WIP: RTEMS6

include/grisp.h

@@ -36,11 +36,24 @@ extern "C" {
 #define GRISP
 #define GRISP_PLATFORM_GRISP_BASE
 #define GRISP_PLATFORM "grisp_base"
+#define grisp_is_industrialgrisp() false
 #endif
 #if defined LIBBSP_ARM_IMX_BSP_H
 #define GRISP
 #define GRISP_PLATFORM_GRISP2
 #define GRISP_PLATFORM "grisp2"
+
+#include <bsp/fdt.h>
+#include <libfdt.h>
+
+static inline bool grisp_is_industrialgrisp(void)
+{
+	const void *fdt = bsp_fdt_get();
+	const int node = fdt_path_offset(fdt, "/");
+	const char igrisp_compat[] = "embeddedbrains,industrialgrisp";
+
+	return (fdt_node_check_compatible(fdt, node, igrisp_compat) == 0);
+}
 #endif
 
 #ifdef __cplusplus

include/grisp/init.h

@@ -50,13 +50,17 @@ extern "C" {
 #define GRISP_I2C0_DEVICE "/dev/i2c-0"
 #define GRISP_I2C1_FDT_ALIAS "i2c1"
 #define GRISP_I2C1_DEVICE "/dev/i2c-1"
+
+#define GRISP_INDUSTRIAL_SPI_ONBOARD_FDT_ALIAS "spi0"
+#define GRISP_INDUSTRIAL_SPI_PMOD_FDT_ALIAS "spi2"
+#define GRISP_INDUSTRIAL_I2C_FDT_ALIAS "i2c0"
 #endif
 
 typedef void (*grisp_check_and_create_wlandev)(void);
 
 void	grisp_init_buses(void);
 void	grisp_init_libbsd(void);
-void	grisp_init_sd_card(void);
+void	grisp_init_sd_card(const char *rootdir);
 void	grisp_init_lower_self_prio(void);
 rtems_status_code grisp_init_wait_for_sd(void);
 void	grisp_saf1761_basic_init(void);

src/init.c

@@ -88,8 +88,10 @@ static rtems_id wait_mounted_task_id = RTEMS_INVALID_ID;
 
 static rtems_status_code
 media_listener(rtems_media_event event, rtems_media_state state,
-    const char *src, const char *dest, void *arg)
+    const char *src, const char *dest, const char *arg)
 {
+  	char fdt_target[192] = "";
+
 	printf(
 		"media listener: event = %s, state = %s, src = %s",
 		rtems_media_event_description(event),
@@ -102,13 +104,20 @@ media_listener(rtems_media_event event, rtems_media_state state,
 	}
 
 	if (arg != NULL) {
-		printf(", arg = %p\n", arg);
+  		strlcpy(fdt_target, arg, 192);
+		size_t length = strlen(arg);
+		if (fdt_target[length - 1] == '/') {
+			fdt_target[length - 1] = '\0';
+		}
+		printf(", fdt_target = %s\n", fdt_target);
 	}
 
 	printf("\n");
 
 	if (event == RTEMS_MEDIA_EVENT_MOUNT &&
-	    state == RTEMS_MEDIA_STATE_SUCCESS) {
+	    state == RTEMS_MEDIA_STATE_SUCCESS &&
+		dest != NULL && arg != NULL &&
+		strcmp(dest, fdt_target) == 0) {
 		rtems_event_send(wait_mounted_task_id, EVT_MOUNTED);
 	}
 
@@ -168,7 +177,7 @@ grisp_init_lower_self_prio(void)
 }
 
 void
-grisp_init_sd_card(void)
+grisp_init_sd_card(const char *rootdir)
 {
 	rtems_status_code sc;
 
@@ -180,7 +189,7 @@ grisp_init_sd_card(void)
 	sc = rtems_media_initialize();
 	assert(sc == RTEMS_SUCCESSFUL);
 
-	sc = rtems_media_listener_add(media_listener, NULL);
+	sc = rtems_media_listener_add(media_listener, rootdir);
 	assert(sc == RTEMS_SUCCESSFUL);
 
 	sc = rtems_media_server_initialize(

src/led.c

@@ -32,6 +32,7 @@
 #include <bsp.h>
 #include <assert.h>
 
+#include <grisp.h>
 #include <grisp/led.h>
 
 #ifdef LIBBSP_ARM_ATSAM_BSP_H
@@ -109,7 +110,8 @@ static struct {
 	struct imx_gpio_pin green;
 	struct imx_gpio_pin blue;
 } leds[2];
-struct imx_gpio_pin led_som;
+static struct imx_gpio_pin led_som;
+static bool only_green_led;
 
 static void
 grisp2_init_led_by_fdt(
@@ -133,12 +135,19 @@ grisp2_init_leds(void)
 	const void *fdt;
 
 	fdt = bsp_fdt_get();
-	grisp2_init_led_by_fdt(&leds[0].red,   fdt, "/leds/grisp-rgb1-red");
-	grisp2_init_led_by_fdt(&leds[0].green, fdt, "/leds/grisp-rgb1-green");
-	grisp2_init_led_by_fdt(&leds[0].blue,  fdt, "/leds/grisp-rgb1-blue");
-	grisp2_init_led_by_fdt(&leds[1].red,   fdt, "/leds/grisp-rgb2-red");
-	grisp2_init_led_by_fdt(&leds[1].green, fdt, "/leds/grisp-rgb2-green");
-	grisp2_init_led_by_fdt(&leds[1].blue,  fdt, "/leds/grisp-rgb2-blue");
+	if (grisp_is_industrialgrisp()) {
+		grisp2_init_led_by_fdt(&leds[0].green, fdt, "/leds/igrisp-mcu-led");
+		grisp2_init_led_by_fdt(&leds[1].green, fdt, "/leds/igrisp-rfid-led");
+		only_green_led = true;
+	} else {
+		grisp2_init_led_by_fdt(&leds[0].red,   fdt, "/leds/grisp-rgb1-red");
+		grisp2_init_led_by_fdt(&leds[0].green, fdt, "/leds/grisp-rgb1-green");
+		grisp2_init_led_by_fdt(&leds[0].blue,  fdt, "/leds/grisp-rgb1-blue");
+		grisp2_init_led_by_fdt(&leds[1].red,   fdt, "/leds/grisp-rgb2-red");
+		grisp2_init_led_by_fdt(&leds[1].green, fdt, "/leds/grisp-rgb2-green");
+		grisp2_init_led_by_fdt(&leds[1].blue,  fdt, "/leds/grisp-rgb2-blue");
+		only_green_led = false;
+	}
 	grisp2_init_led_by_fdt(&led_som,       fdt, "/leds/phycore-green");
 }
 
@@ -149,9 +158,11 @@ grisp_led_set(int led_nr, bool r, bool g, bool b)
 	pthread_once(&once, grisp2_init_leds);
 
 	if (led_nr != LED_SOM) {
-		imx_gpio_set_output(&leds[led_nr-1].red,   r ? 1 : 0);
+		if (!only_green_led) {
+			imx_gpio_set_output(&leds[led_nr-1].red,   r ? 1 : 0);
+			imx_gpio_set_output(&leds[led_nr-1].blue,  b ? 1 : 0);
+		}
 		imx_gpio_set_output(&leds[led_nr-1].green, g ? 1 : 0);
-		imx_gpio_set_output(&leds[led_nr-1].blue,  b ? 1 : 0);
 	} else {
 		imx_gpio_set_output(&led_som, g ? 1 : 0);
 	}