Merge pull request #593 from PX4/mtd_eeprom

EEPROM supported in MTD interface

makefiles/config_px4fmu-v1_backside.mk

@@ -38,8 +38,7 @@ MODULES		+= modules/sensors
 #
 # System commands
 #
-MODULES		+= systemcmds/eeprom
-MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/boardinfo
 MODULES		+= systemcmds/i2c

makefiles/config_px4fmu-v1_default.mk

@@ -42,8 +42,7 @@ MODULES		+= modules/sensors
 #
 # System commands
 #
-MODULES		+= systemcmds/eeprom
-MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/boardinfo
 MODULES		+= systemcmds/i2c

makefiles/config_px4fmu-v1_test.mk

@@ -22,6 +22,7 @@ MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/mtd
 
 #
 # Library modules

makefiles/config_px4fmu-v2_default.mk

@@ -46,7 +46,6 @@ MODULES		+= modules/sensors
 #
 # System commands
 #
-MODULES		+= systemcmds/ramtron
 MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/boardinfo
 MODULES		+= systemcmds/mixer

src/drivers/boards/px4fmu-v2/board_config.h

@@ -87,7 +87,7 @@ __BEGIN_DECLS
 #define GPIO_GYRO_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
 #define GPIO_MAG_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_ACCEL_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_EXTI_MPU_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* SPI1 off */
 #define GPIO_SPI1_SCK_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
@@ -98,7 +98,7 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
 #define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_MPU			(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_MPU_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
 
 /* SPI chip selects */
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)

src/drivers/px4fmu/fmu.cpp

@@ -1108,10 +1108,12 @@ PX4FMU::sensor_reset(int ms)
 	stm32_configgpio(GPIO_SPI_CS_GYRO_OFF);
 	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
 	stm32_configgpio(GPIO_SPI_CS_BARO_OFF);
+	stm32_configgpio(GPIO_SPI_CS_MPU_OFF);
 
 	stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
 	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
 	stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
+	stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
 
 	stm32_configgpio(GPIO_SPI1_SCK_OFF);
 	stm32_configgpio(GPIO_SPI1_MISO_OFF);
@@ -1124,10 +1126,12 @@ PX4FMU::sensor_reset(int ms)
 	stm32_configgpio(GPIO_GYRO_DRDY_OFF);
 	stm32_configgpio(GPIO_MAG_DRDY_OFF);
 	stm32_configgpio(GPIO_ACCEL_DRDY_OFF);
+	stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
 
 	stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
 	stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
 	stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
+	stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
 
 	/* set the sensor rail off */
 	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
@@ -1160,6 +1164,13 @@ PX4FMU::sensor_reset(int ms)
 	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+	// // XXX bring up the EXTI pins again
+	// stm32_configgpio(GPIO_GYRO_DRDY);
+	// stm32_configgpio(GPIO_MAG_DRDY);
+	// stm32_configgpio(GPIO_ACCEL_DRDY);
+	// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
+
 #endif
 #endif
 }

