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Merge PR #19575 (changes to pr-extendend_hw_ver_rev_format) 

- 4096 of 3 hex digits each for rev and ver is enough.
    #defines used in SPI versions do not be long format, use use the macro
 - Board provides a prefix and the formatting is sized and built in
 - No need for funky board_get_base_eeprom_mtd_manifest interface
    Original mft is used where the abstraction is done with the MFT interface

Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
This commit is contained in:
Igor Mišić 2022-07-04 12:15:46 +02:00 committed by Beat Küng
parent f7d542e720
commit 4b503c310e
44 changed files with 199 additions and 188 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d/rcS
View File

@ -303,7 +303,7 @@ else
then
# Check for the mini using build with px4io fw file
# but not a px4IO
if ver hwtypecmp V540 V560
if ver hwtypecmp V5004000 V5006000
then
param set SYS_USE_IO 0
else

2
boards/atl/mantis-edu/src/board_config.h
View File

@ -115,7 +115,7 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT "V5%04x%04x"
#define HW_INFO_INIT_PREFIX "VAM"
#define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
// #define BOARD_USE_ESC_CURRENT_REPORT

4
boards/holybro/can-gps-v1/src/board_config.h
View File

@ -83,7 +83,9 @@
#define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_HW_REV_SENSE /* PA0 */ ADC1_GPIO(0)
#define GPIO_HW_VER_SENSE /* PA1 */ ADC1_GPIO(1)
#define HW_INFO_INIT "CANGPS%04x%04x"
#define HW_INFO_INIT_PREFIX "CANGPS"
#define CANGPS00 HW_VER_REV(0x0,0x0) // CANGPS
#define FLASH_BASED_PARAMS

2
boards/holybro/can-gps-v1/src/manifest.c
View File

@ -104,7 +104,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0000[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver/rev
{0x00000000, hw_mft_list_v0000, arraySize(hw_mft_list_v0000)},
{CANGPS00, hw_mft_list_v0000, arraySize(hw_mft_list_v0000)},
};
/************************************************************************************

4
boards/holybro/durandal-v1/init/rc.board_sensors
View File

@ -11,13 +11,13 @@ icm20689 -R 2 -s start
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
if ver hwtypecmp VD00
if ver hwtypecmp VD000000
then
# Internal SPI BMI088
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
fi
if ver hwtypecmp VD01
if ver hwtypecmp VD000001
then
# Internal SPI ICM-20602
icm20602 -R 2 -s start

6
boards/holybro/durandal-v1/src/board_config.h
View File

@ -152,12 +152,12 @@
#define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12
#define HW_INFO_INIT "VD%04x%04x"
#define HW_INFO_INIT_PREFIX "VD"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
#define VD00000000 HW_VER_REV(0x0,0x0) // Durandal, Ver 0 Rev 0
#define VD00000001 HW_VER_REV(0x0,0x1) // Durandal, Ver 0 Rev 1
#define VD00 HW_VER_REV(0x0,0x0) // Durandal, Ver 0 Rev 0
#define VD01 HW_VER_REV(0x0,0x1) // Durandal, Ver 0 Rev 1
/* CAN Silence
*

16
boards/holybro/durandal-v1/src/init.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2019, 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -206,7 +206,6 @@ stm32_boardinitialize(void)
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Power on Interfaces */
@ -219,6 +218,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@ -228,7 +234,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
}
/* configure SPI interfaces (after we determined the HW version) */
/* Configure the actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
@ -268,9 +274,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;
}

4
boards/holybro/durandal-v1/src/manifest.c
View File

@ -83,8 +83,8 @@ static const px4_hw_mft_item_t hw_mft_list_durandal[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{VD00000000, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
{VD00000001, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
{VD00, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
{VD01, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
};
/************************************************************************************

5
boards/holybro/pix32v5/src/board_config.h
View File

@ -185,7 +185,10 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT "V5%04x%04x"
#define HW_INFO_INIT_PREFIX "VPIX32V5"
#define VPIX32V500 HW_VER_REV(0x0,0x0) // PIX32V5 Rev 0
#define VPIX32V540 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3
/* CAN Silence
*

4
boards/holybro/pix32v5/src/manifest.c
View File

@ -129,8 +129,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00000000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{0x00040000, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
{VPIX32V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{VPIX32V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
};
/************************************************************************************

