fmu-v6xrt: Switch FRAM from mtd to LittleFS

PetervdPerk-NXP · Feb 5, 2024 · e66256f · e66256f
1 parent 9cbf2ec
commit e66256f
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Showing 6 changed files with 38 additions and 25 deletions.
diff --git a/boards/px4/fmu-v6xrt/default.px4board b/boards/px4/fmu-v6xrt/default.px4board
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
+CONFIG_BOARD_PARAM_FILE="/fs/fram/mtd_params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y

diff --git a/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
@@ -62,6 +62,10 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=4
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y

diff --git a/boards/px4/fmu-v6xrt/src/imxrt_flexspi_fram.c b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_fram.c
@@ -661,6 +661,7 @@ int flexspi_attach(mtd_instance_s *instance)
 int imxrt_flexspi_fram_initialize(void)
 {
  uint8_t vendor_id;
+ struct mtd_dev_s *mtd_dev = &g_flexspi_nor.mtd;
  int ret = -ENODEV;
 
  /* Configure multiplexed pins as connected on the board */
@@ -690,6 +691,34 @@ int imxrt_flexspi_fram_initialize(void)
  }
  }
 
+ /* Register the MTD driver so that it can be accessed from the
+ * VFS.
+ */
+
+ ret = register_mtddriver("/dev/fram", mtd_dev, 0755, NULL);
+
+ if (ret < 0) {
+ syslog(LOG_ERR, "ERROR: Failed to register MTD driver: %d\n",
+ ret);
+ }
+
+ /* mtd_dev->ioctl(mtd_dev, MTDIOC_BULKERASE, 0); */
+
+#ifdef CONFIG_FS_LITTLEFS
+
+ /* Mount the LittleFS file system */
+
+ ret = nx_mount("/dev/fram", "/mnt/lfs", "littlefs", 0,
+ "autoformat");
+
+ if (ret < 0) {
+ syslog(LOG_ERR,
+ "ERROR: Failed to mount LittleFS at /mnt/lfs: %d\n",
+ ret);
+ }
+
+#endif
+
  return ret;
 }
 #endif /* CONFIG_IMXRT_FLEXSPI */
diff --git a/boards/px4/fmu-v6xrt/src/init.c b/boards/px4/fmu-v6xrt/src/init.c
@@ -483,6 +483,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif
 
+#ifdef CONFIG_IMXRT_FLEXSPI
+ imxrt_flexspi_fram_initialize();
+#endif
+
 #ifdef CONFIG_IMXRT_ENET
  imxrt_netinitialize(0);
 #endif

diff --git a/boards/px4/fmu-v6xrt/src/mtd.cpp b/boards/px4/fmu-v6xrt/src/mtd.cpp
@@ -47,25 +47,6 @@ static const px4_mft_device_t i2c6 = { // 24LC64T on BASE 8K 32 X 2
  .devid = PX4_MK_I2C_DEVID(6, 0x51)
 };
 
-
-static const px4_mtd_entry_t fmum_fram = {
- .device = &qspi_flash,
- .npart = 2,
- .partd = {
- {
- .type = MTD_PARAMETERS,
- .path = "/fs/mtd_params",
- .nblocks = 32
- },
- {
- .type = MTD_WAYPOINTS,
- .path = "/fs/mtd_waypoints",
- .nblocks = 32
-
- }
- },
-};
-
 static const px4_mtd_entry_t base_eeprom = {
  .device = &i2c6,
  .npart = 2,
@@ -109,7 +90,6 @@ static const px4_mtd_entry_t imu_eeprom = {
 static const px4_mtd_manifest_t board_mtd_config = {
  .nconfigs = 3,
  .entries = {
- &fmum_fram,
  &base_eeprom,
  &imu_eeprom
  }

diff --git a/platforms/nuttx/src/px4/common/px4_mtd.cpp b/platforms/nuttx/src/px4/common/px4_mtd.cpp
@@ -351,11 +351,6 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)
 
  } else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::SPI) {
  rv = ramtron_attach(*instances[i]);
-#if defined(HAS_FLEXSPI)
-
- } else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::FLEXSPI) {
- rv = flexspi_attach(instances[i]);
-#endif
 
  } else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::ONCHIP) {
  instances[i]->n_partitions_current++;