src/systemcmds/eeprom/eeprom.c

-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 eeprom.c
- *
- * EEPROM service and utility app.
- */
-
-#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/i2c.h>
-#include <nuttx/mtd.h>
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
-#include <board_config.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
-#include "systemlib/err.h"
-
-#ifndef PX4_I2C_BUS_ONBOARD
-#  error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
-#endif
-
-__EXPORT int eeprom_main(int argc, char *argv[]);
-
-static void	eeprom_attach(void);
-static void	eeprom_start(void);
-static void	eeprom_erase(void);
-static void	eeprom_ioctl(unsigned operation);
-static void	eeprom_save(const char *name);
-static void	eeprom_load(const char *name);
-static void	eeprom_test(void);
-
-static bool attached = false;
-static bool started = false;
-static struct mtd_dev_s *eeprom_mtd;
-
-int eeprom_main(int argc, char *argv[])
-{
-	if (argc >= 2) {
-		if (!strcmp(argv[1], "start"))
-			eeprom_start();
-
-		if (!strcmp(argv[1], "save_param"))
-			eeprom_save(argv[2]);
-
-		if (!strcmp(argv[1], "load_param"))
-			eeprom_load(argv[2]);
-
-		if (!strcmp(argv[1], "erase"))
-			eeprom_erase();
-
-		if (!strcmp(argv[1], "test"))
-			eeprom_test();
-
-		if (0) {	/* these actually require a file on the filesystem... */
-
-			if (!strcmp(argv[1], "reformat"))
-				eeprom_ioctl(FIOC_REFORMAT);
-
-			if (!strcmp(argv[1], "repack"))
-				eeprom_ioctl(FIOC_OPTIMIZE);
-		}
-	}
-
-	errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n");
-}
-
-
-static void
-eeprom_attach(void)
-{
-	/* find the right I2C */
-	struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
-	/* this resets the I2C bus, set correct bus speed again */
-	I2C_SETFREQUENCY(i2c, 400000);
-
-	if (i2c == NULL)
-		errx(1, "failed to locate I2C bus");
-
-	/* start the MTD driver, attempt 5 times */
-	for (int i = 0; i < 5; i++) {
-		eeprom_mtd = at24c_initialize(i2c);
-		if (eeprom_mtd) {
-			/* abort on first valid result */
-			if (i > 0) {
-				warnx("warning: EEPROM needed %d attempts to attach", i+1);
-			}
-			break;
-		}
-	}
-
-	/* if last attempt is still unsuccessful, abort */
-	if (eeprom_mtd == NULL)
-		errx(1, "failed to initialize EEPROM driver");
-
-	attached = true;
-}
-
-static void
-eeprom_start(void)
-{
-	int ret;
-
-	if (started)
-		errx(1, "EEPROM already mounted");
-
-	if (!attached)
-		eeprom_attach();
-
-	/* start NXFFS */
-	ret = nxffs_initialize(eeprom_mtd);
-
-	if (ret < 0)
-		errx(1, "failed to initialize NXFFS - erase EEPROM to reformat");
-
-	/* mount the EEPROM */
-	ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
-
-	if (ret < 0)
-		errx(1, "failed to mount /eeprom - erase EEPROM to reformat");
-
-	started = true;
-	warnx("mounted EEPROM at /eeprom");
-	exit(0);
-}
-
-extern int at24c_nuke(void);
-
-static void
-eeprom_erase(void)
-{
-	if (!attached)
-		eeprom_attach();
-
-	if (at24c_nuke())
-		errx(1, "erase failed");
-
-	errx(0, "erase done, reboot now");
-}
-
-static void
-eeprom_ioctl(unsigned operation)
-{
-	int fd;
-
-	fd = open("/eeprom/.", 0);
-
-	if (fd < 0)
-		err(1, "open /eeprom");
-
-	if (ioctl(fd, operation, 0) < 0)
-		err(1, "ioctl");
-
-	exit(0);
-}
-
-static void
-eeprom_save(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/eeprom/parameters'");
-
-	warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
-
-	/* delete the file in case it exists */
-	unlink(name);
-
-	/* create the file */
-	int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
-
-	if (fd < 0)
-		err(1, "opening '%s' failed", name);
-
-	int result = param_export(fd, false);
-	close(fd);
-
-	if (result < 0) {
-		unlink(name);
-		errx(1, "error exporting to '%s'", name);
-	}
-
-	exit(0);
-}
-
-static void
-eeprom_load(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/eeprom/parameters'");
-
-	warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
-
-	int fd = open(name, O_RDONLY);
-
-	if (fd < 0)
-		err(1, "open '%s'", name);
-
-	int result = param_load(fd);
-	close(fd);
-
-	if (result < 0)
-		errx(1, "error importing from '%s'", name);
-
-	exit(0);
-}
-
-extern void at24c_test(void);
-
-static void
-eeprom_test(void)
-{
-	at24c_test();
-	exit(0);
-}