5
boards/modalai/fc-v1/src/board_config.h
View File

@ -142,7 +142,10 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT "V1%04x%04x"
#define HW_INFO_INIT_PREFIX "V1"
#define V10006 HW_VER_REV(0x0,0x6) // V1006 Rev 6
#define V10100 HW_VER_REV(0x1,0x0) // V1010 Rev 0
/* PWM
*/

4
boards/modalai/fc-v1/src/manifest.c
View File

@ -90,8 +90,8 @@ static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00000006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
{0x00010000, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
{V10006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
{V10100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
};
/************************************************************************************

3
boards/modalai/fc-v2/src/board_config.h
View File

@ -182,7 +182,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT "V2%04x%04x"
#define HW_INFO_INIT_PREFIX "V2"
#define V20300 HW_VER_REV(0x3,0x0)
/* PE6 is nARMED --> FCv2 this goes to TP13
* The GPIO will be set as input while not armed HW will have external HW Pull UP.

2
boards/modalai/fc-v2/src/manifest.c
View File

@ -83,7 +83,7 @@ static const px4_hw_mft_item_t hw_mft_list_fc0200[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00030000, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
{V20300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
};
/************************************************************************************

4
boards/nxp/fmurt1062-v1/src/board_config.h
View File

@ -192,7 +192,9 @@
#define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01 */ (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
#define GPIO_HW_REV_SENSE /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24)
#define GPIO_HW_VER_SENSE /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20)
#define HW_INFO_INIT "V5%04x%04x"
#define HW_INFO_INIT_PREFIX "V5"
#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V540 HW_VER_REV(0x4,0x0) // mini no can 2,3, Rev 0
/* CAN Silence
*

4
boards/nxp/fmurt1062-v1/src/manifest.c
View File

@ -88,8 +88,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
};
/************************************************************************************

4
boards/px4/fmu-v5/init/rc.board_defaults
View File

@ -9,9 +9,9 @@ param set-default BAT2_V_DIV 18.1
param set-default BAT1_A_PER_V 36.367515152
param set-default BAT2_A_PER_V 36.367515152
if ver hwtypecmp V500050000 V500050002 V500060000 V500060002
if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
then
# CUAV V5+ (V500050000/V500050002) and V5nano (V560/V562) have 3 IMUs
# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
# Multi-EKF (IMUs only)
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0

2
boards/px4/fmu-v5/init/rc.board_sensors
View File

@ -5,7 +5,7 @@
board_adc start
if ver hwtypecmp V500050002 V500060002
if ver hwtypecmp V5005002 V5006002
then
# Internal SPI bus ICM-42688-P
icm42688p -s -R 2 -q start

17
boards/px4/fmu-v5/src/board_config.h
View File

@ -188,15 +188,16 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT "V5%04x%04x"
#define HW_INFO_INIT_PREFIX "V5"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
#define V500000000 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V500010005 HW_VER_REV(0x1,0x5) // CUAV V5, Rev 5
#define V500040000 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3, Rev 0
#define V500050000 HW_VER_REV(0x5,0x0) // CUAV V5+, Rev 0
#define V500050002 HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P, Rev 2
#define V500060000 HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2, Rev 0
#define V500060002 HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P, Rev 2
#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V515 HW_VER_REV(0x1,0x5) // CUAV V5, Rev 5
#define V540 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3, Rev 0
#define V550 HW_VER_REV(0x5,0x0) // CUAV V5+, Rev 0
#define V552 HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P, Rev 2
#define V560 HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2, Rev 0
#define V562 HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P, Rev 2
/* CAN Silence
*

14
boards/px4/fmu-v5/src/manifest.c
View File

@ -157,13 +157,13 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
{V500000000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{V500010005, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5 R:5 V:1
{V500040000, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
{V500050000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:0 V:5
{V500050002, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:2 V:5 ICM42688P
{V500060000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // CUAV V5nano R:0 V:6 with can 2
{V500060002, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5nano R:2 V:6 ICM42688P
{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{V515, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5 R:5 V:1
{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
{V550, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:0 V:5
{V552, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:2 V:5 ICM42688P
{V560, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // CUAV V5nano R:0 V:6 with can 2
{V562, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5nano R:2 V:6 ICM42688P
};
/************************************************************************************

6
boards/px4/fmu-v5/src/spi.cpp
View File

@ -36,7 +36,7 @@
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(V500000000, {
initSPIHWVersion(V500, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@ -61,7 +61,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(V500050002, {
initSPIHWVersion(V552, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@ -86,7 +86,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(V500060002, {
initSPIHWVersion(V562, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),

