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fmu-v2/v3: refactor detection function 

This consolidates the version/revision detection function.

This should allow for actual changes in a follow up commit.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes 2023-03-21 16:26:38 +11:00 committed by Ramon Roche
parent 448b915694
commit 50f8c30f10
4 changed files with 18 additions and 47 deletions
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20
boards/px4/fmu-v2/src/init.c
View File

@ -166,7 +166,7 @@ __EXPORT void board_on_reset(int status)
}
/************************************************************************************
* Name: determin_hw_version
* Name: determine_hw_info
*
* Description:
*
@ -188,7 +188,7 @@ __EXPORT void board_on_reset(int status)
* 10 10 - 0xA PixhawkMini
* 10 11 - 0xB FMUv2 questionable hardware (should be treated like regular FMUv2)
*
* This will return OK on success and -1 on not supported
* This will return OK on success.
*
* hw_type Initial state is {'V','2',0, 0}
* V 2 - FMUv2
@ -198,17 +198,16 @@ __EXPORT void board_on_reset(int status)
*
************************************************************************************/
static int determin_hw_version(int *version, int *revision)
static int determine_hw_info(int *revision, int *version)
{
*revision = 0; /* default revision */
int rv = 0;
int pos = 0;
stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB4 & ~GPIO_PUPD_MASK));
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
*version |= stm32_gpioread(HW_VER_PB4) << pos++;
stm32_configgpio(HW_VER_PB4);
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
*version |= stm32_gpioread(HW_VER_PB4) << pos++;
int votes = 16;
int ones[2] = {0, 0};
@ -224,18 +223,18 @@ static int determin_hw_version(int *version, int *revision)
}
if (ones[0] > zeros[0]) {
rv |= 1 << pos;
*version |= 1 << pos;
}
pos++;
if (ones[1] > zeros[1]) {
rv |= 1 << pos;
*version |= 1 << pos;
}
stm32_configgpio(HW_VER_PB4_INIT);
stm32_configgpio(HW_VER_PB12_INIT);
*version = rv;
return OK;
}
@ -366,7 +365,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* Ensure the power is on 1 ms before we drive the GPIO pins */
usleep(1000);
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
if (OK == determine_hw_info(&hw_revision, &hw_version)) {
switch (hw_version) {
case HW_VER_FMUV2_STATE:
break;
@ -514,7 +513,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;

19
boards/px4/fmu-v3/src/init.c
View File

@ -166,7 +166,7 @@ __EXPORT void board_on_reset(int status)
}
/************************************************************************************
* Name: determin_hw_version
* Name: determine_hw_info
*
* Description:
*
@ -188,7 +188,7 @@ __EXPORT void board_on_reset(int status)
* 10 10 - 0xA PixhawkMini
* 10 11 - 0xB FMUv2 questionable hardware (should be treated like regular FMUv2)
*
* This will return OK on success and -1 on not supported
* This will return OK on success.
*
* hw_type Initial state is {'V','2',0, 0}
* V 2 - FMUv2
@ -198,17 +198,16 @@ __EXPORT void board_on_reset(int status)
*
************************************************************************************/
static int determin_hw_version(int *version, int *revision)
static int determine_hw_info(int *revision, int *version)
{
*revision = 0; /* default revision */
int rv = 0;
int pos = 0;
stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB4 & ~GPIO_PUPD_MASK));
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
*version |= stm32_gpioread(HW_VER_PB4) << pos++;
stm32_configgpio(HW_VER_PB4);
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
*version |= stm32_gpioread(HW_VER_PB4) << pos++;
int votes = 16;
int ones[2] = {0, 0};
@ -224,18 +223,18 @@ static int determin_hw_version(int *version, int *revision)
}
if (ones[0] > zeros[0]) {
rv |= 1 << pos;
*version |= 1 << pos;
}
pos++;
if (ones[1] > zeros[1]) {
rv |= 1 << pos;
*version |= 1 << pos;
}
stm32_configgpio(HW_VER_PB4_INIT);
stm32_configgpio(HW_VER_PB12_INIT);
*version = rv;
return OK;
}
@ -366,7 +365,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* Ensure the power is on 1 ms before we drive the GPIO pins */
usleep(1000);
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
if (OK == determine_hw_info(&hw_revision, &hw_version)) {
switch (hw_version) {
case HW_VER_FMUV2_STATE:
break;

13
platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c
View File

@ -66,19 +66,6 @@ static char hw_info[HW_INFO_SIZE] = {0};
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Name: determin_hw_version
*
* Description:
*
* This function fist determines if revision and version resistors are in place.
* if they it will read the ADC channels and decode the DN to ordinal numbers
* that will be returned by board_get_hw_version and board_get_hw_revision API
*
* This will return OK on success and -1 on not supported
*
*
****************************************************************************/
static int dn_to_ordinal(uint16_t dn)
{

13
platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c
View File

@ -71,19 +71,6 @@ static char hw_info[HW_INFO_SIZE] = {0};
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Name: determin_hw_version
*
* Description:
*
* This function fist determines if revision and version resistors are in place.
* if they it will read the ADC channels and decode the DN to ordinal numbers
* that will be returned by board_get_hw_version and board_get_hw_revision API
*
* This will return OK on success and -1 on not supported
*
*
****************************************************************************/
static int dn_to_ordinal(uint16_t dn)
{