src/systemcmds/eeprom/module.mk

-############################################################################
-#
-#   Copyright (c) 2012, 2013 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.
-#
-############################################################################
-
-#
-# EEPROM file system driver
-#
-
-MODULE_COMMAND	 = eeprom
-SRCS		 = 24xxxx_mtd.c eeprom.c

src/systemcmds/mtd/module.mk

@@ -3,4 +3,4 @@
 #
 
 MODULE_COMMAND	 = mtd
-SRCS		 = mtd.c
+SRCS		 = mtd.c 24xxxx_mtd.c

src/systemcmds/mtd/mtd.c

@@ -62,26 +62,41 @@
 #include "systemlib/param/param.h"
 #include "systemlib/err.h"
 
+#include <board_config.h>
+
 __EXPORT int mtd_main(int argc, char *argv[]);
 
-#ifndef CONFIG_MTD_RAMTRON
+#ifndef CONFIG_MTD
 
 /* create a fake command with decent warnx to not confuse users */
 int mtd_main(int argc, char *argv[])
 {
-	errx(1, "RAMTRON not enabled, skipping.");
+	errx(1, "MTD not enabled, skipping.");
 }
 
 #else
 
-static void	mtd_attach(void);
+#ifdef CONFIG_MTD_RAMTRON
+static void	ramtron_attach(void);
+#else
+
+#ifndef PX4_I2C_BUS_ONBOARD
+#  error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
+#endif
+
+static void	at24xxx_attach(void);
+#endif
 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 void	mtd_print_info();
+static int	mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
+	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
 
 static bool attached = false;
 static bool started = false;
 static struct mtd_dev_s *mtd_dev;
+static unsigned n_partitions_current = 0;
 
 /* note, these will be equally sized */
 static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
@@ -104,6 +119,9 @@ int mtd_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "test"))
 			mtd_test();
 
+		if (!strcmp(argv[1], "status"))
+			mtd_status();
+
 		if (!strcmp(argv[1], "erase")) {
 			if (argc < 3) {
 				errx(1, "usage: mtd erase <PARTITION_PATH..>");
@@ -119,8 +137,9 @@ 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);
 
+#ifdef CONFIG_MTD_RAMTRON
 static void
-mtd_attach(void)
+ramtron_attach(void)
 {
 	/* find the right spi */
 	struct spi_dev_s *spi = up_spiinitialize(2);
@@ -133,7 +152,7 @@ mtd_attach(void)
 	if (spi == NULL)
 		errx(1, "failed to locate spi bus");
 
-	/* start the MTD driver, attempt 5 times */
+	/* start the RAMTRON driver, attempt 5 times */
 	for (int i = 0; i < 5; i++) {
 		mtd_dev = ramtron_initialize(spi);
 
@@ -153,6 +172,38 @@ mtd_attach(void)
 
 	attached = true;
 }
+#else
+
+static void
+at24xxx_attach(void)
+{
+	/* find the right I2C */
+	struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
+	/* this resets the I2C bus, set correct bus speed again */
+	I2C_SETFREQUENCY(i2c, 400000);
+
+	if (i2c == NULL)
+		errx(1, "failed to locate I2C bus");
+
+	/* start the MTD driver, attempt 5 times */
+	for (int i = 0; i < 5; i++) {
+		mtd_dev = at24c_initialize(i2c);
+		if (mtd_dev) {
+			/* abort on first valid result */
+			if (i > 0) {
+				warnx("warning: EEPROM needed %d attempts to attach", i+1);
+			}
+			break;
+		}
+	}
+
+	/* if last attempt is still unsuccessful, abort */
+	if (mtd_dev == NULL)
+		errx(1, "failed to initialize EEPROM driver");
+
+	attached = true;
+}
+#endif
 
 static void
 mtd_start(char *partition_names[], unsigned n_partitions)
@@ -162,42 +213,25 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 	if (started)
 		errx(1, "mtd already mounted");
 