2
boards/px4/fmu-v5x/init/rc.board_mavlink
View File

@ -3,7 +3,7 @@
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
if ver hwtypecmp V5X00090000 V5X00090001 V5X000a0000 V5X000a0001 V5X00080000 V5X00080001 V5X00100001
if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
then
# Start MAVLink on the UART connected to the mission computer
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

10
boards/px4/fmu-v5x/init/rc.board_sensors
View File

@ -5,7 +5,7 @@
set HAVE_PM2 yes
if ver hwtypecmp V5X50 V5X51 V5X52
if ver hwtypecmp V5X005000 V5X005001 V5X005002
then
set HAVE_PM2 no
fi
@ -48,11 +48,11 @@ then
fi
fi
if ver hwtypecmp V5X00000000 V5X00000001 V5X00000002 V5X00010000
if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
then
#FMUv5Xbase board orientation
if ver hwtypecmp V5X00000000 V5X00000001
if ver hwtypecmp V5X000000 V5X000001
then
# Internal SPI BMI088
bmi088 -A -R 4 -s start
@ -74,7 +74,7 @@ then
else
#SKYNODE base fmu board orientation
if ver hwtypecmp V5X00090000 V5X00090001 V5X000a0000 V5X000a0001 V5X00080000 V5X00080001 V5X00100001
if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
then
# Internal SPI BMI088
bmi088 -A -R 2 -s start
@ -104,7 +104,7 @@ ist8310 -X -b 1 -R 10 start
if param compare SENS_INT_BARO_EN 1
then
bmp388 -I -a 0x77 start
if ver hwtypecmp V5X00000000 V5X00010000 V5X00080000 V5X00090000 V5X000a0000
if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
then
bmp388 -I start
else

30
boards/px4/fmu-v5x/src/board_config.h
View File

@ -184,23 +184,23 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT "V5X%04x%04x"
#define HW_INFO_INIT_PREFIX "V5X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
// Base FMUM
#define V5X00000000 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0
#define V5X00010000 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V5X00000001 HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388, Rev 1
#define V5X00000002 HW_VER_REV(0x0,0x2) // FMUV5X, Rev 2
#define V5X00050000 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0
#define V5X00050001 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1
#define V5X00050002 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2
#define V5X00090000 HW_VER_REV(0x9,0x0) // NO USB, Rev 0
#define V5X00090001 HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388, Rev 1
#define V5X00090002 HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388, Rev 2
#define V5X000a0000 HW_VER_REV(0xa,0x0) // NO USB (Q), Rev 0
#define V5X000a0001 HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define V5X000a0002 HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2
#define V5X00100001 HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define V5X00 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0
#define V5X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V5X01 HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388, Rev 1
#define V5X02 HW_VER_REV(0x0,0x2) // FMUV5X, Rev 2
#define V5X50 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0
#define V5X51 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1
#define V5X52 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2
#define V5X90 HW_VER_REV(0x9,0x0) // NO USB, Rev 0
#define V5X91 HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388, Rev 1
#define V5X92 HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388, Rev 2
#define V5Xa0 HW_VER_REV(0xa,0x0) // NO USB (Q), Rev 0
#define V5Xa1 HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define V5Xa2 HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2
#define V5X101 HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define UAVCAN_NUM_IFACES_RUNTIME 1

21
boards/px4/fmu-v5x/src/init.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -54,9 +54,7 @@
#include <errno.h>
#include <nuttx/config.h>
extern "C" {
#include <nuttx/board.h>
}
#include <nuttx/spi/spi.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
@ -222,8 +220,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init();
/* Enable base EEPROM MTD to read hardware information*/
px4_mtd_config(board_get_base_eeprom_mtd_manifest());
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@ -233,11 +236,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
}
/* Configure the Actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
board_spi_reset(10, 0xffff);
/* configure the DMA allocator */
/* Configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@ -269,10 +274,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
int hw_version = board_get_hw_version();
if (hw_version == 0x9 || hw_version == 0xa) {

28
boards/px4/fmu-v5x/src/manifest.c
View File

@ -159,20 +159,20 @@ static const px4_hw_mft_item_t hw_mft_list_v0509[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{V5X00000000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 0
{V5X00000001, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 1
{V5X00000002, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 2
{V5X00010000, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO, Rev 0
{V5X00050000, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0
{V5X00050001, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 1
{V5X00050002, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 2
{V5X00090000, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB, Rev 0
{V5X00090001, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
{V5X00090002, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 2
{V5X000a0000, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q), Rev 0
{V5X000a0001, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
{V5X000a0002, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
{V5X00100001, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
{V5X00, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 0
{V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 1
{V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 2
{V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO, Rev 0
{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0
{V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 1
{V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 2
{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB, Rev 0
{V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
{V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 2
{V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q), Rev 0
{V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
{V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
{V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
};
/************************************************************************************

