forked from Archive/PX4-Autopilot
px4_fmu_v6x:Use common PAB manifest
This commit is contained in:
David Sidrane
Daniel Agar
parent
84d54c971f
commit
5ab92173f2
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@ -55,7 +55,6 @@ else()
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init.c
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init.c
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led.c
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led.c
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mtd.cpp
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mtd.cpp
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manifest.c
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sdio.c
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sdio.c
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spi.cpp
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spi.cpp
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timer_config.cpp
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timer_config.cpp
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@ -1,216 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file manifest.c
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*
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* This module supplies the interface to the manifest of hardware that is
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* optional and dependent on the HW REV and HW VER IDs
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*
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* The manifest allows the system to know whether a hardware option
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* say for example the PX4IO is an no-pop option vs it is broken.
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*
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <board_config.h>
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#include <inttypes.h>
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#include <stdbool.h>
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#include <syslog.h>
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#include "systemlib/px4_macros.h"
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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typedef struct {
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uint32_t hw_ver_rev; /* the version and revision */
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const px4_hw_mft_item_t *mft; /* The first entry */
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uint32_t entries; /* the lenght of the list */
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} px4_hw_mft_list_entry_t;
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typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
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#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
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static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
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// List of components on a specific board configuration
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// The index of those components is given by the enum (px4_hw_mft_item_id_t)
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// declared in board_common.h
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// BASE ID 0
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static const px4_hw_mft_item_t base_configuration_0[] = {
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{
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// PX4_MFT_PX4IO
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_USB
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN2
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN3
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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};
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// BASE ID 1
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static const px4_hw_mft_item_t base_configuration_1[] = {
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{
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// PX4_MFT_PX4IO
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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{
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// PX4_MFT_USB
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN2
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN3
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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};
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// BASE ID 5
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static const px4_hw_mft_item_t base_configuration_5[] = {
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{
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// PX4_MFT_PX4IO
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_USB
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN2
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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{
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// PX4_MFT_CAN3
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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};
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static px4_hw_mft_list_entry_t mft_lists[] = {
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// ver_rev
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{HW_BASE_ID(0), base_configuration_0, arraySize(base_configuration_0)}, // std Base with PX4IO
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{HW_BASE_ID(1), base_configuration_1, arraySize(base_configuration_1)}, // std Base No PX4IO
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{HW_BASE_ID(2), base_configuration_0, arraySize(base_configuration_0)}, // CUAV Base
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{HW_BASE_ID(4), base_configuration_0, arraySize(base_configuration_0)}, // HB CM4 base
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{HW_BASE_ID(5), base_configuration_5, arraySize(base_configuration_5)}, // HB Mini
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{HW_BASE_ID(9), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 9
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{HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 16
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};
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/************************************************************************************
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* Name: board_query_manifest
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*
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* Description:
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* Optional returns manifest item.
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*
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* Input Parameters:
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* manifest_id - the ID for the manifest item to retrieve
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*
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* Returned Value:
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* 0 - item is not in manifest => assume legacy operations
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* pointer to a manifest item
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*
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************************************************************************************/
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__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
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{
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static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
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if (boards_manifest == px4_hw_mft_list_uninitialized) {
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uint32_t ver_rev = board_get_hw_version() << 16;
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ver_rev |= board_get_hw_revision();
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for (unsigned i = 0; i < arraySize(mft_lists); i++) {
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if (mft_lists[i].hw_ver_rev == ver_rev) {
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boards_manifest = &mft_lists[i];
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break;
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}
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}
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if (boards_manifest == px4_hw_mft_list_uninitialized) {
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syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
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}
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}
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px4_hw_mft_item rv = &device_unsupported;
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if (boards_manifest != px4_hw_mft_list_uninitialized &&
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id < boards_manifest->entries) {
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rv = &boards_manifest->mft[id];
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}
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return rv;
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}
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@ -31,6 +31,9 @@
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*
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*
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****************************************************************************/
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****************************************************************************/
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#include <nuttx/config.h>
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#include <board_config.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/spi/spi.h>
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#include <px4_platform_common/px4_manifest.h>
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#include <px4_platform_common/px4_manifest.h>
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// KiB BS nB
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// KiB BS nB
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@ -114,10 +117,16 @@ static const px4_mft_entry_s mtd_mft = {
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.pmft = (void *) &board_mtd_config,
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.pmft = (void *) &board_mtd_config,
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};
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};
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static const px4_mft_entry_s mft_mft = {
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.type = MFT,
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.pmft = (void *) system_query_manifest,
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};
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static const px4_mft_s mft = {
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static const px4_mft_s mft = {
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.nmft = 1,
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.nmft = 2,
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.mfts = {
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.mfts = {
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&mtd_mft
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&mtd_mft,
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&mft_mft,
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}
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}
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};
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};
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