kakuteh7mini: add W25Q128 flash logging support

Enable onboard SPI NOR flash (W25Q128) for flight logging using LittleFS.

Tested on Kakute H7 Mini v1.5.

Signed-off-by: Lukanov Aleksei <[email protected]>

Author: semargol

boards/holybro/kakuteh7mini/default.px4board

@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_ROOT_PATH="/fs/microsd"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -91,3 +92,6 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_LOGGER_STACK_SIZE=4100
+CONFIG_LOGGER_WRITER_STACK_SIZE=4096

boards/holybro/kakuteh7mini/init/rc.board_extras

@@ -10,3 +10,16 @@ fi
 
 # DShot telemetry is always on UART7
 dshot telemetry -d /dev/ttyS5
+
+# Create logger config for flash logging (W25Q128)
+if [ ! -f /fs/microsd/etc/logging/logger_topics.txt ]; then
+    mkdir -p /fs/microsd/etc/logging
+    echo "vehicle_attitude 500" > /fs/microsd/etc/logging/logger_topics.txt
+    echo "vehicle_local_position 1000" >> /fs/microsd/etc/logging/logger_topics.txt
+    echo "vehicle_global_position 1000" >> /fs/microsd/etc/logging/logger_topics.txt
+    echo "battery_status 2000" >> /fs/microsd/etc/logging/logger_topics.txt
+    echo "vehicle_status 1000" >> /fs/microsd/etc/logging/logger_topics.txt
+    echo "failsafe_flags 1000" >> /fs/microsd/etc/logging/logger_topics.txt
+    echo "vehicle_land_detected 1000" >> /fs/microsd/etc/logging/logger_topics.txt
+    echo "actuator_outputs 500" >> /fs/microsd/etc/logging/logger_topics.txt
+fi

boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig

@@ -90,20 +90,19 @@ CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=500
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=16
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=128
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -119,14 +118,12 @@ CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
 CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
+CONFIG_MTD_W25=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -245,3 +242,4 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_WATCHDOG=y
+CONFIG_BCH=y

boards/holybro/kakuteh7mini/src/CMakeLists.txt

@@ -48,6 +48,7 @@ else()
 		i2c.cpp
 		init.c
 		led.c
+		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c

boards/holybro/kakuteh7mini/src/init.c

@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <sys/stat.h>
 #include <syslog.h>
 
 #include <nuttx/config.h>
@@ -231,16 +232,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}
 
-	// MARK: this will *not* work as the minis have a W25N NAND flash chip
-	/* Get the SPI port for the microSD slot */
-	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
 
-	if (!spi_dev) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
-		led_on(LED_BLUE);
-	}
-
-	up_udelay(20);
 
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
@@ -259,8 +251,18 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif
 
 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();
 
+	/* Mount LittleFS on W25Q128 flash for logging */
+	mkdir("/fs/microsd", 0777);
+
+	if (nx_mount("/dev/mtdblock0", "/fs/microsd", "littlefs", 0, "autoformat") != 0) {
+		syslog(LOG_ERR, "[boot] FAILED to mount littlefs on mtdblock0\n");
+		led_on(LED_BLUE);
+
+	} else {
+		syslog(LOG_INFO, "[boot] LittleFS mounted on /fs/microsd\n");
+	}
+
 	return OK;
 }

boards/holybro/kakuteh7mini/src/mtd.cpp

@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 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.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+
+// W25Q128 on SPI1: 16MB (128Mbit), 4KB sectors, 64KB blocks
+// For parameters we use a small portion - 128KB (32 x 4KB blocks)
+static const px4_mft_device_t spi1 = {
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+
+static const px4_mtd_entry_t w25q128_flash = {
+	.device = &spi1,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_WAYPOINTS,  // Use for data storage
+			.path = "/fs/mtd_data",
+			.nblocks = 65536  // 65536 x 256 bytes = 16MB (full flash)
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&w25q128_flash
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/holybro/kakuteh7mini/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

platforms/nuttx/src/px4/common/px4_mtd.cpp

@@ -60,6 +60,7 @@
 
 extern "C" {
 	struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
+	struct mtd_dev_s *w25_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);
 }
@@ -132,6 +133,41 @@ static int ramtron_attach(mtd_instance_s &instance)
 }
 
 
+static int w25_attach(mtd_instance_s &instance)
+{
+#if !defined(CONFIG_MTD_W25)
+	PX4_ERR("Misconfiguration CONFIG_MTD_W25 not set");
+	return -ENXIO;
+#else
+	/* W25 supports up to 50MHz, start at 20MHz */
+	unsigned long spi_speed_hz = 20'000'000;
+
+	struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(instance.devid));
+
+	if (spi == nullptr) {
+		PX4_ERR("failed to locate spi bus");
+		return -ENXIO;
+	}
+
+	SPI_LOCK(spi, true);
+	SPI_SETFREQUENCY(spi, spi_speed_hz);
+	SPI_SETBITS(spi, 8);
+	SPI_SETMODE(spi, SPIDEV_MODE0);  /* W25 uses MODE0 */
+	SPI_SELECT(spi, instance.devid, false);
+	SPI_LOCK(spi, false);
+
+	instance.mtd_dev = w25_initialize(spi);
+
+	if (instance.mtd_dev == nullptr) {
+		PX4_ERR("failed to initialize W25 mtd driver");
+		return -EIO;
+	}
+
+	return 0;
+#endif
+}
+
+
 static int at24xxx_attach(mtd_instance_s &instance)
 {
 #if !defined(PX4_I2C_BUS_MTD)
@@ -350,7 +386,13 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)
 			rv = at24xxx_attach(*instances[i]);
 
 		} else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::SPI) {
-			rv = ramtron_attach(*instances[i]);
+			/* Try W25 first, then RAMTRON */
+			rv = w25_attach(*instances[i]);
+
+			if (rv != 0) {
+				rv = ramtron_attach(*instances[i]);
+			}
+
 #if defined(HAS_FLEXSPI)
 
 		} else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::FLEXSPI) {

src/modules/logger/util.cpp

@@ -233,7 +233,7 @@ int check_free_space(const char *log_root_dir, int32_t max_log_dirs_to_keep, orb
 
 
 	/* use a threshold of 50 MiB: if below, do not start logging */
-	if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
+	if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(10 * 1024 * 1024 / statfs_buf.f_bsize)) {
 		mavlink_log_critical(&mavlink_log_pub,
 				     "[logger] Not logging; SD almost full: %u MiB\t",
 				     (unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));