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PX4:Extend manifest types & add CLI query

This commit is contained in:
David Sidrane 2024-01-12 10:01:09 -08:00 committed by Daniel Agar
parent 8ff4ed8321
commit 46a8eb6335
2 changed files with 45 additions and 7 deletions
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45
platforms/common/include/px4_platform_common/board_common.h
View File

@ -680,20 +680,51 @@ bool board_booted_by_px4(void);
************************************************************************************/
typedef enum {
PX4_MFT_PX4IO = 0,
PX4_MFT_USB = 1,
PX4_MFT_CAN2 = 2,
PX4_MFT_CAN3 = 3,
PX4_MFT_PX4IO = 0,
PX4_MFT_USB = 1,
PX4_MFT_CAN2 = 2,
PX4_MFT_CAN3 = 3,
PX4_MFT_PM2 = 4,
PX4_MFT_ETHERNET = 5,
PX4_MFT_T1_ETH = 6,
PX4_MFT_T100_ETH = 7,
PX4_MFT_T1000_ETH = 8,
} px4_hw_mft_item_id_t;
typedef int (*system_query_func_t)(const char *sub, const char *val, void *out);
#define PX4_MFT_MFT_TYPES { \
PX4_MFT_PX4IO, \
PX4_MFT_USB, \
PX4_MFT_CAN2, \
PX4_MFT_CAN3, \
PX4_MFT_PM2, \
PX4_MFT_ETHERNET, \
PX4_MFT_T1_ETH, \
PX4_MFT_T100_ETH, \
PX4_MFT_T1000_ETH }
#define PX4_MFT_MFT_STR_TYPES { \
"MFT_PX4IO", \
"MFT_USB", \
"MFT_CAN2", \
"MFT_CAN3", \
"MFT_PM2", \
"MFT_ETHERNET", \
"MFT_T1_ETH", \
"MFT_T100_ETH", \
"MFT_T1000_ETH", \
"MFT_T1000_ETH"}
typedef enum {
px4_hw_con_unknown = 0,
px4_hw_con_onboard = 1,
px4_hw_con_unknown = 0,
px4_hw_con_onboard = 1,
px4_hw_con_connector = 3,
} px4_hw_connection_t;
typedef struct {
unsigned int id: 16; /* The id px4_hw_mft_item_id_t */
unsigned int present: 1; /* 1 if this board have this item */
unsigned int mandatory: 1; /* 1 if this item has to be present and working */
unsigned int connection: 2; /* See px4_hw_connection_t */
@ -705,7 +736,7 @@ typedef const px4_hw_mft_item_t *px4_hw_mft_item;
#if defined(BOARD_HAS_VERSIONING)
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id);
__EXPORT int system_query_manifest(const char *sub, const char *val, void *out);
# define PX4_MFT_HW_SUPPORTED(ID) (board_query_manifest((ID))->present)
# define PX4_MFT_HW_REQUIRED(ID) (board_query_manifest((ID))->mandatory)
# define PX4_MFT_HW_IS_ONBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_onboard)

7
platforms/nuttx/src/px4/common/px4_manifest.cpp
View File

@ -104,6 +104,13 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
break;
case MFT:
if (mft->mfts[m]->pmft != nullptr) {
system_query_func_t query = (system_query_func_t) mft->mfts[m]->pmft;
return query(sub, val, nullptr);
}
break;
default:
rv = -ENODATA;
break;