Merge branch 'main' into dev/sbgecom_driver

PX4 · Jan 9, 2025 · cad3c42 · cad3c42
2 parents ffe24c4 + 44b423f
commit cad3c42
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Showing 14 changed files with 681 additions and 39 deletions.
diff --git a/boards/nxp/tropic-community/default.px4board b/boards/nxp/tropic-community/default.px4board
@@ -4,7 +4,7 @@ CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_PARAM_FILE="/fs/microsd/mtd_params"
+CONFIG_BOARD_PARAM_FILE="/fs/nor/mtd_params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y

diff --git a/boards/nxp/tropic-community/nuttx-config/nsh/defconfig b/boards/nxp/tropic-community/nuttx-config/nsh/defconfig
@@ -60,6 +60,8 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=2
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
@@ -80,6 +82,8 @@ CONFIG_IMXRT_ENET_NTXBUFFERS=8
 CONFIG_IMXRT_ENET_PHYINIT=y
 CONFIG_IMXRT_FLEXCAN3=y
 CONFIG_IMXRT_FLEXCAN_TXMB=1
+CONFIG_IMXRT_FLEXSPI1=y
+CONFIG_IMXRT_FLEXSPI1_XIP=y
 CONFIG_IMXRT_GPIO1_0_15_IRQ=y
 CONFIG_IMXRT_GPIO1_16_31_IRQ=y
 CONFIG_IMXRT_GPIO2_0_15_IRQ=y
@@ -116,7 +120,7 @@ CONFIG_INTELHEX_BINARY=y
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
-CONFIG_IPCFG_PATH="/fs/microsd"
+CONFIG_IPCFG_PATH="/fs/nor"
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C1_DMA=y

diff --git a/boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld b/boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
@@ -117,3 +117,19 @@
 *(.text.ipv4_input)
 *(.text.work_thread)
 *(.text.work_queue)
+
+/* Flash Storage */
+*(.text.imxrt_flexspi_transfer_blocking)
+*(.text.imxrt_flexspi_transfer_blocking_private)
+*(.text.imxrt_flexspi_write_blocking)
+*(.text.imxrt_flexspi_read_blocking)
+*(.text.imxrt_flexspi_check_and_clear_error)
+*(.text.imxrt_flexspi_get_bus_idle_status)
+*(.text.imxrt_flexspi_configure_prefetch)
+*(.text.imxrt_flexspi_configure_prefetch_private)
+*(.text.imxrt_flexspi_storage_write_enable)
+*(.text.imxrt_flexspi_storage_wait_bus_busy)
+*(.text.imxrt_flexspi_storage_read_status)
+*(.text.imxrt_flexspi_storage_erase)
+*(.text.imxrt_flexspi_storage_bwrite)
+*(.text.imxrt_flexspi_storage_page_program)
diff --git a/boards/nxp/tropic-community/nuttx-config/scripts/script.ld b/boards/nxp/tropic-community/nuttx-config/scripts/script.ld
@@ -22,7 +22,7 @@
 
 MEMORY
 {
-  flash (rx)  : ORIGIN = 0x60000000, LENGTH = 7936K
+  flash (rx)  : ORIGIN = 0x60000000, LENGTH = 7936K - 128K
   sram  (rwx) : ORIGIN = 0x20200000, LENGTH = 512K
   itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 384K
   dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 128K

diff --git a/boards/nxp/tropic-community/src/CMakeLists.txt b/boards/nxp/tropic-community/src/CMakeLists.txt
@@ -41,6 +41,7 @@ px4_add_library(drivers_board
 	usb.c
 	imxrt_flexspi_nor_boot.c
 	imxrt_flexspi_nor_flash.c
+	imxrt_flexspi_storage.c
 )
 
 

diff --git a/boards/nxp/tropic-community/src/board_config.h b/boards/nxp/tropic-community/src/board_config.h
@@ -326,6 +326,8 @@ extern void fmurt1062_timer_initialize(void);
 
 #include <px4_platform_common/board_common.h>
 
+int imxrt_flexspi_storage_initialize(void);
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS
-Original file line number
+Diff line change
@@ Expand Up / @@ -41,6 +41,7 @@ px4_add_library(drivers_board @@
     	usb.c
     	imxrt_flexspi_nor_boot.c
     	imxrt_flexspi_nor_flash.c
+    	imxrt_flexspi_storage.c
     )
@@ Expand Down @@