-	if (!attached)
-		mtd_attach();
+	if (!attached) {
+		#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+		at24xxx_attach();
+		#else
+		ramtron_attach();
+		#endif
+	}
 
 	if (!mtd_dev) {
 		warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
 		exit(1);
 	}
 
+	unsigned long blocksize, erasesize, neraseblocks;
+	unsigned blkpererase, nblocks, partsize;
 
-	/* 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);
+	ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions);
+	if (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 */
 
@@ -244,18 +278,83 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 		}
 	}
 
+	n_partitions_current = n_partitions;
+
 	started = true;
 	exit(0);
 }
 
-static void
+int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
+	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions)
+{
+		/* Get the geometry of the FLASH device */
+
+	FAR struct mtd_geometry_s geo;
+
+	int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
+
+	if (ret < 0) {
+		warnx("ERROR: mtd->ioctl failed: %d", ret);
+		return ret;
+	}
+
+	*blocksize = geo.blocksize;
+	*erasesize = geo.blocksize;
+	*neraseblocks = 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).
+	 */
+
+	*blkpererase = geo.erasesize / geo.blocksize;
+	*nblocks     = (geo.neraseblocks / n_partitions) * *blkpererase;
+	*partsize    = *nblocks * geo.blocksize;
+
+	return ret;
+}
+
+void mtd_print_info()
+{
+	if (!attached)
+		exit(1);
+
+	unsigned long blocksize, erasesize, neraseblocks;
+	unsigned blkpererase, nblocks, partsize;
+
+	int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
+	if (ret)
+		exit(3);
+
+	warnx("Flash Geometry:");
+
+	printf("  blocksize:      %lu\n", blocksize);
+	printf("  erasesize:      %lu\n", erasesize);
+	printf("  neraseblocks:   %lu\n", neraseblocks);
+	printf("  No. partitions: %u\n", n_partitions_current);
+	printf("  Partition size: %u Blocks (%u bytes)\n", nblocks, partsize);
+	printf("  TOTAL SIZE: %u KiB\n", neraseblocks * erasesize / 1024);
+
+}
+
+void
 mtd_test(void)
 {
 	warnx("This test routine does not test anything yet!");
 	exit(1);
 }
 
-static void
+void
+mtd_status(void)
+{
+	if (!attached)
+		errx(1, "MTD driver not started");
+
+	mtd_print_info();
+	exit(0);
+}
+
+void
 mtd_erase(char *partition_names[], unsigned n_partitions)
 {
 	uint8_t v[64];

src/systemcmds/ramtron/module.mk

-#
-# RAMTRON file system driver
-#
-
-MODULE_COMMAND	 = ramtron
-SRCS		 = ramtron.c

