forked from Archive/PX4-Autopilot
Remove boardinfo ccommand
This commit is contained in:
Lorenz Meier
parent
b80908d956
commit
6b494ee0f0
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@ -27,7 +27,7 @@ MODULES += modules/sensors
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#
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# System commands
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#
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MODULES += systemcmds/boardinfo
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MODULES += systemcmds/ver
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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@ -50,7 +50,6 @@ MODULES += drivers/gimbal
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# System commands
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#
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MODULES += systemcmds/bl_update
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MODULES += systemcmds/boardinfo
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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@ -48,7 +48,6 @@ MODULES += drivers/px4flow
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# System commands
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#
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MODULES += systemcmds/bl_update
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MODULES += systemcmds/boardinfo
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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@ -42,7 +42,6 @@ MODULES += modules/sensors
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# System commands
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#
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MODULES += systemcmds/bl_update
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MODULES += systemcmds/boardinfo
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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@ -1,409 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 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 boardinfo.c
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* autopilot and carrier board information app
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <nuttx/i2c.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/err.h>
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#include <systemlib/bson/tinybson.h>
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__EXPORT int boardinfo_main(int argc, char *argv[]);
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struct eeprom_info_s
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{
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unsigned bus;
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unsigned address;
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unsigned page_size;
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unsigned page_count;
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unsigned page_write_delay;
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};
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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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};
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struct board_parameter_s {
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const char *name;
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bson_type_t type;
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};
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const struct board_parameter_s board_parameters[] = {
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{"name", BSON_STRING}, /* ascii board name */
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{"vers", BSON_INT32}, /* board version (major << 8) | minor */
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{"date", BSON_INT32}, /* manufacture date */
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{"build", BSON_INT32} /* build code (fab << 8) | tester */
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};
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const unsigned num_parameters = sizeof(board_parameters) / sizeof(board_parameters[0]);
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static int
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eeprom_write(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
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{
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int result = -1;
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struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
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if (dev == NULL) {
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warnx("failed to init bus %d for EEPROM", eeprom->bus);
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goto out;
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}
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I2C_SETFREQUENCY(dev, 400000);
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/* loop until all data has been transferred */
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for (unsigned address = 0; address < size; ) {
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uint8_t pagebuf[eeprom->page_size + 1];
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/* how many bytes available to transfer? */
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unsigned count = size - address;
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/* constrain writes to the page size */
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if (count > eeprom->page_size)
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count = eeprom->page_size;
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pagebuf[0] = address & 0xff;
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memcpy(pagebuf + 1, buf + address, count);
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struct i2c_msg_s msgv[1] = {
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{
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.addr = eeprom->address,
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.flags = 0,
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.buffer = pagebuf,
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.length = count + 1
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}
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};
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result = I2C_TRANSFER(dev, msgv, 1);
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if (result != OK) {
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warnx("EEPROM write failed: %d", result);
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goto out;
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}
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usleep(eeprom->page_write_delay);
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address += count;
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}
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out:
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if (dev != NULL)
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up_i2cuninitialize(dev);
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return result;
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}
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static int
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eeprom_read(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
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{
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int result = -1;
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struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
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if (dev == NULL) {
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warnx("failed to init bus %d for EEPROM", eeprom->bus);
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goto out;
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}
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I2C_SETFREQUENCY(dev, 400000);
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/* loop until all data has been transferred */
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for (unsigned address = 0; address < size; ) {
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/* how many bytes available to transfer? */
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unsigned count = size - address;
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/* constrain transfers to the page size (bus anti-hog) */
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if (count > eeprom->page_size)
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count = eeprom->page_size;
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uint8_t addr = address;
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struct i2c_msg_s msgv[2] = {
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{
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.addr = eeprom->address,
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.flags = 0,
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.buffer = &addr,
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.length = 1
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},
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{
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.addr = eeprom->address,
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.flags = I2C_M_READ,
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.buffer = buf + address,
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.length = count
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}
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};
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result = I2C_TRANSFER(dev, msgv, 2);
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if (result != OK) {
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warnx("EEPROM read failed: %d", result);
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goto out;
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}
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address += count;
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}
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out:
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if (dev != NULL)
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up_i2cuninitialize(dev);
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return result;
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}
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static void *
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idrom_read(const struct eeprom_info_s *eeprom)
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{
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uint32_t size = 0xffffffff;
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int result;
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void *buf = NULL;
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result = eeprom_read(eeprom, (uint8_t *)&size, sizeof(size));
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if (result != 0) {
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warnx("failed reading ID ROM length");
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goto fail;
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}
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if (size > (eeprom->page_size * eeprom->page_count)) {
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warnx("ID ROM not programmed");
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goto fail;
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}
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buf = malloc(size);
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if (buf == NULL) {
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warnx("could not allocate %d bytes for ID ROM", size);
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goto fail;
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}
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result = eeprom_read(eeprom, buf, size);
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if (result != 0) {
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warnx("failed reading ID ROM");
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goto fail;
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}
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return buf;
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fail:
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if (buf != NULL)
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free(buf);
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return NULL;
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}
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static void
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boardinfo_set(const struct eeprom_info_s *eeprom, char *spec)
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{
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struct bson_encoder_s encoder;
