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PX4:comon Support BOARD_HAS_HW_SPLIT_VERSIONING

This commit is contained in:
David Sidrane 2024-01-11 09:57:06 -08:00 committed by Daniel Agar
parent 81f3542113
commit 136e08652f
5 changed files with 72 additions and 6 deletions
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32
platforms/common/include/px4_platform_common/board_common.h
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@ -269,6 +269,18 @@
# define HW_VER_REV(v,r) ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
#endif
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
typedef uint16_t hw_fmun_id_t;
typedef uint16_t hw_base_id_t;
// Original Signals GPIO_HW_REV_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the FMUM
// Original Signals GPIO_HW_VER_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the BASE
# define BOARD_HAS_VERSIONING 1
# define HW_FMUM_ID(rev) ((hw_fmun_id_t)(rev) & 0xffff)
# define HW_BASE_ID(ver) ((hw_base_id_t)(ver) & 0xffff)
# define GET_HW_FMUM_ID() (HW_FMUM_ID(board_get_hw_revision()))
# define GET_HW_BASE_ID() (HW_BASE_ID(board_get_hw_version()))
#endif
#define HW_INFO_REV_DIGITS 3
#define HW_INFO_VER_DIGITS 3
@ -766,6 +778,26 @@ __EXPORT const char *board_get_hw_type_name(void);
#define board_get_hw_type_name() ""
#endif
/************************************************************************************
* Name: board_get_hw_base_type_name
*
* Description:
* Optional returns a 0 terminated string defining the HW type.
*
* Input Parameters:
* None
*
* Returned Value:
* a 0 terminated string defining the HW type. This may be a 0 length string ""
*
************************************************************************************/
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
__EXPORT const char *board_get_hw_base_type_name(void);
#else
#define board_get_hw_base_type_name() ""
#endif
/************************************************************************************
* Name: board_get_hw_version
*

6
platforms/common/include/px4_platform_common/spi.h
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@ -73,7 +73,11 @@ struct px4_spi_bus_t {
struct px4_spi_bus_all_hw_t {
px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
hw_fmun_id_t board_hw_fmun_id {USHRT_MAX};
#else
int board_hw_version_revision {-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
#endif
};
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1

26
platforms/common/spi.cpp
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@ -44,12 +44,26 @@
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
void px4_set_spi_buses_from_hw_version()
{
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
int hw_version_revision = board_get_hw_version();
#else
int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
#endif
# if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
int hw_fmun_id = GET_HW_FMUM_ID();
for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_fmun_id == 0) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses;
}
if (px4_spi_buses_all_hw[i].board_hw_fmun_id == hw_fmun_id) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses;
}
}
# else
# if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
int hw_version_revision = board_get_hw_version();
# else
int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
# endif
for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version_revision == 0) {
@ -61,6 +75,8 @@ void px4_set_spi_buses_from_hw_version()
}
}
# endif
if (!px4_spi_buses) { // fallback
px4_spi_buses = px4_spi_buses_all_hw[0].buses;
}

4
platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h
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@ -36,6 +36,10 @@
__BEGIN_DECLS
#define HW_INFO_SUFFIX "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
# define HW_INFO_FMUM_SUFFIX "%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
# define HW_INFO_BASE_SUFFIX "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x"
#endif
/************************************************************************************
* Name: board_determine_hw_info
*

10
src/lib/version/version.h
View File

@ -88,6 +88,16 @@ static inline int px4_board_hw_revision(void)
return board_get_hw_revision();
}
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
/**
* get the base board type
*/
static inline const char *px4_board_base_type(void)
{
return board_get_hw_base_type_name();
}
#endif
/**
* get the build URI (used for crash logging)
*/