forked from Archive/PX4-Autopilot
Kill the old board info code.
This commit is contained in:
px4dev
parent
0616d58340
commit
66da4395b4
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@ -51,8 +51,6 @@
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__EXPORT int boardinfo_main(int argc, char *argv[]);
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#if 1
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struct eeprom_info_s
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{
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unsigned bus;
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@ -65,7 +63,6 @@ struct eeprom_info_s
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/* XXX currently code below only supports 8-bit addressing */
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const struct eeprom_info_s eeprom_info[] = {
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{3, 0x57, 8, 16, 3300},
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{0, 0, 0, 0, 0}
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};
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struct board_parameter_s {
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@ -411,223 +408,3 @@ boardinfo_main(int argc, char *argv[])
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errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'");
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}
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#else
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/**
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* Reads out the board information
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*
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* @param argc the number of string arguments (including the executable name)
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* @param argv the argument strings
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*
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* @return 0 on success, 1 on error
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*/
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int boardinfo_main(int argc, char *argv[])
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{
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const char *commandline_usage = "\tusage: boardinfo [-c|-f] [-t id] [-w \"<info>\"]\n";
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bool carrier_mode = false;
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bool fmu_mode = false;
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bool write_mode = false;
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char *write_string = 0;
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bool silent = false;
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bool test_enabled = false;
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int test_boardid = -1;
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int ch;
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while ((ch = getopt(argc, argv, "cft:w:v")) != -1) {
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switch (ch) {
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case 'c':
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carrier_mode = true;
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break;
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case 'f':
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fmu_mode = true;
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break;
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case 't':
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test_enabled = true;
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test_boardid = strtol(optarg, NULL, 10);
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silent = true;
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break;
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case 'w':
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write_mode = true;
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write_string = optarg;
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break;
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default:
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printf(commandline_usage);
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exit(0);
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}
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}
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/* Check if write is required - only one mode is allowed then */
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if (write_mode && fmu_mode && carrier_mode) {
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fprintf(stderr, "[boardinfo] Please choose only one mode for writing: --carrier or --fmu\n");
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printf(commandline_usage);
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return ERROR;
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}
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/* Write FMU information
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if (fmu_mode && write_mode) {
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struct fmu_board_info_s info;
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int ret = fmu_store_board_info(&info);
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if (ret == OK) {
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printf("[boardinfo] Successfully wrote FMU board info\n");
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} else {
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fprintf(stderr, "[boardinfo] ERROR writing board info to FMU EEPROM, aborting\n");
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return ERROR;
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}
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}*/
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/* write carrier board info */
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if (carrier_mode && write_mode) {
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struct carrier_board_info_s info;
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bool parse_ok = true;
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unsigned parse_idx = 0;
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//int maxlen = strlen(write_string);
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char *curr_char;
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/* Parse board info string */
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if (write_string[0] != 'P' || write_string[1] != 'X' || write_string[2] != '4') {
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fprintf(stderr, "[boardinfo] header must start with 'PX4'\n");
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parse_ok = false;
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}
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info.header[0] = 'P'; info.header[1] = 'X'; info.header[2] = '4';
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parse_idx = 3;
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/* Copy board name */
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int i = 0;
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while (write_string[parse_idx] != 0x20 && (parse_idx < sizeof(info.board_name) + sizeof(info.header))) {
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info.board_name[i] = write_string[parse_idx];
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i++; parse_idx++;
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}
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/* Enforce null termination */
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info.board_name[sizeof(info.board_name) - 1] = '\0';
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curr_char = write_string + parse_idx;
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/* Index is now on next field */
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info.board_id = strtol(curr_char, &curr_char, 10);//atoi(write_string + parse_index);
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info.board_version = strtol(curr_char, &curr_char, 10);
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/* Read in multi ports */
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for (i = 0; i < MULT_COUNT; i++) {
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info.multi_port_config[i] = strtol(curr_char, &curr_char, 10);
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}
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/* Read in production data */
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info.production_year = strtol(curr_char, &curr_char, 10);
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if (info.production_year < 2012 || info.production_year > 3000) {
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fprintf(stderr, "[boardinfo] production year is invalid: %d\n", info.production_year);
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parse_ok = false;
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}
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info.production_month = strtol(curr_char, &curr_char, 10);
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if (info.production_month < 1 || info.production_month > 12) {
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fprintf(stderr, "[boardinfo] production month is invalid: %d\n", info.production_month);
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parse_ok = false;
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}
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info.production_day = strtol(curr_char, &curr_char, 10);
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if (info.production_day < 1 || info.production_day > 31) {
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fprintf(stderr, "[boardinfo] production day is invalid: %d\n", info.production_day);
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parse_ok = false;
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}
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info.production_fab = strtol(curr_char, &curr_char, 10);
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info.production_tester = strtol(curr_char, &curr_char, 10);
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if (!parse_ok) {
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/* Parsing failed */
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fprintf(stderr, "[boardinfo] failed parsing info string:\n\t%s\naborting\n", write_string);
