx(1, "failed to mount /mtd - erase mtd to reformat");
+
+	started = true;
+	warnx("mounted mtd at /mtd");
+	exit(0);
+}
+
+static void
+mtd_ioctl(unsigned operation)
+{
+	int fd;
+
+	fd = open("/mtd/.", 0);
+
+	if (fd < 0)
+		err(1, "open /mtd");
+
+	if (ioctl(fd, operation, 0) < 0)
+		err(1, "ioctl");
+
+	exit(0);
+}
+
+static void
+mtd_test(void)
+{
+//	at24c_test();
+	exit(0);
+}
+
+#endif