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Adapt for FMU with only FRAM and EEPROM #23424

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merged 4 commits into from
Aug 19, 2024
Merged

Adapt for FMU with only FRAM and EEPROM #23424

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f9acd7d
romfs: rcS: support storage on other then SD card
davids5 Apr 22, 2024
47428b2
mtd: Initialized the RAMTRON speed with 30MHz
niklaut Aug 5, 2024
3ac402a
board_hw_rev_ver: Support EEPROM-only HW IDs
davids5 Jul 15, 2024
ebe64d5
littlefs: needs more stack when used
niklaut Jul 31, 2024
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36 changes: 21 additions & 15 deletions ROMFS/px4fmu_common/init.d/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ set LOGGER_BUF 8
set PARAM_FILE ""
set PARAM_BACKUP_FILE ""
set RC_INPUT_ARGS ""
set SDCARD_AVAILABLE no
set STORAGE_AVAILABLE no
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
set SDCARD_FORMAT no
set STARTUP_TUNE 1
Expand Down Expand Up @@ -62,11 +62,11 @@ then
umount /fs/microsd

else
set SDCARD_AVAILABLE yes
set STORAGE_AVAILABLE yes
fi
fi

if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
then
echo "INFO [init] formatting /dev/mmcsd0"
set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
Expand All @@ -77,7 +77,7 @@ then

if mount -t vfat /dev/mmcsd0 /fs/microsd
then
set SDCARD_AVAILABLE yes
set STORAGE_AVAILABLE yes
set STARTUP_TUNE 14 # tune 14 = SD_INIT
else
echo "ERROR [init] card mount failed"
Expand All @@ -86,16 +86,22 @@ then
echo "ERROR [init] format failed"
fi
fi
else
# Is there a device mounted for storage
if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
then
set STORAGE_AVAILABLE yes
fi
fi

if [ $SDCARD_AVAILABLE = yes ]
if [ $STORAGE_AVAILABLE = yes ]
then
if hardfault_log check
then
if hardfault_log check
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
if hardfault_log commit
then
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
if hardfault_log commit
then
hardfault_log reset
fi
hardfault_log reset
fi
fi

Expand Down Expand Up @@ -172,7 +178,7 @@ else
fi
fi

if [ $SDCARD_AVAILABLE = yes ]
if [ $STORAGE_AVAILABLE = yes ]
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So this would now be exporting the parameters twice to the same storage?

then
param select-backup $PARAM_BACKUP_FILE
fi
Expand Down Expand Up @@ -220,8 +226,8 @@ else

if [ ${VEHICLE_TYPE} == none ]
then
# Look for airframe on SD card
if [ $SDCARD_AVAILABLE = yes ]
# Use external startup file
if [ $STORAGE_AVAILABLE = yes ]
then
. ${R}etc/init.d/rc.autostart_ext
else
Expand Down Expand Up @@ -615,7 +621,7 @@ unset PARAM_FILE
unset PARAM_BACKUP_FILE
unset PARAM_DEFAULTS_VER
unset RC_INPUT_ARGS
unset SDCARD_AVAILABLE
unset STORAGE_AVAILABLE
unset SDCARD_EXT_PATH
unset SDCARD_FORMAT
unset STARTUP_TUNE
Expand Down
2 changes: 1 addition & 1 deletion platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};

static constexpr wq_config_t lp_default{"wq:lp_default", 2000, -50};
static constexpr wq_config_t lp_default{"wq:lp_default", 2350, -50};

static constexpr wq_config_t test1{"wq:test1", 2000, 0};
static constexpr wq_config_t test2{"wq:test2", 2000, 0};
Expand Down
12 changes: 6 additions & 6 deletions platforms/nuttx/src/px4/common/px4_mtd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,11 @@ static int ramtron_attach(mtd_instance_s &instance)
return ENXIO;
#else