15
boards/px4/fmu-v5x/src/mtd.cpp
View File

@ -102,20 +102,14 @@ static const px4_mtd_entry_t imu_eeprom = {
};
static const px4_mtd_manifest_t board_mtd_config = {
.nconfigs = 2,
.nconfigs = 3,
.entries = {
&fmum_fram,
&base_eeprom,
&imu_eeprom
}
};
static const px4_mtd_manifest_t board_mtd_base_eeprom_config = {
.nconfigs = 1,
.entries = {
&base_eeprom
}
};
static const px4_mft_entry_s mtd_mft = {
.type = MTD,
.pmft = (void *) &board_mtd_config,
@ -132,8 +126,3 @@ const px4_mft_s *board_get_manifest(void)
{
return &mft;
}
const px4_mtd_manifest_t *board_get_base_eeprom_mtd_manifest(void)
{
return &board_mtd_base_eeprom_config;
}

3
boards/px4/fmu-v6u/src/board_config.h
View File

@ -173,7 +173,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT "V6U%04x%04x"
#define HW_INFO_INIT_PREFIX "V6U"
#define V6U00 HW_VER_REV(0x0,0x0)
/* HEATER
* PWM in future

2
boards/px4/fmu-v6u/src/manifest.c
View File

@ -82,7 +82,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00000000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
};
/************************************************************************************

8
boards/px4/fmu-v6x/init/rc.board_sensors
View File

@ -4,7 +4,7 @@
#------------------------------------------------------------------------------
set HAVE_PM2 yes
if ver hwtypecmp V6X00050000 V6X00050001 V6X00050003 V6X00050004
if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
then
set HAVE_PM2 no
fi
@ -47,7 +47,7 @@ then
fi
fi
if ver hwtypecmp V6X00000004 V6X00010004 V6X00050004
if ver hwtypecmp V6X000004 V6X001004 V6X005004
then
# Internal SPI bus ICM20649
icm20649 -s -R 6 start
@ -60,7 +60,7 @@ fi
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
if ver hwtypecmp V6X00000003 V6X00010003 V6X00000004 V6X00010004 V6X00050003 V6X00050004
if ver hwtypecmp V6X000003 V6X001003 V6X000004 V6X001004 V6X005003 V6X005004
then
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
@ -78,7 +78,7 @@ ist8310 -X -b 1 -R 10 start
# Possible internal Baro
bmp388 -I -a 0x77 start
if ver hwtypecmp V6X00000000 V6X00010000
if ver hwtypecmp V6X000000 V6X001000
then
bmp388 -I start
else

24
boards/px4/fmu-v6x/src/board_config.h
View File

@ -211,21 +211,21 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT "V6X%04x%04x"
#define HW_INFO_INIT_PREFIX "V6X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 // Rev 0 and Rev 3,4 Sensor sets
// Base/FMUM
#define V6X00000000 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0
#define V6X00000001 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1
#define V6X00000003 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3
#define V6X00000004 HW_VER_REV(0x0,0x4) // FMUV6X, Sensor Set Rev 4
#define V6X00010000 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V6X00010003 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3
#define V6X00010004 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4
#define V6X00050000 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0
#define V6X00050001 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1
#define V6X00050003 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3
#define V6X00050004 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4
#define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0
#define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1
#define V6X03 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3
#define V6X04 HW_VER_REV(0x0,0x4) // FMUV6X, Sensor Set Rev 4
#define V6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3
#define V6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4
#define V6X50 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0
#define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1
#define V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3
#define V6X54 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4
#define UAVCAN_NUM_IFACES_RUNTIME 1

18
boards/px4/fmu-v6x/src/init.c
View File

@ -52,7 +52,6 @@
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <syslog.h>
#include <nuttx/config.h>
#include <nuttx/board.h>
@ -71,6 +70,7 @@
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
@ -219,6 +219,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@ -228,11 +235,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
}
/* Configure the Actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
board_spi_reset(10, 0xffff);
/* configure the DMA allocator */
/* Configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@ -264,13 +273,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;
}

