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AP_Common: Update AP_FWVersion struct to be used with binary parsers

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- Add an uint64_t header to allow easy detection of struct
- Add an uint16_t version
    - MSB is for major release, compatibility break
    - LSB for minor version, no compatibility break
- Add pointer size variable to allow decode of pointers
- Add vehicle type information
- Add board type and subtype to allow hardware identification
- Set type of fw_type to uint8_t since enum is declared as int
- Organize struct to be packed inside 32bits system

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2020-09-23 12:09:28 -03:00 committed by Andrew Tridgell
parent 75e9550bce
commit adda695630
2 changed files with 32 additions and 9 deletions
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20
libraries/AP_Common/AP_FWVersion.h
View File

@ -3,21 +3,35 @@
#include <stdint.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
class AP_FWVersion {
class PACKED AP_FWVersion {
public:
/**
* @brief Struct to hold infomation about the software version struct
*
*/
// First 7 MSBs are a start sequence, LSB is a checksum
const uint64_t header;
// MSB (major version breaks compatibility), LSB (minor version no compatibility break)
const uint16_t header_version;
// Pointer size to extract pointer values
const uint8_t pointer_size;
const uint8_t reserved; // padding
const uint8_t vehicle_type;
const uint8_t board_type;
const uint16_t board_subtype;
const uint8_t major;
const uint8_t minor;
const uint8_t patch;
const FIRMWARE_VERSION_TYPE fw_type;
const uint8_t fw_type; /*FIRMWARE_VERSION_TYPE*/
const uint32_t os_sw_version;
const char *fw_string;
const char *fw_hash_str;
const char *middleware_name;
const char *middleware_hash_str;
const char *os_name;
const char *os_hash_str;
const uint32_t os_sw_version;
static const AP_FWVersion &get_fwverz() { return fwver; }

21
libraries/AP_Common/AP_FWVersionDefine.h
View File

@ -21,12 +21,27 @@
#endif
#include <AP_Common/AP_FWVersion.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
const AP_FWVersion AP_FWVersion::fwver{
// Version header struct
.header = 0x61706677766572fb, // First 7 MSBs: "apfwver", LSB is the checksum of the previous string: 0xfb
.header_version = 0x0100U, // Major and minor version
.pointer_size = static_cast<uint8_t>(sizeof(void*)),
.reserved = 0,
.vehicle_type = static_cast<uint8_t>(APM_BUILD_DIRECTORY),
.board_type = static_cast<uint8_t>(CONFIG_HAL_BOARD),
.board_subtype = static_cast<uint16_t>(CONFIG_HAL_BOARD_SUBTYPE),
.major = FW_MAJOR,
.minor = FW_MINOR,
.patch = FW_PATCH,
.fw_type = FW_TYPE,
#ifdef BUILD_DATE_YEAR
// encode build date in os_sw_version
.os_sw_version = (BUILD_DATE_YEAR*100*100) + (BUILD_DATE_MONTH*100) + BUILD_DATE_DAY,
#else
.os_sw_version = 0,
#endif
#ifndef GIT_VERSION
.fw_string = THISFIRMWARE,
.fw_hash_str = "",
@ -43,10 +58,4 @@ const AP_FWVersion AP_FWVersion::fwver{
.os_name = nullptr,
.os_hash_str = nullptr,
#endif
#ifdef BUILD_DATE_YEAR
// encode build date in os_sw_version
.os_sw_version = (BUILD_DATE_YEAR*100*100) + (BUILD_DATE_MONTH*100) + BUILD_DATE_DAY,
#else
.os_sw_version = 0,
#endif
};