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GCS_MAVLink: print out IOMCU mcuid on startup

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Andy Piper 2023-06-22 19:07:43 +01:00 committed by Andrew Tridgell
parent 1c646d2986
commit cf9a3ada28
1 changed files with 15 additions and 0 deletions
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15
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -88,6 +88,11 @@
#endif
#include <AP_GPS/AP_GPS.h>
#if HAL_WITH_IO_MCU
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
#include <ctype.h>
extern const AP_HAL::HAL& hal;
@ -4210,6 +4215,16 @@ void GCS_MAVLINK::send_banner()
send_text(MAV_SEVERITY_INFO, "%s", sysid);
}
// send MCUID if we can
#if HAL_WITH_IO_MCU
#define REVID_MASK 0xFFFF0000
#define DEVID_MASK 0xFFF
if (AP_BoardConfig::io_enabled()) {
uint32_t mcuid = iomcu.get_mcu_id();
send_text(MAV_SEVERITY_INFO, "IOMCU: %x %x", uint16_t(mcuid & DEVID_MASK), uint16_t((mcuid & REVID_MASK) >> 16U));
}
#endif
// send RC output mode info if available
char banner_msg[50];
if (hal.rcout->get_output_mode_banner(banner_msg, sizeof(banner_msg))) {