hw_ver app added for hardware version checking

ROMFS/px4fmu_common/init.d/1001_rc_quad.hil

@@ -67,8 +67,11 @@ if px4io start
 then
 	echo "IO started"
 else
-	fmu mode_serial
+	if hw_ver compare PX4FMU_V1
-	echo "FMU started"
+	then
+		fmu mode_serial
+		echo "FMU started"
+	fi
 fi
 
 #

ROMFS/px4fmu_common/init.d/800_sdlogger

@@ -42,10 +42,12 @@ position_estimator_inav start
 
 if [ -d /fs/microsd ]
 then
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
+		echo "Start sdlog2 at 50Hz"
 		sdlog2 start -r 50 -e -b 16
 	else
+		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -e -b 16
 	fi
 fi

ROMFS/px4fmu_common/init.d/rc.io

@@ -11,7 +11,7 @@ then
 	#
 	# Disable px4io topic limiting
 	#
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
 		px4io limit 200
 	else

ROMFS/px4fmu_common/init.d/rc.logging

@@ -5,10 +5,12 @@
 
 if [ -d /fs/microsd ]
 then
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
+		echo "Start sdlog2 at 50Hz"
 		sdlog2 start -r 50 -a -b 16
 	else
+		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -a -b 16
 	fi
 fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -28,9 +28,7 @@ fi
 
 if lsm303d start
 then
-	set BOARD fmuv2
+	echo "using LSM303D"
-else
-	set BOARD fmuv1
 fi
 
 # Start airspeed sensors

ROMFS/px4fmu_common/init.d/rcS

@@ -185,9 +185,12 @@ then
 			else
 				echo "PX4IO restart failed"
 				echo "PX4IO restart failed" >> $logfile
-				tone_alarm MNGGG
+				if hw_ver compare PX4FMU_V2
-				sleep 10
+				then
-				reboot
+					tone_alarm MNGGG
+					sleep 10
+					reboot
+				fi
 			fi
 		else
 			echo "PX4IO update failed"

makefiles/config_px4fmu-v1_backside.mk

@@ -54,6 +54,7 @@ MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/hw_ver
 
 #
 # General system control

makefiles/config_px4fmu-v1_default.mk

@@ -58,6 +58,7 @@ MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/hw_ver
 
 #
 # General system control

makefiles/config_px4fmu-v2_default.mk

@@ -60,6 +60,7 @@ MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/hw_ver
 
 #
 # General system control

makefiles/config_px4fmu-v2_test.mk

@@ -16,6 +16,7 @@ MODULES		+= drivers/led
 MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/hw_ver
 
 #
 # Library modules

src/lib/version/version.h

@@ -33,15 +33,15 @@
  ****************************************************************************/
 
 /**
- * @file sdlog2_version.h
+ * @file version.h
  *
  * Tools for system version detection.
  *
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#ifndef SDLOG2_VERSION_H_
+#ifndef VERSION_H_
-#define SDLOG2_VERSION_H_
+#define VERSION_H_
 
 /*
  GIT_VERSION is defined at build time via a Makefile call to the
@@ -59,4 +59,4 @@
 #define	HW_ARCH "PX4FMU_V2"
 #endif
 
-#endif /* SDLOG2_VERSION_H_ */
+#endif /* VERSION_H_ */

src/modules/sdlog2/sdlog2.c

@@ -85,13 +85,13 @@
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
+#include <version/version.h>
 
 #include <mavlink/mavlink_log.h>
 
 #include "logbuffer.h"
 #include "sdlog2_format.h"
 #include "sdlog2_messages.h"
-#include "sdlog2_version.h"
 
 #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
 		log_msgs_written++; \

src/systemcmds/hw_ver/hw_ver.c

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hw_ver.c
+ *
+ * Show and test hardware version.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <version/version.h>
+
+__EXPORT int hw_ver_main(int argc, char *argv[]);
+
+int
+hw_ver_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "show")) {
+			printf(HW_ARCH "\n");
+			exit(0);
+		}
+
+		if (!strcmp(argv[1], "compare")) {
+			if (argc >= 3) {
+				int ret = strcmp(HW_ARCH, argv[2]) != 0;
+				if (ret == 0) {
+					printf("hw_ver match: %s\n", HW_ARCH);
+				}
+				exit(ret);
+
+			} else {
+				errx(1, "not enough arguments, try 'compare PX4FMU_1'");
+			}
+		}
+	}
+
+	errx(1, "expected a command, try 'show' or 'compare'");
+}

src/systemcmds/hw_ver/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+#
+# Show and test hardware version
+#
+
+MODULE_COMMAND	 = hw_ver
+SRCS		 = hw_ver.c
+
+MODULE_STACKSIZE = 1024
+
+MAXOPTIMIZATION	 = -Os