From cf9a3ada2898b63a65e98ff1fbc50da9bdfc00fa Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 22 Jun 2023 19:07:43 +0100
Subject: [PATCH] GCS_MAVLink: print out IOMCU mcuid on startup

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 818b37695f..54e9b32221 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -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))) {