22
boards/px4/fmu-v6x/src/manifest.c
View File

@ -139,17 +139,17 @@ static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{V6X00000000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{V6X00000001, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
{V6X00000003, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
{V6X00050000, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini
{V6X00050001, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini
{V6X00050003, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
{V6X00050004, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
{V6X00010000, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
{V6X00010003, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
{V6X00000004, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
{V6X00010004, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini
{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini
{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
};
/************************************************************************************

4
boards/sky-drones/smartap-airlink/src/board_config.h
View File

@ -173,8 +173,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT "V5X%04x%04x"
#define HW_INFO_INIT_PREFIX "SDSA"
#define SDSA0501 HW_VER_REV(0x05,0x01)
/* HEATER
* PWM in future
*/

2
boards/sky-drones/smartap-airlink/src/manifest.c
View File

@ -88,7 +88,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0501[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
{SDSA0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
};

3
platforms/common/include/px4_platform_common/board_common.h
View File

@ -265,6 +265,9 @@
# define HW_VER_REV(v,r) ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
#endif
#define HW_INFO_REV_DIGITS 3
#define HW_INFO_VER_DIGITS 3
/* Default LED logical to color mapping */
#if defined(BOARD_OVERLOAD_LED)

2
platforms/common/include/px4_platform_common/mtd_manifest.h
View File

@ -100,6 +100,6 @@ __EXPORT int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd);
* 0 (get !=null) item by type's value is returned at get;
*
************************************************************************************/
__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get = nullptr);
__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get);
__END_DECLS

3
platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h
View File

@ -32,9 +32,10 @@
****************************************************************************/
#pragma once
#include "micro_hal.h"
__BEGIN_DECLS
#define HW_INFO_SUFFIX "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
/************************************************************************************
* Name: board_determine_hw_info
*

9
platforms/nuttx/src/px4/common/include/px4_platform/board_hw_eeprom_rev_ver.h
View File

@ -71,6 +71,7 @@ __BEGIN_DECLS
* Function for writing hardware info to EEPROM
*
* Input Parameters:
* *path - path to mtd_mft
* *mtd_mft_unk - pointer to mtd_mft to write hw_info
*
* Returned Value:
@ -80,9 +81,9 @@ __BEGIN_DECLS
************************************************************************************/
#if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING)
__EXPORT int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk);
__EXPORT int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk);
#else
static inline int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk) { return -ENOSYS; }
static inline int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk) { return -ENOSYS; }
#endif
/************************************************************************************
@ -101,9 +102,9 @@ static inline int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk) { return -ENO
************************************************************************************/
#if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING)
__EXPORT int board_get_eeprom_hw_info(mtd_mft_t *mtd_mft);
__EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft);
#else
static inline int board_get_eeprom_hw_info(mtd_mft_t *mtd_mft) { return -ENOSYS; }
static inline int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft) { return -ENOSYS; }
#endif
__END_DECLS

2
platforms/nuttx/src/px4/common/px4_manifest.cpp
View File

@ -100,7 +100,7 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
if (mft->mfts[m]->type == type)
switch (type) {
case MTD:
return px4_mtd_query(sub, val);
return px4_mtd_query(sub, val, nullptr);
break;
case MFT:

2
platforms/nuttx/src/px4/common/usr_mcu_version.cpp
View File

@ -44,7 +44,7 @@
static int hw_version = 0;
static int hw_revision = 0;
static char hw_info[] = HW_INFO_INIT;
static char hw_info[] = HW_INFO_INIT_PREFIX HW_INFO_SUFFIX;
__EXPORT const char *board_get_hw_type_name(void)
{

17
platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2019, 2022 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
@ -53,7 +53,8 @@
# define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE
# endif
#define HW_INFO_SIZE 20 //<! Size to fit hw_info string
#define HW_INFO_SIZE (int) arraySize(HW_INFO_INIT_PREFIX) + HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
/****************************************************************************
* Private Data
@ -196,7 +197,7 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
/* Are Resistors in place ?*/
uint32_t dn_sum = 0;
uint16_t dn = 0;
uint32_t dn = 0;
if ((high ^ low) && low == 0) {
/* Yes - Fire up the ADC (it has once control) */
@ -207,14 +208,14 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
for (unsigned av = 0; av < samples; av++) {
dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel);
if (dn == 0xffff) {
if (dn == UINT32_MAX) {
break;
}
dn_sum += dn;
}
if (dn != 0xffff) {
if (dn != UINT32_MAX) {
*id = dn_sum / samples;
rv = OK;
}
@ -344,12 +345,8 @@ int board_determine_hw_info()
if (rv == OK) {
int hw_info_size = snprintf(hw_info, HW_INFO_SIZE, HW_INFO_INIT, hw_version, hw_revision);
snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
if ((hw_info_size < 0) || (hw_info_size >= HW_INFO_SIZE)) {
printf("[boot] Error, hw_info string hasn't been completely written\n");
rv = -1;
}
}
}

