Merge pull request PX4#5 from cvg/fmuv2_bringup_ramtron

Enable support for RAMTRON, enable support for EEPROM on FMU 1.x
geeksville · Apr 20, 2013 · e895198 · e895198
2 parents 5f26018 + 94084ec
commit e895198
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Showing 12 changed files with 1,142 additions and 15 deletions.
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
@@ -11,6 +11,7 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
 # Board support modules
 #
 MODULES		+= drivers/px4fmu
+MODULES		+= systemcmds/eeprom
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -36,7 +37,6 @@ BUILTIN_COMMANDS := \
 	$(call _B, commander,              SCHED_PRIORITY_MAX-30,     2048,  commander_main             ) \
 	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
 	$(call _B, delay_test,             ,                          2048,  delay_test_main            ) \
-	$(call _B, eeprom,                 ,                          4096,  eeprom_main                ) \
 	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
 	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
 	$(call _B, gps,                    ,                          2048,  gps_main                   ) \
@@ -66,4 +66,5 @@ BUILTIN_COMMANDS := \
 	$(call _B, tests,                  ,                          12000, tests_main                 ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
 	$(call _B, top,                    SCHED_PRIORITY_DEFAULT-10, 3000,  top_main                   ) \
+	$(call _B, param,                  SCHED_PRIORITY_DEFAULT-10, 2048,  param_main                 ) \
 	$(call _B, uorb,                   ,                          4096,  uorb_main                  )
diff --git a/makefiles/config_px4fmuv2_default.mk b/makefiles/config_px4fmuv2_default.mk
@@ -14,6 +14,7 @@ MODULES		+= drivers/boards/px4fmuv2
 MODULES		+= drivers/lsm303d
 MODULES		+= drivers/px4fmu
 MODULES		+= drivers/rgbled
+MODULES		+= systemcmds/ramtron
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -61,4 +62,5 @@ BUILTIN_COMMANDS := \
 	$(call _B, tests,                  ,                          12000, tests_main                 ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
 	$(call _B, top,                    SCHED_PRIORITY_DEFAULT-10, 3000,  top_main                   ) \
+	$(call _B, param,                  SCHED_PRIORITY_DEFAULT-10, 2048,  param_main                 ) \
 	$(call _B, uorb,                   ,                          4096,  uorb_main                  )
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
@@ -65,7 +65,6 @@ CONFIGURED_APPS += systemcmds/perf
 CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
-CONFIGURED_APPS += systemcmds/eeprom
 CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/pwm
 CONFIGURED_APPS += systemcmds/bl_update

diff --git a/nuttx/configs/px4fmuv2/nsh/appconfig b/nuttx/configs/px4fmuv2/nsh/appconfig
@@ -65,9 +65,7 @@ CONFIGURED_APPS += systemcmds/perf
 CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
-# No I2C EEPROM - need new param interface
-#CONFIGURED_APPS += systemcmds/eeprom
-#CONFIGURED_APPS += systemcmds/param
+CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/pwm
 CONFIGURED_APPS += systemcmds/bl_update
 CONFIGURED_APPS += systemcmds/preflight_check
@@ -95,10 +93,8 @@ CONFIGURED_APPS += sdlog
 CONFIGURED_APPS += sensors
 
 ifneq ($(CONFIG_APM),y)
-#CONFIGURED_APPS += ardrone_interface
 CONFIGURED_APPS += multirotor_att_control
 CONFIGURED_APPS += multirotor_pos_control
-#CONFIGURED_APPS += fixedwing_control
 CONFIGURED_APPS += fixedwing_att_control
 CONFIGURED_APPS += fixedwing_pos_control
 CONFIGURED_APPS += position_estimator

diff --git a/nuttx/configs/px4fmuv2/nsh/defconfig b/nuttx/configs/px4fmuv2/nsh/defconfig
@@ -365,6 +365,10 @@ CONFIG_I2C_RESET=y
 # XXX fixed per-transaction timeout
 CONFIG_STM32_I2CTIMEOMS=10
 
+#
+# MTD support
+#
+CONFIG_MTD=y
 
 # XXX re-enable after integration testing
 

diff --git a/nuttx/drivers/mtd/ramtron.c b/nuttx/drivers/mtd/ramtron.c
@@ -161,6 +161,14 @@ struct ramtron_dev_s
 
 static struct ramtron_parts_s ramtron_parts[] =
 {
+  {
+    "FM25V01",                    /* name */
+    0x21,                         /* id1 */
+    0x00,                         /* id2 */
+    16L*1024L,                    /* size */
+    2,                            /* addr_len */
+    40000000                      /* speed */
+  },
   {
     "FM25V02",                    /* name */
     0x22,                         /* id1 */

diff --git a/src/drivers/boards/px4fmuv2/px4fmu_init.c b/src/drivers/boards/px4fmuv2/px4fmu_init.c
@@ -192,12 +192,12 @@ __EXPORT int nsh_archinitialize(void)
 	spi1 = up_spiinitialize(1);
 
 	if (!spi1) {
-		message("[boot] FAILED to initialize SPI port 1\r\n");
+		message("[boot] FAILED to initialize SPI port 1\n");
 		up_ledon(LED_AMBER);
 		return -ENODEV;
 	}
 
-	// Default SPI1 to 1MHz and de-assert the known chip selects.
+	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi1, 10000000);
 	SPI_SETBITS(spi1, 8);
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
@@ -206,11 +206,10 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
 	up_udelay(20);
 
-	message("[boot] Successfully initialized SPI port 1\r\n");
+	message("[boot] Successfully initialized SPI port 1\n");
 
 	/* Get the SPI port for the FRAM */
 
-	message("[boot] Initializing SPI port 2\n");
 	spi2 = up_spiinitialize(2);
 
 	if (!spi2) {
@@ -219,11 +218,13 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	message("[boot] Successfully initialized SPI port 2\n");
-
-	/* XXX need a driver to bind the FRAM to */
+	/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi2, 375000000);
+	SPI_SETBITS(spi2, 8);
+	SPI_SETMODE(spi2, SPIDEV_MODE3);
+	SPI_SELECT(spi2, SPIDEV_FLASH, false);
 
-	//message("[boot] Successfully bound SPI port 2 to the FRAM driver\n");
+	message("[boot] Successfully initialized SPI port 2\n");
 
 	return OK;
 }