src/systemcmds/ramtron/ramtron.c

-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 ramtron.c
- *
- * ramtron service and utility app.
- */
-
-#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 ramtron_main(int argc, char *argv[]);
-
-#ifndef CONFIG_MTD_RAMTRON
-
-/* create a fake command with decent message to not confuse users */
-int ramtron_main(int argc, char *argv[])
-{
-	errx(1, "RAMTRON not enabled, skipping.");
-}
-#else
-
-static void	ramtron_attach(void);
-static void	ramtron_start(void);
-static void	ramtron_erase(void);
-static void	ramtron_ioctl(unsigned operation);
-static void	ramtron_save(const char *name);
-static void	ramtron_load(const char *name);
-static void	ramtron_test(void);
-
-static bool attached = false;
-static bool started = false;
-static struct mtd_dev_s *ramtron_mtd;
-
-int ramtron_main(int argc, char *argv[])
-{
-	if (argc >= 2) {
-		if (!strcmp(argv[1], "start"))
-			ramtron_start();
-
-		if (!strcmp(argv[1], "save_param"))
-			ramtron_save(argv[2]);
-
-		if (!strcmp(argv[1], "load_param"))
-			ramtron_load(argv[2]);
-
-		if (!strcmp(argv[1], "erase"))
-			ramtron_erase();
-
-		if (!strcmp(argv[1], "test"))
-			ramtron_test();
-
-		if (0) {	/* these actually require a file on the filesystem... */
-
-			if (!strcmp(argv[1], "reformat"))
-				ramtron_ioctl(FIOC_REFORMAT);
-
-			if (!strcmp(argv[1], "repack"))
-				ramtron_ioctl(FIOC_OPTIMIZE);
-		}
-	}
-
-	errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
-}
-
-struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
-
-
-static void
-ramtron_attach(void)
-{
-	/* find the right spi */
-	struct spi_dev_s *spi = up_spiinitialize(2);
-	/* this resets the spi bus, set correct bus speed again */
-    // xxx set in ramtron driver, leave this out
-//	SPI_SETFREQUENCY(spi, 4000000);
-	SPI_SETFREQUENCY(spi, 375000000);
-	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++) {
-		ramtron_mtd = ramtron_initialize(spi);
-		if (ramtron_mtd) {
-			/* abort on first valid result */
-			if (i > 0) {
-				warnx("warning: ramtron needed %d attempts to attach", i+1);
-			}
-			break;
-		}
-	}
-
-	/* if last attempt is still unsuccessful, abort */
-	if (ramtron_mtd == NULL)
-		errx(1, "failed to initialize ramtron driver");
-
-	attached = true;
-}
-
-static void
-ramtron_start(void)
-{
-	int ret;
-
-	if (started)
-		errx(1, "ramtron already mounted");
-
-	if (!attached)
-		ramtron_attach();
-
-	/* start NXFFS */
-	ret = nxffs_initialize(ramtron_mtd);
-
-	if (ret < 0)
-		errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
-
-	/* mount the ramtron */
-	ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
-
-	if (ret < 0)
-		errx(1, "failed to mount /ramtron - erase ramtron to reformat");
-
-	started = true;
-	warnx("mounted ramtron at /ramtron");
-	exit(0);
-}
-
-//extern int at24c_nuke(void);
-
-static void
-ramtron_erase(void)
-{
-	if (!attached)
-		ramtron_attach();
-
-//	if (at24c_nuke())
-		errx(1, "erase failed");
-
-	errx(0, "erase done, reboot now");
-}
-
-static void
-ramtron_ioctl(unsigned operation)
-{
-	int fd;
-
-	fd = open("/ramtron/.", 0);
-
-	if (fd < 0)
-		err(1, "open /ramtron");
-
-	if (ioctl(fd, operation, 0) < 0)
-		err(1, "ioctl");
-
-	exit(0);
-}
-
-static void
-ramtron_save(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/ramtron/parameters'");
-
-	warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
-
-	/* delete the file in case it exists */
-	unlink(name);
-
-	/* create the file */
-	int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
-
-	if (fd < 0)
-		err(1, "opening '%s' failed", name);
-
-	int result = param_export(fd, false);
-	close(fd);
-
-	if (result < 0) {
-		unlink(name);
-		errx(1, "error exporting to '%s'", name);
-	}
-
-	exit(0);
-}
-
-static void
-ramtron_load(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/ramtron/parameters'");
-
-	warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
-
-	int fd = open(name, O_RDONLY);
-
-	if (fd < 0)
-		err(1, "open '%s'", name);
-
-	int result = param_load(fd);
-	close(fd);
-
-	if (result < 0)
-		errx(1, "error importing from '%s'", name);
-
-	exit(0);
-}
-
-//extern void at24c_test(void);
-
-static void
-ramtron_test(void)
-{
-//	at24c_test();
-	exit(0);
-}
-
-#endif