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return ERROR;
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} else {
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int ret = carrier_store_board_info(&info);
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/* Display result */
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if (ret == sizeof(info)) {
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printf("[boardinfo] Successfully wrote carrier board info\n");
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} else {
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fprintf(stderr, "[boardinfo] ERROR writing board info to carrier EEPROM (forgot to pull the WRITE_ENABLE line high?), aborting\n");
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return ERROR;
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}
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}
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}
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/* Print FMU information */
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if (fmu_mode && !silent) {
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struct fmu_board_info_s info;
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int ret = fmu_get_board_info(&info);
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/* Print human readable name */
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if (ret == sizeof(info)) {
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printf("[boardinfo] Autopilot:\n\t%s\n", info.header);
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} else {
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fprintf(stderr, "[boardinfo] ERROR loading board info from FMU, aborting\n");
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return ERROR;
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}
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}
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/* print carrier information */
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if (carrier_mode && !silent) {
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struct carrier_board_info_s info;
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int ret = carrier_get_board_info(&info);
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/* Print human readable name */
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if (ret == sizeof(info)) {
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printf("[boardinfo] Carrier board:\n\t%s\n", info.header);
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printf("\tboard id:\t\t%d\n", info.board_id);
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printf("\tversion:\t\t%d\n", info.board_version);
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for (unsigned i = 0; i < MULT_COUNT; i++) {
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printf("\tmulti port #%d:\t\t%s: function #%d\n", i, multiport_info.port_names[i], info.multi_port_config[i]);
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}
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printf("\tproduction date:\t%d-%d-%d (fab #%d / tester #%d)\n", info.production_year, info.production_month, info.production_day, info.production_fab, info.production_tester);
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} else {
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fprintf(stderr, "[boardinfo] ERROR loading board info from carrier EEPROM (errno #%d), aborting\n", -ret);
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return ERROR;
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}
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}
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/* test for a specific carrier */
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if (test_enabled) {
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struct carrier_board_info_s info;
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int ret = carrier_get_board_info(&info);
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if (ret != sizeof(info)) {
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fprintf(stderr, "[boardinfo] no EEPROM for board %d\n", test_boardid);
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exit(1);
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}
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if (info.board_id == test_boardid) {
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printf("[boardinfo] Found carrier board with ID %d, test succeeded\n", info.board_id);
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exit(0);
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} else {
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/* exit silently with an error so we can test for multiple boards quietly */
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exit(1);
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}
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}
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return 0;
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}
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#endif
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@ -110,76 +110,3 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma
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return pid;
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}
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#define PX4_BOARD_ID_FMU (5)
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int fmu_get_board_info(struct fmu_board_info_s *info)
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{
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/* Check which FMU version we're on */
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struct stat sb;
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int statres;
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/* Copy version-specific fields */
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statres = stat("/dev/bma180", &sb);
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if (statres == OK) {
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/* BMA180 indicates a v1.5-v1.6 board */
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strcpy(info->board_name, "FMU v1.6");
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info->board_version = 16;
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} else {
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statres = stat("/dev/accel", &sb);
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if (statres == OK) {
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/* MPU-6000 indicates a v1.7+ board */
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strcpy(info->board_name, "FMU v1.7");
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info->board_version = 17;
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} else {
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/* If no BMA and no MPU is present, it is a v1.3 board */
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strcpy(info->board_name, "FMU v1.3");
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info->board_version = 13;
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}
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}
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/* Copy general FMU fields */
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memcpy(info->header, "PX4", 3);
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info->board_id = PX4_BOARD_ID_FMU;
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return sizeof(struct fmu_board_info_s);
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}
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int carrier_store_board_info(const struct carrier_board_info_s *info)
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{
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int ret;
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int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
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if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
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/* Enforce correct header */
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ret = write(fd, info, sizeof(struct carrier_board_info_s));
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//ret = write(fd, "PX4", 3);
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close(fd);
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return ret;
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}
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int carrier_get_board_info(struct carrier_board_info_s *info)
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{
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int ret;
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int fd = open("/dev/eeprom", O_RDONLY | O_NONBLOCK);
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if (fd < 0)
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return -1; /* no board */
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ret = read(fd, info, sizeof(struct carrier_board_info_s));
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/* Enforce NUL termination of human-readable string */
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if (ret == sizeof(struct carrier_board_info_s)) {
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info->board_name[sizeof(info->board_name) - 1] = '\0';
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}
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close(fd);
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return ret;
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}
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@ -117,11 +117,6 @@ struct __multiport_info {
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};
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__EXPORT extern const struct __multiport_info multiport_info;
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__EXPORT int carrier_store_board_info(const struct carrier_board_info_s *info);
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__EXPORT int carrier_get_board_info(struct carrier_board_info_s *info);
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__EXPORT int fmu_get_board_info(struct fmu_board_info_s *info);
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__END_DECLS
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#endif /* SYSTEMLIB_H_ */
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