/* start the RAMTRON driver, attempt 10 times */
/* start the RAMTRON driver at 30MHz */

int spi_speed_mhz = 10;
unsigned long spi_speed_hz = 30'000'000;

for (int i = 0; i < 10; i++) {
for (int i = 0; spi_speed_hz > 0; i++) {
/* initialize the right spi */
struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(instance.devid));

Expand All @@ -90,7 +90,7 @@ static int ramtron_attach(mtd_instance_s &instance)

/* this resets the spi bus, set correct bus speed again */
SPI_LOCK(spi, true);
SPI_SETFREQUENCY(spi, spi_speed_mhz * 1000 * 1000);
SPI_SETFREQUENCY(spi, spi_speed_hz);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, instance.devid, false);
Expand All @@ -108,7 +108,7 @@ static int ramtron_attach(mtd_instance_s &instance)
}

// try reducing speed for next attempt
spi_speed_mhz--;
spi_speed_hz -= 1'000'000;
px4_usleep(10000);
}

Expand All @@ -118,7 +118,7 @@ static int ramtron_attach(mtd_instance_s &instance)
return -EIO;
}

int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)spi_speed_mhz * 1000 * 1000);
int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, spi_speed_hz);

if (ret != OK) {
// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried
Expand Down
12 changes: 10 additions & 2 deletions platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ static char hw_base_info[HW_INFO_SIZE] = {0};
/****************************************************************************
* Protected Functions
****************************************************************************/

#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
static int dn_to_ordinal(uint16_t dn)
{
/* Table is scaled for 12, so if ADC is in 16 bit mode
Expand Down Expand Up @@ -111,6 +111,7 @@ static int dn_to_ordinal(uint16_t dn)

return -1;
}
#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */

/************************************************************************************
* Name: read_id_dn
Expand Down Expand Up @@ -143,7 +144,7 @@ static int dn_to_ordinal(uint16_t dn)
* -EIO - FAiled to init or read the ADC
*
************************************************************************************/

#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel)
{
int rv = -EIO;
Expand Down Expand Up @@ -328,9 +329,15 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
stm32_configgpio(gpio_drive);
return rv;
}
#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */

static int determine_hw_info(int *revision, int *version)
{
#if defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
*revision = HW_ID_EEPROM;
*version = HW_ID_EEPROM;
return OK;
#else
int dn;
int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL);

Expand All @@ -344,6 +351,7 @@ static int determine_hw_info(int *revision, int *version)
}

return rv;
#endif
}

/****************************************************************************
Expand Down
8 changes: 8 additions & 0 deletions src/modules/logger/Kconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -10,3 +10,11 @@ menuconfig USER_LOGGER
depends on BOARD_PROTECTED && MODULES_LOGGER
---help---
Put logger in userspace memory

menuconfig LOGGER_STACK_SIZE
int "stack size of logger task"
default 3700
depends on MODULES_LOGGER
---help---
Stack size of the logger task. Some configurations require more stack
than the default.
2 changes: 1 addition & 1 deletion src/modules/logger/logger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,7 @@ int Logger::task_spawn(int argc, char *argv[])
_task_id = px4_task_spawn_cmd("logger",
SCHED_DEFAULT,
SCHED_PRIORITY_LOG_CAPTURE,
PX4_STACK_ADJUSTED(3700),
PX4_STACK_ADJUSTED(CONFIG_LOGGER_STACK_SIZE),
(px4_main_t)&run_trampoline,
(char *const *)argv);

Expand Down
1 change: 1 addition & 0 deletions src/systemcmds/hardfault_log/CMakeLists.txt
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Expand Up @@ -35,6 +35,7 @@ px4_add_module(
MAIN hardfault_log
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
STACK_MAIN 4096
SRCS
hardfault_log.c
DEPENDS
Expand Down
1 change: 1 addition & 0 deletions src/systemcmds/param/CMakeLists.txt
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Expand Up @@ -35,6 +35,7 @@ px4_add_module(
MAIN param
COMPILE_FLAGS
-Wno-array-bounds
STACK_MAIN 4096
SRCS
param.cpp
DEPENDS
Expand Down
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