PX4:comon Support BOARD_HAS_HW_SPLIT_VERSIONING

platforms/common/include/px4_platform_common/board_common.h

@@ -265,6 +265,18 @@
 #  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
 #endif
 
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+typedef uint16_t hw_fmun_id_t;
+typedef uint16_t hw_base_id_t;
+// Original Signals GPIO_HW_REV_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the FMUM
+// Original Signals GPIO_HW_VER_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the BASE
+#  define BOARD_HAS_VERSIONING 1
+#  define HW_FMUM_ID(rev)       ((hw_fmun_id_t)(rev) & 0xffff)
+#  define HW_BASE_ID(ver)       ((hw_base_id_t)(ver) & 0xffff)
+#  define GET_HW_FMUM_ID()      (HW_FMUM_ID(board_get_hw_revision()))
+#  define GET_HW_BASE_ID()      (HW_BASE_ID(board_get_hw_version()))
+#endif
+
 #define HW_INFO_REV_DIGITS    3
 #define HW_INFO_VER_DIGITS    3
 
@@ -752,6 +764,26 @@ __EXPORT const char *board_get_hw_type_name(void);
 #define board_get_hw_type_name() ""
 #endif
 
+/************************************************************************************
+ * Name: board_get_hw_base_type_name
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This may be a 0 length string ""
+ *
+ ************************************************************************************/
+
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+__EXPORT const char *board_get_hw_base_type_name(void);
+#else
+#define board_get_hw_base_type_name() ""
+#endif
+
 /************************************************************************************
  * Name: board_get_hw_version
  *

platforms/common/include/px4_platform_common/spi.h

@@ -73,7 +73,11 @@ struct px4_spi_bus_t {
 
 struct px4_spi_bus_all_hw_t {
 	px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
-	int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+	hw_fmun_id_t board_hw_fmun_id {USHRT_MAX};
+#else
+	int board_hw_version_revision {-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
+#endif
 };
 
 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1

platforms/common/spi.cpp

@@ -44,12 +44,26 @@
 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
 void px4_set_spi_buses_from_hw_version()
 {
-#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
+#  if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
-	int hw_version_revision = board_get_hw_version();
+	int hw_fmun_id = GET_HW_FMUM_ID();
-#else
-	int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
-#endif
 
+	for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
+		if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_fmun_id == 0) {
+			px4_spi_buses = px4_spi_buses_all_hw[i].buses;
+		}
+
+		if (px4_spi_buses_all_hw[i].board_hw_fmun_id == hw_fmun_id) {
+			px4_spi_buses = px4_spi_buses_all_hw[i].buses;
+		}
+	}
+
+#  else
+
+#    if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
+	int hw_version_revision = board_get_hw_version();
+#    else
+	int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
+#    endif
 
 	for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
 		if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version_revision == 0) {
@@ -61,6 +75,8 @@ void px4_set_spi_buses_from_hw_version()
 		}
 	}
 
+#  endif
+
 	if (!px4_spi_buses) { // fallback
 		px4_spi_buses = px4_spi_buses_all_hw[0].buses;
 	}

platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h

@@ -36,6 +36,10 @@
 __BEGIN_DECLS
 
 #define HW_INFO_SUFFIX        "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+#  define HW_INFO_FMUM_SUFFIX   "%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
+#  define HW_INFO_BASE_SUFFIX   "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x"
+#endif
 /************************************************************************************
   * Name: board_determine_hw_info
  *

src/lib/version/version.h

@@ -88,6 +88,16 @@ static inline int px4_board_hw_revision(void)
 	return board_get_hw_revision();
 }
 
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+/**
+ * get the base board type
+ */
+static inline const char *px4_board_base_type(void)
+{
+	return board_get_hw_base_type_name();
+}
+#endif
+
 /**
  * get the build URI (used for crash logging)
  */