41
platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
* Copyright (C) 2017, 2022 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
@ -41,6 +41,7 @@
#include <px4_arch/adc.h>
#include <px4_platform_common/micro_hal.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_hw_eeprom_rev_ver.h>
#include <stdio.h>
@ -57,7 +58,8 @@
# define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE
# endif
#define HW_INFO_SIZE 20 //<! Size to fit hw_info string
#define HW_INFO_SIZE (int) arraySize(HW_INFO_INIT_PREFIX) + HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
/****************************************************************************
* Private Data
@ -66,8 +68,6 @@ static int hw_version = 0;
static int hw_revision = 0;
static char hw_info[HW_INFO_SIZE] = {0};
static const char *mtd_mft_path = "/fs/mtd_mft";
/****************************************************************************
* Protected Functions
****************************************************************************/
@ -445,16 +445,19 @@ __EXPORT int board_get_hw_revision()
int board_determine_hw_info()
{
// ADC hw version range: {0x1 - 0xF}
// MFT supported?
const char *path;
int rvmft = px4_mtd_query("MTD_MFT", NULL, &path);
// Read ADC jumpering hw_info
int rv = determine_hw_info(&hw_revision, &hw_version);
if (rv == OK) {
/* EEPROM hw version range: {0x10 - 0xFFFF} */
if (hw_version == HW_VERSION_EEPROM) {
if (rvmft == OK && path != NULL && hw_version == HW_VERSION_EEPROM) {
mtd_mft_v0_t mtd_mft = {MTD_MFT_v0};
rv = board_get_eeprom_hw_info((mtd_mft_t *)&mtd_mft);
rv = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
if (rv == OK) {
hw_version = mtd_mft.hw_extended_ver;
@ -463,13 +466,7 @@ int board_determine_hw_info()
}
if (rv == OK) {
int hw_info_size = snprintf(hw_info, HW_INFO_SIZE, HW_INFO_INIT, hw_version, hw_revision);
if ((hw_info_size < 0) || (hw_info_size >= HW_INFO_SIZE)) {
printf("[boot] Error, hw_info string hasn't been completely written\n");
rv = -1;
}
snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
}
return rv;
@ -490,10 +487,10 @@ int board_determine_hw_info()
*
************************************************************************************/
int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk)
int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk)
{
if (mtd_mft_unk == NULL) {
return -1;
if (mtd_mft_unk == NULL || path == NULL) {
return -EINVAL;
}
// Later this will be a demux on type
@ -509,7 +506,7 @@ int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk)
return -EINVAL;
}
int fd = open(mtd_mft_path, O_WRONLY);
int fd = open(path, O_WRONLY);
if (fd < 0) {
return -errno;
@ -545,13 +542,13 @@ int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk)
* -1 - Error while reading from EEPROM
*
************************************************************************************/
__EXPORT int board_get_eeprom_hw_info(mtd_mft_t *mtd_mft)
__EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft)
{
if (mtd_mft == NULL) {
if (mtd_mft == NULL || path == NULL) {
return -EINVAL;
}
int fd = open(mtd_mft_path, O_RDONLY);
int fd = open(path, O_RDONLY);
if (fd < 0) {
return -errno;

5
src/systemcmds/ver/ver.cpp
View File

@ -46,6 +46,7 @@
#include <stdbool.h>
#include <string.h>
#include <version/version.h>
#include <version/version.h>
/* string constants for version commands */
static const char sz_ver_hw_str[] = "hw";
@ -141,11 +142,11 @@ extern "C" __EXPORT int ver_main(int argc, char *argv[])
int r = px4_board_hw_revision();
if (v >= 0) {
snprintf(vb, sizeof(vb), "0x%08X", v);
snprintf(vb, sizeof(vb), "0x%0" STRINGIFY(HW_INFO_VER_DIGITS) "X", v);
}
if (r >= 0) {
snprintf(rb, sizeof(rb), "0x%08X", r);
snprintf(rb, sizeof(rb), "0x%0" STRINGIFY(HW_INFO_REV_DIGITS) "X", r);
}
printf("HW type: %s\n", strlen(px4_board_sub_type()) ? px4_board_sub_type() : "NA");