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int result = 1;
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char *state, *token;
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unsigned i;
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/* create the encoder and make a writable copy of the spec */
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bson_encoder_init_buf(&encoder, NULL, 0);
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for (i = 0, token = strtok_r(spec, ",", &state);
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token && (i < num_parameters);
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i++, token = strtok_r(NULL, ",", &state)) {
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switch (board_parameters[i].type) {
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case BSON_STRING:
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result = bson_encoder_append_string(&encoder, board_parameters[i].name, token);
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break;
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case BSON_INT32:
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result = bson_encoder_append_int(&encoder, board_parameters[i].name, strtoul(token, NULL, 0));
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break;
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default:
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result = 1;
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}
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if (result) {
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warnx("bson append failed for %s<%s>", board_parameters[i].name, token);
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goto out;
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}
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}
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bson_encoder_fini(&encoder);
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if (i != num_parameters) {
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warnx("incorrect parameter list, expected: \"<name>,<version><date>,<buildcode>\"");
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result = 1;
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goto out;
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}
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if (bson_encoder_buf_size(&encoder) > (int)(eeprom->page_size * eeprom->page_count)) {
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warnx("data too large for EEPROM");
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result = 1;
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goto out;
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}
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if ((int)*(uint32_t *)bson_encoder_buf_data(&encoder) != bson_encoder_buf_size(&encoder)) {
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warnx("buffer length mismatch");
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result = 1;
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goto out;
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}
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warnx("writing %p/%u", bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
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result = eeprom_write(eeprom, (uint8_t *)bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
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if (result < 0) {
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warnc(-result, "error writing EEPROM");
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result = 1;
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} else {
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result = 0;
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}
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out:
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free(bson_encoder_buf_data(&encoder));
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exit(result);
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}
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static int
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boardinfo_print(bson_decoder_t decoder, void *private, bson_node_t node)
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{
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switch (node->type) {
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case BSON_INT32:
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printf("%s: %d / 0x%08x\n", node->name, (int)node->i, (unsigned)node->i);
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break;
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case BSON_STRING: {
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char buf[bson_decoder_data_pending(decoder)];
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bson_decoder_copy_data(decoder, buf);
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printf("%s: %s\n", node->name, buf);
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break;
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}
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case BSON_EOO:
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break;
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default:
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warnx("unexpected node type %d", node->type);
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break;
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}
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return 1;
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}
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static void
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boardinfo_show(const struct eeprom_info_s *eeprom)
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{
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struct bson_decoder_s decoder;
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void *buf;
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buf = idrom_read(eeprom);
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if (buf == NULL)
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errx(1, "ID ROM read failed");
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if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_print, NULL) == 0) {
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while (bson_decoder_next(&decoder) > 0)
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;
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} else {
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warnx("failed to init decoder");
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}
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free(buf);
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exit(0);
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}
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struct {
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const char *property;
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const char *value;
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} test_args;
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static int
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boardinfo_test_callback(bson_decoder_t decoder, void *private, bson_node_t node)
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{
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/* reject nodes with non-matching names */
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if (strcmp(node->name, test_args.property))
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return 1;
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/* compare node values to check for a match */
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switch (node->type) {
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case BSON_STRING: {
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char buf[bson_decoder_data_pending(decoder)];
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bson_decoder_copy_data(decoder, buf);
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/* check for a match */
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if (!strcmp(test_args.value, buf)) {
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return 2;
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}
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break;
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}
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case BSON_INT32: {
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int32_t val = strtol(test_args.value, NULL, 0);
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/* check for a match */
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if (node->i == val) {
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return 2;
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}
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break;
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}
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default:
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break;
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}
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return 1;
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}
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static void
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boardinfo_test(const struct eeprom_info_s *eeprom, const char *property, const char *value)
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{
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struct bson_decoder_s decoder;
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void *buf;
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int result = -1;
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if ((property == NULL) || (strlen(property) == 0) ||
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(value == NULL) || (strlen(value) == 0))
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errx(1, "missing property name or value");
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test_args.property = property;
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test_args.value = value;
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buf = idrom_read(eeprom);
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if (buf == NULL)
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errx(1, "ID ROM read failed");
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if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_test_callback, NULL) == 0) {
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do {
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result = bson_decoder_next(&decoder);
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} while (result == 1);
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} else {
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warnx("failed to init decoder");
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}
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free(buf);
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/* if we matched, we exit with zero success */
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exit((result == 2) ? 0 : 1);
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}
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int
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boardinfo_main(int argc, char *argv[])
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{
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if (!strcmp(argv[1], "set"))
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boardinfo_set(&eeprom_info[0], argv[2]);
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if (!strcmp(argv[1], "show"))
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boardinfo_show(&eeprom_info[0]);
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if (!strcmp(argv[1], "test"))
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boardinfo_test(&eeprom_info[0], argv[2], argv[3]);
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errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'");
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}
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@ -1,41 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2012, 2013 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
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
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#
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############################################################################
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#
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# Information about FMU and IO boards connected
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#
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MODULE_COMMAND = boardinfo
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SRCS = boardinfo.c
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MAXOPTIMIZATION = -Os
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