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px4-firmware
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Software version check fixes

This commit is contained in:
Lorenz Meier 2013-06-12 12:58:17 +02:00
parent eb76d116cc
commit c3a8f177b6
3 changed files with 20 additions and 7 deletions
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16
src/drivers/px4io/px4io.cpp
View File

@ -404,13 +404,23 @@ PX4IO::init()
unsigned proto_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); unsigned proto_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
unsigned sw_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION); unsigned sw_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION);
if (proto_version != PX4IO_P_CONFIG_PROTOCOL_VERSION) { if (proto_version != PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC) {
mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! PROTO VER MISMATCH: v%u vs v%u\n", mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! PROTO VER MISMATCH: v%u vs v%u\n",
proto_version, proto_version,
PX4IO_P_CONFIG_PROTOCOL_VERSION); PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC);
mavlink_log_emergency(_mavlink_fd, "[IO] Please update PX4IO firmware."); mavlink_log_emergency(_mavlink_fd, "[IO] Please update PX4IO firmware.");
log("protocol version mismatch (v%u on IO vs v%u on FMU)", proto_version, PX4IO_P_CONFIG_PROTOCOL_VERSION); log("protocol version mismatch (v%u on IO vs v%u on FMU)", proto_version, PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC);
return 1;
}
if (sw_version != PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC) {
mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! SOFTWARE VER MISMATCH: v%u vs v%u\n",
proto_version,
PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC);
mavlink_log_emergency(_mavlink_fd, "[IO] Please update PX4IO firmware.");
log("software version mismatch (v%u on IO vs v%u on FMU)", sw_version, PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC);
return 1; return 1;
} }

7
src/modules/px4iofirmware/protocol.h
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@ -75,10 +75,13 @@
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) #define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
#define PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC 2
#define PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC 2
/* static configuration page */ /* static configuration page */
#define PX4IO_PAGE_CONFIG 0 #define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 2 /* magic numbers TBD */ #define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers */
#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ #define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers */
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ #define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ #define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */

4
src/modules/px4iofirmware/registers.c
View File

@ -57,8 +57,8 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt
* Static configuration parameters. * Static configuration parameters.
*/ */
static const uint16_t r_page_config[] = { static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC,
[PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_SOFTWARE_VERSION] = PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC,
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,